version: 66.06
glider: 143
mission: 10
dive: 234
start: 12 3 109 0 2 29
data:
$ID,143
$MISSION,10
$DIVE,234
$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,13
$R_STBD_OVSHOOT,18
$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,8.47
$_SM_ANGLEo,-3.2
$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,-146.0,0.0,0.0,0,22,0.00,0.00,-5.38,0.000,2,0.000,0.000,2729,361,2640,0,0,0,0,0,0
$GC,25,-0.73,-146.0,9.4,-0.0,1,57,0.82,6.20,-20.75,0.000,4,0.126,0.096,2464,3911,3400,0,0,0,0,0,0
$GC,197,-0.64,-146.0,32.5,-14.8,32,203,0.00,2.75,0.00,0.000,6,0.000,0.074,2463,2455,3400,0,0,0,0,0,0
$GC,541,-0.55,-146.0,81.0,-13.8,93,547,0.20,2.88,0.00,0.000,4,0.235,0.096,2498,3915,3401,0,0,0,0,0,0
$GC,710,-0.63,-146.0,99.6,-9.9,123,716,0.00,2.70,0.00,0.000,6,0.000,0.073,2498,2482,3401,0,0,0,0,0,0
$GC,1035,-0.72,-146.0,133.9,-10.9,154,1040,0.12,2.85,0.00,0.000,4,0.132,0.100,2456,3912,3401,0,0,0,0,0,0
$GC,1074,-0.72,-146.0,139.1,-13.9,157,1078,0.00,2.70,0.00,0.000,6,0.000,0.074,2456,2481,3401,0,0,0,0,0,0
$GC,1398,-0.72,-146.0,180.0,-11.5,187,1402,0.00,2.83,0.00,0.000,4,0.000,0.100,2456,3909,3401,0,0,0,0,0,0
$GC,1515,-0.72,-146.0,193.1,-10.8,197,1519,0.00,2.67,0.00,0.000,6,0.000,0.075,2456,2496,3400,0,0,0,0,0,0
$GC,1842,-0.72,-146.0,229.6,-11.9,227,1846,0.00,2.80,0.00,0.000,4,0.000,0.100,2456,3910,3400,0,0,0,0,0,0
$GC,1947,-0.72,-146.0,242.4,-11.2,236,1952,0.00,2.65,0.00,0.000,6,0.000,0.075,2456,2509,3400,0,0,0,0,0,0
$GC,2271,-0.72,-146.0,276.2,-10.3,266,2276,0.00,2.80,0.00,0.000,4,0.000,0.101,2456,3918,3400,0,0,0,0,0,0
$GC,2382,-0.72,-146.0,287.7,-10.3,275,2388,0.00,2.65,0.00,0.000,6,0.000,0.075,2456,2517,3400,0,0,0,0,0,0
$GC,2707,-0.72,-146.0,319.6,-9.2,306,2711,0.00,2.78,0.00,0.000,4,0.000,0.101,2456,3911,3400,0,0,0,0,0,0
$GC,2852,-0.72,-146.0,333.0,-9.2,318,2858,0.00,2.62,0.00,0.000,6,0.000,0.076,2456,2532,3400,0,0,0,0,0,0
$GC,3178,-0.72,-146.0,363.4,-9.5,349,3182,0.00,2.75,0.00,0.000,4,0.000,0.101,2456,3916,3400,0,0,0,0,0,0
$GC,3221,-0.79,-146.0,367.9,-9.8,352,3227,0.00,2.62,0.00,0.000,6,0.000,0.075,2456,2531,3399,0,0,0,0,0,0
$GC,3546,-0.84,-146.0,395.7,-7.9,383,3548,0.12,0.00,0.00,0.000,6,0.132,0.000,2414,2532,3399,0,0,0,0,0,0
$GC,3864,-0.77,-146.0,429.6,-10.7,413,3869,0.00,2.75,0.00,0.000,4,0.000,0.101,2414,3913,3399,0,0,0,0,0,0
$GC,4094,-0.70,-146.0,454.2,-10.7,433,4100,0.20,2.62,0.00,0.000,6,0.218,0.075,2459,2526,3398,0,0,0,0,0,0
$GC,4419,-0.79,-146.0,480.7,-8.2,463,4424,0.00,2.75,0.00,0.000,4,0.000,0.099,2459,3914,3399,0,0,0,0,0,0
$GC,4470,-0.89,-146.0,484.5,-7.4,467,4475,0.17,2.60,0.00,0.000,6,0.124,0.073,2406,2538,3399,0,0,0,0,0,0
