version: 66.06
glider: 143
mission: 10
dive: 238
start: 12 3 109 15 11 57
data:
$ID,143
$MISSION,10
$DIVE,238
$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,-35716.281
$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,17
$R_STBD_OVSHOOT,17
$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
$GPS1,122432,6645.296,-5954.523,0,6129.8,0,-38.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.90
$_SM_ANGLEo,-1.8
$GPS2,122432,6645.296,-5954.523,0,6129.8,0,-38.1
$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,114.4,138630,-16.9,-9.167
$D_GRID,728
$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,-5.32,0.000,2,0.000,0.000,2731,1937,2694,0,0,0,0,0,0
$GC,25,-0.73,-146.0,13.7,-0.0,1,47,0.80,1.65,-15.70,0.000,4,0.107,0.118,2463,869,3398,0,0,0,0,0,0
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$GC,3284,-0.77,-146.0,362.9,-11.3,369,3289,0.00,2.80,0.00,0.000,4,0.000,0.102,2418,3911,3399,0,0,0,0,0,0
$GC,3485,-0.69,-146.0,385.7,-10.5,386,3492,0.20,2.65,0.00,0.000,6,0.220,0.076,2463,2522,3398,0,0,0,0,0,0
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$GC,3920,-0.89,-146.0,424.5,-9.0,426,3925,0.20,2.67,0.00,0.000,6,0.118,0.075,2401,2519,3398,0,0,0,0,0,0
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$GC,5539,-0.77,-146.0,583.4,-9.6,573,5545,0.00,2.60,0.00,0.000,6,0.000,0.071,2430,2545,3400,0,0,0,0,0,0
$GC,5880,-0.77,-146.0,614.9,-9.2,596,5884,0.00,2.72,0.00,0.000,4,0.000,0.096,2430,3912,3400,0,0,0,0,0,0
$GC,6013,-0.77,-146.0,627.7,-9.2,600,6018,0.00,2.58,0.00,0.000,6,0.000,0.070,2430,2556,3400,0,0,0,0,0,0
$GC,6342,-0.77,-146.0,657.4,-9.1,611,6347,0.00,2.70,0.00,0.000,4,0.000,0.095,2430,3912,3401,0,0,0,0,0,0
$GC,6438,-0.77,-146.0,665.5,-7.9,614,6442,0.00,2.55,0.00,0.000,6,0.000,0.070,2430,2568,3401,0,0,0,0,0,0
$GC,6772,-0.77,-146.0,692.3,-8.0,625,6776,0.00,2.67,0.00,0.000,4,0.000,0.094,2430,3911,3402,0,0,0,0,0,0
$GC,6827,-0.77,-146.0,697.1,-8.1,626,6832,0.00,2.55,0.00,0.000,6,0.000,0.070,2430,2569,3401,0,0,0,0,0,0
$GC,7139,-0.77,-146.0,722.1,-7.8,637,7144,0.00,2.67,0.00,0.000,4,0.000,0.094,2430,3914,3402,0,0,0,0,0,0
$STATE,7208,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7209,begin apogee
$GC,7217,-0.16,0.0,728.0,8.1,639,7345,0.75,0.00,123.80,1.243,6,0.195,0.000,2630,1948,2800,0,0,0,0,0,0
$STATE,7345,end apogee,CONTROL_FINISHED_OK
$STATE,7346,begin climb
$GC,7347,0.73,146.0,730.8,0.0,643,7488,1.00,2.78,130.55,1.183,4,0.141,0.095,2927,360,2202,0,0,0,0,0,0
$GC,7527,0.63,146.0,717.1,11.0,648,7533,0.15,2.55,0.00,0.000,6,0.193,0.070,2897,1955,2198,0,0,0,0,0,0
$GC,7839,0.63,146.0,686.4,10.0,659,7844,0.00,3.12,0.00,0.000,4,0.000,0.087,2897,3542,2194,0,0,0,0,0,0
