version: 66.06
glider: 143
mission: 10
dive: 297
start: 12 13 109 3 7 0
data:
$ID,143
$MISSION,10
$DIVE,297
$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,-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,425
$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,-41615.117
$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,19
$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
$GPS1,024957,6705.363,-5655.388,32,99.0,51,-37.6
$_CALLS,1
$_XMS_NAKs,44
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-62.2
$GPS2,030643,6705.320,-5655.602,9,1.2,14,-37.6
$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,165.6,6970,-16.9,-9.167
$D_GRID,482
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,155,0.00,0.00,-134.65,0.000,2,0.000,0.000,128,2470,3177,0,0,0,0,0,0
$GC,157,-0.73,-146.0,3.1,-6.1,27,184,11.10,2.42,-5.93,0.000,4,0.290,0.100,2444,866,3398,0,0,0,0,0,0
$GC,437,-0.73,-146.0,45.6,-11.6,77,443,0.00,2.28,0.00,0.000,6,0.000,0.075,2444,2456,3401,0,0,0,0,0,0
$GC,781,-0.73,-146.0,81.1,-8.7,138,787,0.00,3.20,0.00,0.000,4,0.000,0.094,2444,3916,3401,0,0,1,0,0,0
$GC,999,-0.73,-146.0,102.6,-10.7,175,1006,0.00,2.97,0.00,0.000,6,0.000,0.068,2444,2505,3401,0,0,1,0,0,0
$GC,1325,-0.78,-146.0,134.1,-8.6,206,1330,0.00,3.10,0.00,0.000,4,0.000,0.093,2444,3915,3401,0,0,2,0,0,0
$GC,1515,-0.85,-146.0,150.0,-7.9,222,1521,0.00,2.95,0.00,0.000,6,0.000,0.068,2444,2519,3399,0,0,1,0,0,0
$GC,1840,-0.93,-146.0,178.4,-8.9,253,1846,0.17,3.10,0.00,0.000,4,0.111,0.089,2373,3924,3399,0,0,1,0,0,0
$GC,2009,-0.77,-146.0,198.4,-11.6,267,2015,0.28,2.90,0.00,0.000,6,0.207,0.066,2438,2540,3398,0,0,1,0,0,0
$GC,2334,-0.84,-146.0,224.5,-7.3,298,2339,0.00,3.03,0.00,0.000,4,0.000,0.089,2438,3918,3399,0,0,1,0,0,0
$GC,2458,-0.91,-146.0,234.5,-8.4,308,2464,0.15,2.88,0.00,0.000,6,0.118,0.065,2390,2546,3398,0,0,1,0,0,0
$GC,2782,-0.82,-146.0,266.2,-10.0,339,2788,0.15,3.03,0.00,0.000,4,0.208,0.087,2423,3916,3399,0,0,1,0,0,0
$GC,2913,-0.82,-146.0,277.5,-9.0,350,2918,0.00,2.83,0.00,0.000,6,0.000,0.064,2424,2571,3399,0,0,1,0,0,0
$GC,3238,-0.82,-146.0,303.2,-7.7,380,3243,0.00,2.92,0.00,0.000,4,0.000,0.087,2424,3912,3400,0,0,1,0,0,0
$GC,3406,-0.82,-146.0,316.8,-8.0,395,3411,0.00,2.78,0.00,0.000,6,0.000,0.063,2424,2596,3400,0,0,1,0,0,0
$GC,3733,-0.82,-146.0,342.9,-7.7,425,3738,0.00,2.90,0.00,0.000,4,0.000,0.085,2423,3916,3401,0,0,1,0,0,0
$GC,3891,-0.87,-146.0,356.2,-8.5,438,3897,0.00,2.75,0.00,0.000,6,0.000,0.061,2424,2612,3401,0,0,1,0,0,0
$GC,4216,-0.92,-146.0,382.1,-7.5,469,4221,0.00,2.88,0.00,0.000,4,0.000,0.084,2424,3918,3402,0,0,1,0,0,0