$GC,4795,-0.81,-146.0,515.9,-9.7,497,4799,0.00,2.72,0.00,0.000,4,0.000,0.099,2405,3912,3399,0,0,0,0,0,0
$GC,4845,-0.73,-146.0,521.2,-10.5,501,4850,0.20,2.60,0.00,0.000,6,0.216,0.074,2450,2537,3399,0,0,0,0,0,0
$GC,5170,-0.82,-146.0,547.7,-7.8,531,5175,0.00,2.72,0.00,0.000,4,0.000,0.097,2450,3914,3399,0,0,0,0,0,0
$GC,5248,-0.91,-146.0,554.0,-7.5,537,5254,0.17,2.58,0.00,0.000,6,0.121,0.072,2396,2548,3399,0,0,0,0,0,0
$STATE,5432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5432,begin apogee
$GC,5438,-0.16,0.0,571.6,10.1,555,5565,0.90,0.00,120.72,1.153,6,0.209,0.000,2628,1947,2799,0,0,0,0,0,0
$STATE,5565,end apogee,CONTROL_FINISHED_OK
$STATE,5565,begin climb
$GC,5567,0.73,146.0,574.9,0.0,568,5704,1.00,2.78,127.32,1.094,4,0.147,0.097,2923,368,2202,0,0,0,0,0,0
$GC,5766,0.66,146.0,558.9,12.0,587,5771,0.00,2.55,0.00,0.000,6,0.000,0.072,2924,1953,2198,0,0,0,0,0,0
$GC,6091,0.61,146.0,523.8,10.5,617,6096,0.15,3.10,0.00,0.000,4,0.205,0.089,2891,3543,2194,0,0,0,0,0,0
$GC,6202,0.61,146.0,512.9,9.3,626,6209,0.00,3.03,0.00,0.000,6,0.000,0.079,2902,1967,2192,0,0,0,0,0,0
$GC,6527,0.61,146.0,484.1,9.7,657,6532,0.00,3.03,0.00,0.000,4,0.000,0.089,2902,3540,2192,0,0,0,0,0,0
$GC,6582,0.55,146.0,478.2,11.0,661,6589,0.17,2.97,0.00,0.000,6,0.198,0.079,2875,1965,2191,0,0,0,0,0,0
$GC,6907,0.69,156.4,448.9,8.7,692,6922,0.12,3.05,8.25,0.933,4,0.128,0.089,2915,3539,2161,0,0,0,0,0,0
$GC,6966,0.61,156.4,442.5,11.7,697,6973,0.17,2.95,0.00,0.000,6,0.200,0.078,2888,1981,2160,0,0,0,0,0,0
$GC,7292,0.70,167.6,414.4,8.7,728,7312,0.00,2.97,11.30,0.969,4,0.000,0.087,2887,3540,2114,0,0,0,0,0,0
$GC,7340,0.71,170.7,409.8,9.0,732,7349,0.00,2.95,4.12,0.703,6,0.000,0.078,2898,1978,2103,0,0,0,0,0,0
$GC,7675,0.83,190.1,381.2,8.4,764,7700,0.17,3.05,17.75,0.987,4,0.103,0.088,2959,3538,2025,0,0,0,0,0,0
$GC,7740,0.67,190.1,373.4,13.2,770,7746,0.28,2.95,0.00,0.000,6,0.202,0.078,2906,1987,2024,0,0,0,0,0,0
$GC,8065,0.79,207.6,344.5,8.4,800,8085,0.12,0.00,16.45,0.960,6,0.127,0.000,2945,1988,1952,0,0,0,0,0,0
$GC,8403,0.79,207.6,308.9,10.2,832,8407,0.00,2.97,0.00,0.000,4,0.000,0.088,2946,3544,1950,0,0,0,0,0,0
$GC,8457,0.74,207.6,302.7,11.9,836,8464,0.12,2.92,0.00,0.000,6,0.206,0.078,2932,1989,1948,0,0,0,0,0,0
$GC,8782,0.83,223.6,273.1,8.5,867,8803,0.00,2.97,14.57,0.930,4,0.000,0.088,2932,3542,1887,0,0,0,0,0,0
$GC,8821,0.89,231.0,269.7,8.9,870,8837,0.00,2.92,7.95,0.849,6,0.000,0.079,2942,1992,1858,0,0,0,0,0,0
$GC,9155,0.96,231.0,238.8,10.2,902,9161,0.17,3.00,0.00,0.000,4,0.106,0.090,3001,3547,1855,0,0,0,0,0,0
$GC,9184,0.84,231.0,235.2,13.6,904,9190,0.22,2.92,0.00,0.000,6,0.208,0.079,2962,2002,1855,0,0,0,0,0,0
