version: 66.06
glider: 143
mission: 10
dive: 233
start: 12 2 109 20 48 34
data:
$ID,143
$MISSION,10
$DIVE,233
$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,-2
$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,-1
$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,-35700.973
$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,2460
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.025
$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
$GPS1,201924,6645.517,-6011.295,0,5105.8,0,-37.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.58
$_SM_ANGLEo,-2.5
$GPS2,201924,6645.517,-6011.295,0,5105.8,0,-37.8
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,115.4,150337,-16.9,-9.167
$D_GRID,571
$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,-146.0,0.0,0.0,0,23,0.00,0.00,-6.03,0.000,2,0.000,0.000,2729,354,2663,0,0,0,0,0,0
$GC,25,-0.73,-146.0,8.0,-0.0,1,58,0.82,6.20,-21.92,0.000,4,0.123,0.094,2463,3916,3399,0,0,0,0,0,0
$GC,193,-0.63,-146.0,30.4,-15.5,31,198,0.00,2.75,0.00,0.000,6,0.000,0.076,2463,2459,3401,0,0,0,0,0,0
$GC,537,-0.54,-146.0,81.1,-14.7,92,543,0.20,2.88,0.00,0.000,4,0.233,0.095,2497,3922,3401,0,0,0,0,0,0
$GC,717,-0.61,-146.0,101.6,-10.8,123,722,0.00,2.72,0.00,0.000,6,0.000,0.073,2498,2470,3401,0,0,0,0,0,0
$GC,1042,-0.68,-146.0,135.5,-10.0,153,1046,0.00,2.85,0.00,0.000,4,0.000,0.100,2497,3916,3400,0,0,0,0,0,0
$GC,1130,-0.78,-146.0,144.9,-11.1,160,1137,0.17,2.70,0.00,0.000,6,0.117,0.074,2440,2482,3401,0,0,0,0,0,0
$GC,1455,-0.69,-146.0,184.7,-11.4,191,1460,0.00,2.83,0.00,0.000,4,0.000,0.100,2439,3913,3401,0,0,0,0,0,0
$GC,1550,-0.61,-146.0,195.4,-11.2,199,1556,0.20,2.70,0.00,0.000,6,0.221,0.074,2484,2481,3401,0,0,0,0,0,0
$GC,1875,-0.69,-146.0,224.9,-9.1,229,1880,0.00,2.83,0.00,0.000,4,0.000,0.100,2484,3913,3401,0,0,0,0,0,0
$GC,1964,-0.80,-146.0,233.5,-9.1,236,1970,0.17,2.67,0.00,0.000,6,0.120,0.075,2429,2500,3400,0,0,0,0,0,0
$GC,2288,-0.71,-146.0,270.0,-11.1,267,2294,0.12,2.83,0.00,0.000,4,0.232,0.100,2453,3915,3400,0,0,0,0,0,0
$GC,2440,-0.71,-146.0,286.3,-10.6,280,2444,0.00,2.67,0.00,0.000,6,0.000,0.075,2453,2502,3399,0,0,0,0,0,0
$GC,2764,-0.71,-146.0,319.7,-10.4,310,2769,0.00,2.80,0.00,0.000,4,0.000,0.101,2453,3913,3400,0,0,0,0,0,0
$GC,2916,-0.71,-146.0,335.1,-10.1,323,2920,0.00,2.65,0.00,0.000,6,0.000,0.075,2453,2519,3399,0,0,0,0,0,0
$GC,3240,-0.71,-146.0,364.8,-8.9,353,3241,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2520,3399,0,0,0,0,0,0
$GC,3560,-0.71,-146.0,392.3,-8.5,383,3565,0.00,2.78,0.00,0.000,4,0.000,0.101,2453,3915,3399,0,0,0,0,0,0
$GC,3656,-0.76,-146.0,400.6,-8.5,391,3660,0.00,2.62,0.00,0.000,6,0.000,0.074,2453,2528,3399,0,0,0,0,0,0
