version: 66.06
glider: 143
mission: 10
dive: 380
start: 12 25 109 22 44 12
data:
$ID,143
$MISSION,10
$DIVE,380
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,360
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51204
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,90
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,325
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-43521.027
$T_RSLEEP,60
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,127
$PITCH_MAX,4070
$C_PITCH,2690
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,31
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,290
$ROLL_MAX,3915
$ROLL_DEG,45
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,442
$VBD_MAX,3793
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-24.446302
$PRESSURE_SLOPE,0.0001163694
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043131942
$SEABIRD_T_H,0.00062854384
$SEABIRD_T_I,2.3348166e-05
$SEABIRD_T_J,2.4454023e-06
$SEABIRD_C_G,-10.029707
$SEABIRD_C_H,1.1484355
$SEABIRD_C_I,-0.0010294267
$SEABIRD_C_J,0.00016845814
$GPS1,223237,6721.159,-5741.522,29,1.3,29,-38.2
$_CALLS,2
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-65.7
$GPS2,224355,6721.151,-5741.511,12,1.2,29,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6721.151,-5713.466
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,128.2,20000,-16.9,-9.167
$D_GRID,494
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,133,0.00,0.00,-115.10,0.000,2,0.000,0.000,126,2703,3375,0,0,0,0,0,0
$GC,137,-0.73,-146.0,3.2,-4.6,23,158,11.38,2.47,-0.55,0.000,4,0.296,0.097,2453,1083,3400,0,0,1,0,0,0
$GC,396,-0.59,-146.0,43.2,-12.7,69,402,0.17,2.33,0.00,0.000,6,0.225,0.074,2493,2682,3401,0,0,0,0,0,0
$GC,741,-0.76,-146.0,72.8,-7.6,130,747,0.15,3.03,0.00,0.000,4,0.114,0.088,2428,3931,3400,0,0,6,0,0,0
$GC,989,-0.76,-146.0,99.5,-10.6,174,995,0.00,2.85,0.00,0.000,6,0.000,0.065,2428,2694,3398,0,0,5,0,0,0
$GC,1313,-0.76,-146.0,133.1,-9.8,205,1318,0.00,2.97,0.00,0.000,4,0.000,0.091,2428,3921,3399,0,0,6,0,0,0
$GC,1537,-0.76,-146.0,154.7,-9.5,224,1543,0.00,2.83,0.00,0.000,6,0.000,0.065,2428,2697,3399,0,0,5,0,0,0
$GC,1862,-0.76,-146.0,183.0,-8.3,255,1866,0.00,3.03,0.00,0.000,4,0.000,0.090,2428,3930,3398,0,0,4,0,0,0
$GC,1992,-0.76,-146.0,194.2,-8.8,266,1997,0.00,2.83,0.00,0.000,6,0.000,0.064,2428,2699,3397,0,0,5,0,0,0
$GC,2317,-0.76,-146.0,223.7,-9.5,296,2322,0.00,3.00,0.00,0.000,4,0.000,0.089,2428,3935,3397,0,0,6,0,0,0
$GC,2495,-0.76,-146.0,240.5,-9.5,311,2502,0.00,2.85,0.00,0.000,6,0.000,0.063,2428,2692,3397,0,0,4,0,0,0
$GC,2821,-0.76,-146.0,268.1,-8.0,342,2826,0.00,2.95,0.00,0.000,4,0.000,0.087,2428,3922,3397,0,0,6,0,0,0
$GC,3008,-0.82,-146.0,283.6,-8.5,358,3013,0.00,2.83,0.00,0.000,6,0.000,0.061,2428,2693,3397,0,0,4,0,0,0