$GC,7901,0.57,146.0,679.9,11.4,661,7907,0.15,3.10,0.00,0.000,6,0.206,0.077,2876,1954,2193,0,0,0,0,0,0
$GC,8237,0.70,178.4,652.7,7.8,672,8272,0.12,3.15,27.23,1.144,4,0.123,0.087,2916,3530,2071,0,0,0,0,0,0
$GC,8339,0.59,178.4,641.1,12.9,675,8344,0.20,3.03,0.00,0.000,6,0.202,0.078,2884,1965,2068,0,0,0,0,0,0
$GC,8668,0.68,178.4,608.3,10.0,686,8673,0.00,3.03,0.00,0.000,4,0.000,0.087,2884,3538,2067,0,0,0,0,0,0
$GC,8757,0.68,178.4,598.6,11.3,688,8763,0.00,2.95,0.00,0.000,6,0.000,0.077,2894,1984,2066,0,0,0,0,0,0
$GC,9081,0.74,178.4,564.5,10.5,719,9087,0.10,3.00,0.00,0.000,4,0.131,0.088,2932,3538,2066,0,0,0,0,0,0
$GC,9149,0.60,178.4,555.7,14.2,724,9155,0.25,2.95,0.00,0.000,6,0.202,0.078,2885,1983,2065,0,0,0,0,0,0
$GC,9473,0.70,178.4,524.2,9.3,755,9478,0.00,3.00,0.00,0.000,4,0.000,0.087,2885,3546,2065,0,0,0,0,0,0
$GC,9523,0.70,178.4,519.1,10.4,759,9528,0.00,2.92,0.00,0.000,6,0.000,0.078,2896,2000,2065,0,0,0,0,0,0
$GC,9849,0.76,178.4,487.8,9.6,789,9855,0.12,2.97,0.00,0.000,4,0.112,0.087,2942,3542,2065,0,0,0,0,0,0
$GC,9916,0.61,178.4,478.8,14.3,794,9923,0.28,2.90,0.00,0.000,6,0.199,0.077,2886,2009,2065,0,0,0,0,0,0
$GC,10241,0.71,179.1,448.1,9.1,825,10247,0.12,2.95,0.00,0.000,4,0.127,0.087,2926,3538,2065,0,0,0,0,0,0
$GC,10297,0.60,179.1,441.4,13.0,829,10303,0.20,2.88,0.00,0.000,6,0.200,0.078,2891,2024,2065,0,0,0,0,0,0
$GC,10622,0.70,179.1,411.8,9.2,860,10623,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2025,2065,0,0,0,0,0,0
$GC,10941,0.84,191.7,383.4,8.6,890,10963,0.20,2.97,11.65,0.960,4,0.107,0.087,2957,3545,2018,0,0,0,0,0,0
$GC,10998,0.66,191.7,376.6,13.5,895,11003,0.25,2.88,0.00,0.000,6,0.205,0.077,2911,2028,2017,0,0,0,0,0,0
$GC,11322,0.78,221.5,347.8,7.9,925,11357,0.00,3.00,26.73,0.984,4,0.000,0.087,2910,3537,1895,0,0,0,0,0,0
$GC,11410,0.78,221.5,340.5,9.6,933,11415,0.00,2.90,0.00,0.000,6,0.000,0.077,2921,2027,1893,0,0,0,0,0,0
$GC,11734,0.88,221.5,311.1,9.4,963,11736,0.15,0.00,0.00,0.000,6,0.110,0.000,2974,2028,1891,0,0,0,0,0,0
$GC,12053,0.81,221.5,272.7,11.2,993,12058,0.00,2.92,0.00,0.000,4,0.000,0.089,2973,3540,1890,0,0,0,0,0,0
$GC,12092,0.66,221.5,267.7,13.7,996,12097,0.32,2.88,0.00,0.000,6,0.197,0.078,2906,2030,1889,0,0,0,0,0,0
$GC,12416,0.90,272.5,243.5,7.0,1026,12469,0.22,3.00,44.38,0.944,4,0.103,0.089,2981,3544,1687,0,0,0,0,0,0
$GC,12486,0.82,272.5,235.8,12.8,1032,12493,0.15,2.92,0.00,0.000,6,0.198,0.078,2961,2039,1685,0,0,0,0,0,0
$GC,12811,0.88,272.5,197.7,11.7,1063,12816,0.00,2.92,0.00,0.000,4,0.000,0.089,2961,3541,1681,0,0,0,0,0,0
$GC,12839,0.88,272.5,194.4,12.0,1065,12843,0.00,2.88,0.00,0.000,6,0.000,0.078,2971,2044,1680,0,0,0,0,0,0