$GC,3981,-0.81,-146.0,427.2,-8.5,421,3985,0.00,2.75,0.00,0.000,4,0.000,0.100,2453,3913,3399,0,0,0,0,0,0
$GC,4143,-0.87,-146.0,441.2,-8.3,435,4148,0.12,2.62,0.00,0.000,6,0.126,0.074,2413,2527,3399,0,0,0,0,0,0
$GC,4467,-0.80,-146.0,473.8,-9.6,465,4472,0.00,2.75,0.00,0.000,4,0.000,0.100,2413,3916,3399,0,0,0,0,0,0
$GC,4522,-0.73,-146.0,479.3,-9.9,469,4529,0.15,2.62,0.00,0.000,6,0.216,0.074,2445,2526,3399,0,0,0,0,0,0
$GC,4847,-0.78,-146.0,505.9,-8.6,500,4848,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2526,3399,0,0,0,0,0,0
$GC,5167,-0.85,-146.0,529.8,-6.9,530,5171,0.00,2.75,0.00,0.000,4,0.000,0.098,2445,3916,3399,0,0,0,0,0,0
$GC,5251,-0.92,-146.0,536.0,-7.6,537,5257,0.17,2.60,0.00,0.000,6,0.122,0.073,2390,2538,3399,0,0,0,0,0,0
$GC,5577,-0.80,-146.0,567.7,-8.6,567,5582,0.15,2.75,0.00,0.000,4,0.215,0.097,2423,3918,3399,0,0,0,0,0,0
$STATE,5619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5619,begin apogee
$GC,5627,-0.16,0.0,571.4,8.7,570,5753,0.77,0.00,120.82,1.153,6,0.199,0.000,2630,1946,2799,0,0,0,0,0,0
$STATE,5754,end apogee,CONTROL_FINISHED_OK
$STATE,5754,begin climb
$GC,5756,0.73,146.0,575.6,0.0,583,5892,0.98,2.78,127.20,1.098,4,0.143,0.097,2921,365,2203,0,0,0,0,0,0
$GC,5944,0.67,146.0,563.3,11.3,601,5948,0.00,2.58,0.00,0.000,6,0.000,0.072,2921,1958,2199,0,0,0,0,0,0
$GC,6268,0.67,146.0,525.1,11.4,631,6273,0.00,3.10,0.00,0.000,4,0.000,0.088,2921,3543,2194,0,0,0,0,0,0
$GC,6318,0.55,146.0,519.2,12.3,635,6324,0.28,3.08,0.00,0.000,6,0.199,0.080,2870,1953,2193,0,0,0,0,0,0
$GC,6642,0.70,154.3,490.5,8.8,665,6653,0.15,0.00,6.57,0.887,6,0.114,0.000,2917,1954,2171,0,0,0,0,0,0
$GC,6970,0.70,154.3,457.8,9.2,696,6975,0.00,3.05,0.00,0.000,4,0.000,0.089,2917,3548,2170,0,0,0,0,0,0
$GC,7043,0.62,154.3,450.2,10.6,702,7049,0.17,3.00,0.00,0.000,6,0.206,0.079,2891,1953,2168,0,0,0,0,0,0
$GC,7368,0.72,160.3,422.7,8.9,732,7382,0.00,3.08,6.70,0.881,4,0.000,0.087,2891,3542,2145,0,0,0,0,0,0
$GC,7433,0.72,160.3,416.4,9.9,738,7438,0.00,2.97,0.00,0.000,6,0.000,0.079,2901,1964,2145,0,0,0,0,0,0
$GC,7758,0.83,195.5,389.7,7.7,768,7799,0.17,3.08,31.27,1.009,4,0.104,0.087,2963,3547,2002,0,0,0,0,0,0
$GC,7889,0.67,195.5,374.4,12.6,780,7895,0.28,3.00,0.00,0.000,6,0.199,0.079,2910,1975,1998,0,0,0,0,0,0
$GC,8214,0.81,228.2,346.8,7.8,810,8249,0.12,2.55,28.48,0.980,4,0.125,0.098,2961,352,1868,0,0,0,0,0,0
$GC,8277,0.75,228.2,340.5,11.5,815,8283,0.00,2.45,0.00,0.000,6,0.000,0.072,2961,1974,1866,0,0,0,0,0,0
$GC,8602,0.75,228.2,300.2,12.5,846,8607,0.00,2.97,0.00,0.000,4,0.000,0.089,2961,3537,1864,0,0,0,0,0,0
$GC,8697,0.66,228.2,287.9,13.0,854,8703,0.28,2.95,0.00,0.000,6,0.190,0.079,2906,1978,1862,0,0,0,0,0,0
$GC,9022,0.86,253.1,260.3,8.1,884,9047,0.20,0.00,21.98,0.940,6,0.107,0.000,2972,1980,1767,0,0,0,0,0,0