$GC,9508,0.84,231.0,199.9,9.6,934,9509,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2003,1854,0,0,0,0,0,0
$GC,9828,0.84,231.0,167.6,10.0,964,9829,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2003,1853,0,0,0,0,0,0
$GC,10147,0.89,231.0,137.2,9.6,994,10152,0.00,2.95,0.00,0.000,4,0.000,0.092,2962,3546,1853,0,0,0,0,0,0
$GC,10208,0.89,231.0,131.1,10.0,999,10213,0.00,2.90,0.00,0.000,6,0.000,0.081,2972,2005,1853,0,0,0,0,0,0
$GC,10533,0.97,246.7,102.3,8.5,1029,10554,0.00,2.95,14.43,0.877,4,0.000,0.092,2972,3543,1793,0,0,0,0,0,0
$GC,10583,0.97,246.7,97.6,9.5,1035,10589,0.00,2.90,0.00,0.000,6,0.000,0.082,2984,2014,1792,0,0,0,0,0,0
$GC,10930,1.04,263.7,66.6,8.5,1096,10951,0.12,0.00,15.77,0.858,6,0.122,0.000,3024,2015,1724,0,0,0,0,0,0
$GC,11288,0.97,263.7,27.5,11.0,1160,11294,0.00,2.95,0.00,0.000,4,0.000,0.094,3024,3541,1721,0,0,0,0,0,0
$GC,11311,0.88,263.7,24.7,12.4,1164,11318,0.25,2.90,0.00,0.000,6,0.202,0.083,2978,2016,1721,0,0,0,0,0,0
$FREEZE,8.77,-1.770,-1.751,2,29,0
$STATE,11486,end climb,FINISH_DEPTH_REACHED
$STATE,11486,begin subsurface finish
$FINISH1,8.8,1.025652,90
$GC,11492,0.11,89.8,8.8,-9.2,1195,11524,0.85,2.45,-25.08,0.000,4,0.167,0.112,2729,364,2437,0,0,0,0,0,0
$FINISH2,7.2
$STATE,11525,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11525,begin surface
$RAFOS_CLK,807
$RAFOS,6,1259801343,0.833333,0.817500,107,64,57,0,0,0,804,201,133,0,0,0
$RAFOS,5,1259800862,0.700000,0.683889,72,61,57,0,0,0,929,213,170,0,0,0
$RAFOS,4,1259800386,0.566667,0.551667,135,59,58,0,0,0,684,158,208,0,0,0
$RAFOS,3,1259799902,0.433333,0.417222,82,67,53,0,0,0,786,207,149,0,0,0
$RAFOS,2,1259799422,0.300000,0.283889,130,64,53,0,0,0,662,173,136,0,0,0
$RAFOS,1,1259798941,0.166667,0.150278,131,62,57,0,0,0,546,208,162,0,0,0
$RAFOS_FIX,6645.514160,-6002.987305,031209,000017,6,110,0.40
$IRIDIUM_FIX,6620.33,-5850.01,230299,080832
$TT8_MAMPS,0.028379
$HUMID,50.03
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,16.20
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.9,17.2
$ALTIM_BOTTOM_PING,500.4,148.5
$24V_AH,22.5,49.202
$10V_AH,10.1,25.652
$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,6.875,142.825,358.650,0.000,0.000,0.000,0.000,0.000,4.250,0.000,0.000,2053.422,6972.809,440.670,1982.939,148.226,0.000,1477.823,0.000,1959.764,2160.000,14.504,0.000
$DEVICE_MAMPS,234.702,137.293,1152.801,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,886.761,831.896,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152608
$DATA_FILE_SIZE,47359,1201
$CAP_FILE_SIZE,133386,0
$CFSIZE,260165632,231534592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.9
$GPS,031209,003117,6645.514,-6002.987,0,6109.5,0,-37.8