$GC,3332,-0.87,-146.0,309.0,-7.7,388,3337,0.00,2.95,0.00,0.000,4,0.000,0.084,2428,3929,3398,0,0,6,0,0,0
$GC,3511,-0.92,-146.0,322.8,-7.7,403,3518,0.10,2.83,0.00,0.000,6,0.124,0.060,2393,2692,3398,0,0,4,0,0,0
$GC,3838,-0.86,-146.0,350.8,-8.9,434,3843,0.00,2.95,0.00,0.000,4,0.000,0.082,2393,3935,3399,0,0,6,0,0,0
$GC,3984,-0.80,-146.0,364.5,-9.7,446,3991,0.15,2.83,0.00,0.000,6,0.198,0.058,2426,2693,3400,0,0,4,0,0,0
$GC,4309,-0.85,-146.0,388.1,-7.3,477,4314,0.00,2.92,0.00,0.000,4,0.000,0.081,2426,3922,3401,0,0,6,0,0,0
$GC,4456,-0.92,-146.0,400.2,-8.5,489,4461,0.00,2.80,0.00,0.000,6,0.000,0.058,2427,2693,3401,0,0,4,0,0,0
$GC,4780,-0.98,-146.0,425.6,-7.0,520,4786,0.17,2.95,0.00,0.000,4,0.105,0.081,2361,3930,3402,0,0,6,0,0,0
$GC,4972,-0.81,-146.0,445.4,-10.9,536,4978,0.25,2.80,0.00,0.000,6,0.199,0.057,2420,2694,3402,0,0,4,0,0,0
$GC,5296,-0.81,-146.0,470.5,-7.5,567,5301,0.00,2.95,0.00,0.000,4,0.000,0.081,2421,3934,3403,0,0,5,0,0,0
$GC,5419,-0.81,-146.0,480.8,-8.7,577,5425,0.00,2.80,0.00,0.000,6,0.000,0.057,2421,2699,3403,0,0,4,0,0,0
$STATE,5582,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5582,begin apogee
$GC,5588,-0.16,0.0,494.1,7.4,593,5715,0.73,0.00,121.60,1.036,6,0.175,0.000,2627,1997,2800,0,0,0,0,0,0
$STATE,5715,end apogee,CONTROL_FINISHED_OK
$STATE,5716,begin climb
$GC,5718,0.73,146.0,498.7,0.0,606,5852,0.95,1.90,124.75,0.989,4,0.127,0.084,2923,396,2203,0,0,0,0,0,0
$GC,5902,0.66,146.0,482.2,12.2,623,5908,0.00,1.88,0.00,0.000,6,0.000,0.054,2922,2017,2200,0,0,0,0,0,0
$GC,6227,0.58,146.0,443.0,13.7,654,6237,0.20,3.75,0.00,0.000,4,0.203,0.071,2868,3590,2196,0,0,7,0,0,0
$GC,6377,0.58,146.0,427.0,9.4,667,6383,0.00,3.78,0.00,0.000,6,0.000,0.066,2883,1996,2195,0,0,4,0,0,0
$GC,6702,0.63,146.0,395.5,10.3,698,6712,0.00,3.75,0.00,0.000,4,0.000,0.072,2883,3589,2195,0,0,6,0,0,0
$GC,6835,0.63,146.0,380.7,11.0,710,6845,0.00,3.78,0.00,0.000,6,0.000,0.067,2900,1992,2194,0,0,3,0,0,0
$GC,7163,0.63,146.0,346.2,10.5,741,7172,0.00,3.75,0.00,0.000,4,0.000,0.074,2900,3593,2194,0,0,6,0,0,0
$GC,7313,0.57,146.0,328.6,12.5,754,7320,0.17,3.78,0.00,0.000,6,0.201,0.067,2876,1985,2194,0,0,3,0,0,0
$GC,7638,0.66,146.0,298.1,9.3,785,7647,0.00,3.75,0.00,0.000,4,0.000,0.073,2876,3595,2194,0,0,6,0,0,0
$GC,7784,0.66,146.0,281.9,11.4,798,7793,0.00,3.75,0.00,0.000,6,0.000,0.067,2891,1998,2194,0,0,3,0,0,0
$GC,8112,0.72,146.0,248.1,10.0,829,8122,0.00,3.70,0.00,0.000,4,0.000,0.074,2891,3582,2194,0,0,7,0,0,0
$GC,8251,0.72,146.0,233.6,10.7,841,8257,0.00,3.72,0.00,0.000,6,0.000,0.066,2908,1991,2194,0,0,4,0,0,0
$GC,8575,0.72,146.0,202.3,9.8,872,8584,0.00,3.72,0.00,0.000,4,0.000,0.072,2908,3583,2194,0,0,6,0,0,0
$GC,8710,0.66,146.0,187.6,11.5,884,8719,0.00,3.72,0.00,0.000,6,0.000,0.065,2925,1987,2195,0,0,4,0,0,0
$GC,9039,0.66,148.8,154.2,9.0,915,9048,0.00,3.72,0.00,0.000,4,0.000,0.072,2925,3584,2195,0,0,6,0,0,0