$GC,9361,0.86,253.1,220.9,11.5,916,9366,0.00,3.00,0.00,0.000,4,0.000,0.090,2972,3543,1763,0,0,0,0,0,0
$GC,9382,0.86,253.1,218.3,12.2,917,9388,0.00,2.95,0.00,0.000,6,0.000,0.079,2985,1986,1763,0,0,0,0,0,0
$GC,9706,0.86,253.1,180.8,11.6,948,9711,0.00,2.97,0.00,0.000,4,0.000,0.090,2985,3539,1763,0,0,0,0,0,0
$GC,9747,0.77,253.1,175.9,13.6,951,9752,0.22,2.95,0.00,0.000,6,0.199,0.081,2944,1981,1763,0,0,0,0,0,0
$GC,10071,0.90,253.4,144.6,9.2,981,10077,0.12,3.00,0.00,0.000,4,0.127,0.091,2983,3541,1761,0,0,0,0,0,0
$GC,10093,0.90,253.4,142.2,10.4,982,10099,0.00,2.92,0.00,0.000,6,0.000,0.080,2996,1988,1762,0,0,0,0,0,0
$GC,10417,0.90,253.4,107.6,10.8,1013,10422,0.00,2.53,0.00,0.000,4,0.000,0.101,3007,351,1760,0,0,0,0,0,0
$GC,10461,0.83,253.4,102.8,11.6,1016,10467,0.20,2.42,0.00,0.000,6,0.191,0.076,2959,1980,1760,0,0,0,0,0,0
$GC,10804,1.00,280.1,74.1,8.0,1074,10836,0.17,2.97,23.40,0.865,4,0.109,0.092,3016,3537,1657,0,0,0,0,0,0
$GC,10853,0.93,280.1,69.0,10.9,1083,10859,0.17,2.97,0.00,0.000,6,0.210,0.083,2990,1973,1656,0,0,0,0,0,0
$GC,11198,1.00,280.1,36.3,9.7,1144,11203,0.00,3.00,0.00,0.000,4,0.000,0.092,2989,3536,1652,0,0,0,0,0,0
$GC,11226,1.00,280.1,33.0,11.0,1149,11231,0.00,2.95,0.00,0.000,6,0.000,0.082,3000,1987,1652,0,0,0,0,0,0
$FREEZE,8.78,-1.769,-1.757,2,28,0
$STATE,11468,end climb,FINISH_DEPTH_REACHED
$STATE,11468,begin subsurface finish
$FINISH1,8.8,1.025730,86
$GC,11474,0.11,86.0,8.8,-10.7,1192,11511,0.95,2.53,-27.12,0.000,4,0.171,0.116,2729,361,2452,0,0,0,0,0,0
$FINISH2,8.0
$STATE,11511,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11512,begin surface
$RAFOS_CLK,808
$RAFOS,6,1259786943,20.833334,20.817499,99,73,60,0,0,0,818,219,158,0,0,0
$RAFOS,5,1259786465,20.700001,20.684723,68,67,65,0,0,0,201,187,921,0,0,0
$RAFOS_FIX,6646.090332,-6010.391602,021209,202032,6,105,4.06
$IRIDIUM_FIX,6620.33,-5850.01,230299,080832
$TT8_MAMPS,0.026845
$HUMID,50.74
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,16.00
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.8,19.4
$ALTIM_BOTTOM_PING,500.5,103.4
$24V_AH,22.5,49.092
$10V_AH,10.1,25.589
$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,7.550,147.850,366.425,0.000,0.000,0.000,0.000,0.000,4.500,0.000,0.000,1988.706,6993.395,448.343,1995.837,151.457,0.000,1492.394,0.000,1970.931,360.000,18.828,0.000
$DEVICE_MAMPS,233.168,160.303,1152.801,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,889.984,829.419,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152568
$DATA_FILE_SIZE,47279,1199
$CAP_FILE_SIZE,134302,0
$CFSIZE,260165632,231604224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.9
$GPS,021209,201924,6645.517,-6011.295,0,5105.8,0,-37.8