$GC,13163,0.88,272.5,156.8,11.3,1095,13167,0.00,2.90,0.00,0.000,4,0.000,0.091,2971,3538,1679,0,0,0,0,0,0
$GC,13206,0.88,272.5,151.8,12.2,1098,13212,0.00,2.85,0.00,0.000,6,0.000,0.079,2983,2049,1679,0,0,0,0,0,0
$GC,13531,0.89,279.5,120.8,8.9,1129,13542,0.00,2.88,5.88,0.765,4,0.000,0.091,2983,3538,1659,0,0,0,0,0,0
$GC,13581,0.89,279.5,115.4,11.7,1133,13587,0.00,2.83,0.00,0.000,6,0.000,0.080,2995,2058,1658,0,0,0,0,0,0
$GC,13917,0.89,279.5,74.0,11.5,1182,13922,0.00,2.62,0.00,0.000,4,0.000,0.101,3006,355,1657,0,0,0,0,0,0
$GC,13979,0.89,279.5,66.5,12.2,1193,13985,0.12,2.53,0.00,0.000,6,0.193,0.076,2979,2055,1655,0,0,0,0,0,0
$GC,14325,0.98,279.5,30.4,10.6,1254,14331,0.00,2.85,0.00,0.000,4,0.000,0.093,2979,3540,1655,0,0,0,0,0,0
$GC,14393,0.98,279.5,23.7,11.4,1266,14398,0.00,2.83,0.00,0.000,6,0.000,0.081,2989,2058,1655,0,0,0,0,0,0
$FREEZE,8.46,-1.733,-1.762,2,3,0
$STATE,14529,end climb,FINISH_DEPTH_REACHED
$STATE,14529,begin subsurface finish
$FINISH1,8.5,1.025811,82
$GC,14535,0.10,82.1,8.5,-12.6,1290,14571,0.90,0.00,-29.30,0.000,6,0.167,0.000,2729,1942,2467,0,0,0,0,0,0
$FINISH2,6.6
$STATE,14572,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14572,begin surface
$RAFOS_CLK,1012
$RAFOS,6,1259858963,16.833334,16.823055,101,64,57,0,0,0,655,175,203,0,0,0
$RAFOS,5,1259858461,16.700001,16.683611,83,60,59,0,0,0,884,157,191,0,0,0
$RAFOS,4,1259857988,16.566668,16.552221,128,59,56,0,0,0,621,208,116,0,0,0
$RAFOS,3,1259857506,16.433332,16.418333,98,71,62,0,0,0,742,209,191,0,0,0
$RAFOS,2,1259857022,16.299999,16.283890,145,57,57,0,0,0,665,226,193,0,0,0
$RAFOS,1,1259856546,16.166666,16.151667,137,62,62,0,0,0,557,210,171,0,0,0
$RAFOS,0,1259856070,16.033333,16.019444,115,70,58,0,0,0,658,229,151,0,0,0
$RAFOS_FIX,6646.117188,-5948.983398,031209,161625,7,115,0.30
$IRIDIUM_FIX,6620.33,-5958.37,270299,070748
$TT8_MAMPS,0.026845
$HUMID,50.63
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,16.30
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.7,19.1
$24V_AH,22.4,49.737
$10V_AH,10.1,25.950
$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,8.200,185.500,370.200,0.000,0.000,0.000,0.000,0.000,4.250,0.000,0.000,2278.465,9371.874,486.711,2312.801,195.912,0.000,1700.019,0.000,2289.075,2520.000,18.511,0.000
$DEVICE_MAMPS,241.605,118.118,1243.307,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,965.653,904.707,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152508
$DATA_FILE_SIZE,50405,1297
$CAP_FILE_SIZE,161467,0
$CFSIZE,260165632,231198720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.8
$GPS,031209,162725,6646.117,-5948.983,0,7115.3,0,-38.1