$GC,9154,0.55,148.8,142.9,9.6,925,9161,0.30,3.72,0.00,0.000,6,0.193,0.065,2868,1986,2195,0,0,4,0,0,0
$GC,9479,0.79,187.7,121.8,7.5,956,9522,0.22,3.80,34.42,0.788,4,0.100,0.074,2948,3583,2033,0,0,5,0,0,0
$GC,9657,0.69,187.7,99.2,13.5,972,9664,0.20,3.78,0.00,0.000,6,0.196,0.067,2917,1995,2028,0,0,3,0,0,0
$GC,10004,0.79,195.9,64.1,8.8,1033,10020,0.00,3.80,7.22,0.690,4,0.000,0.075,2917,3579,2000,0,0,6,0,0,0
$GC,10190,0.79,195.9,46.0,9.9,1066,10196,0.00,3.78,0.00,0.000,6,0.000,0.068,2932,1994,2000,0,0,3,0,0,0
$GC,10534,0.88,195.9,14.5,11.0,1127,10541,0.12,3.78,0.00,0.000,4,0.108,0.074,2977,3581,2000,0,0,5,0,0,0
$FREEZE,8.65,-0.530,-1.832,0,1,0
$FREEZE,7.96,-0.530,-1.832,0,1,0
$FREEZE,7.17,-0.527,-1.831,0,1,0
$FREEZE,6.44,-0.560,-1.830,0,1,0
$FREEZE,5.74,-0.553,-1.830,0,1,0
$FREEZE,5.08,-0.565,-1.829,0,1,0
$FREEZE,4.23,-0.564,-1.828,0,1,0
$FREEZE,3.57,-0.577,-1.828,0,1,0
$FREEZE,2.81,-0.557,-1.827,0,1,0
$FREEZE,1.98,-0.585,-1.827,0,1,0
$STATE,10630,end climb,SURFACE_DEPTH_REACHED
$STATE,10630,begin surface coast
$FREEZE,1.28,-0.581,-1.826,0,1,0
$FREEZE,0.56,-0.580,-1.825,0,1,0
$FREEZE,0.53,-0.635,-1.821,0,1,0
$FINISH,0.5,1.026699
$STATE,10648,end surface coast,CONTROL_FINISHED_OK
$STATE,10648,begin surface
$SM_CCo,10667,81.32,0.740,0,0,1474,325.02
$SM_GC,1.37,0.00,0.00,81.32,0.000,0.000,0.740,125,2692,1474,-8.02,-0.23,325.02
$RAFOS_CLK,676
$RAFOS,6,1261788549,0.833333,0.819167,105,60,59,0,0,0,665,202,218,0,0,0
$RAFOS,5,1261788065,0.700000,0.684722,123,59,58,0,0,0,676,206,143,0,0,0
$RAFOS,4,1261787582,0.566667,0.550556,65,64,60,0,0,0,832,205,153,0,0,0
$RAFOS,3,1261787106,0.433333,0.418333,55,53,53,0,0,0,215,189,170,0,0,0
$RAFOS,2,1261786623,0.300000,0.284167,58,52,51,0,0,0,200,127,169,0,0,0
$RAFOS,1,1261786144,0.166667,0.151111,60,57,50,0,0,0,150,206,164,0,0,0
$RAFOS,0,1261785670,0.033333,0.019444,60,56,53,0,0,0,220,149,125,0,0,0
$RAFOS_FIX,6720.471680,-5746.353516,261209,000040,3,98,0.52
$IRIDIUM_FIX,6652.93,-5748.43,210399,222215
$TT8_MAMPS,0.026845
$HUMID,47.44
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,18.9
$ALTIM_BOTTOM_PING,300.7,208.8
$24V_AH,22.5,69.117
$10V_AH,10.1,37.103
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,23.600,141.600,288.000,81.325,0.000,54.630,70.566,340.379,1.250,0.000,31.400,1920.120,6211.245,552.657,2060.650,684.166,0.000,1602.570,0.000,2009.284,2520.000,7.610,0.000
$DEVICE_MAMPS,296.062,96.642,1036.217,740.155,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,841.962,782.083,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152528
$DATA_FILE_SIZE,44146,1147
$CAP_FILE_SIZE,134965,0
$CFSIZE,260165632,220368896
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,196,0,0
$SOUNDSPEED,1465.7
$GPS,261209,014500,6721.567,-5741.573,37,1.2,42,-38.2