$GC,4316,-0.97,-146.0,390.0,-7.6,477,4323,0.15,2.72,0.00,0.000,6,0.111,0.061,2373,2625,3402,0,0,1,0,0,0
$GC,4641,-0.85,-146.0,420.6,-9.7,508,4646,0.17,2.88,0.00,0.000,4,0.203,0.084,2413,3918,3403,0,0,1,0,0,0
$GC,4816,-0.85,-146.0,435.5,-8.1,523,4820,0.00,2.70,0.00,0.000,6,0.000,0.060,2413,2638,3403,0,0,1,0,0,0
$GC,5140,-0.85,-146.0,460.8,-7.9,553,5145,0.00,2.85,0.00,0.000,4,0.000,0.084,2413,3929,3403,0,0,1,0,0,0
$GC,5283,-0.85,-146.0,472.4,-8.2,565,5287,0.00,2.67,0.00,0.000,6,0.000,0.059,2413,2662,3404,0,0,1,0,0,0
$STATE,5403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5403,begin apogee
$GC,5409,-0.16,0.0,482.6,8.3,576,5536,0.77,0.00,120.62,1.035,6,0.176,0.000,2630,1932,2799,0,0,0,0,0,0
$STATE,5537,end apogee,CONTROL_FINISHED_OK
$STATE,5537,begin climb
$GC,5541,0.73,146.0,485.7,0.0,589,5673,0.95,0.00,123.12,0.989,6,0.128,0.000,2917,1932,2202,0,0,0,0,0,0
$GC,5990,0.73,146.0,442.1,10.9,632,5995,0.00,3.45,0.00,0.000,4,0.000,0.076,2917,3539,2195,0,0,1,0,0,0
$GC,6097,0.62,146.0,429.4,11.8,641,6103,0.17,3.38,0.00,0.000,6,0.202,0.068,2893,1951,2193,0,0,0,0,0,0
$GC,6421,0.62,146.0,397.0,10.0,671,6426,0.00,3.38,0.00,0.000,4,0.000,0.077,2893,3548,2193,0,0,1,0,0,0
$GC,6556,0.62,146.0,382.2,10.9,682,6562,0.00,3.33,0.00,0.000,6,0.000,0.070,2905,1970,2192,0,0,0,0,0,0
$GC,6880,0.62,146.0,348.3,10.6,713,6885,0.00,3.33,0.00,0.000,4,0.000,0.077,2905,3544,2192,0,0,1,0,0,0
$GC,6980,0.55,146.0,336.8,12.1,721,6987,0.20,3.28,0.00,0.000,6,0.193,0.069,2872,1994,2192,0,0,0,0,0,0
$GC,7305,0.64,146.0,307.0,9.3,752,7310,0.00,3.28,0.00,0.000,4,0.000,0.076,2871,3544,2192,0,0,1,0,0,0
$GC,7428,0.64,146.0,294.6,10.2,762,7434,0.00,3.25,0.00,0.000,6,0.000,0.067,2883,1998,2192,0,0,0,0,0,0
$GC,7753,0.72,146.0,263.1,9.9,793,7759,0.12,3.30,0.00,0.000,4,0.104,0.076,2932,3547,2192,0,0,1,0,0,0
$GC,7861,0.59,146.0,248.8,13.6,802,7867,0.25,3.22,0.00,0.000,6,0.194,0.068,2886,2020,2192,0,0,0,0,0,0
$GC,8186,0.69,155.8,219.3,8.8,832,8200,0.00,3.25,7.68,0.752,4,0.000,0.075,2885,3538,2164,0,0,1,0,0,0
$GC,8279,0.69,155.8,210.6,9.4,840,8285,0.00,3.17,0.00,0.000,6,0.000,0.067,2897,2022,2164,0,0,1,0,0,0
$GC,8605,0.78,166.2,182.0,8.7,871,8625,0.12,3.22,10.55,0.783,4,0.106,0.075,2947,3545,2119,0,0,1,0,0,0
$GC,8710,0.63,166.2,168.8,13.7,880,8717,0.25,3.20,0.00,0.000,6,0.190,0.067,2900,2038,2118,0,0,0,0,0,0
$GC,9035,0.73,166.2,137.0,9.5,911,9040,0.00,3.22,0.00,0.000,4,0.000,0.076,2899,3540,2118,0,0,0,0,0,0
$GC,9158,0.73,166.2,124.4,9.7,921,9163,0.00,3.15,0.00,0.000,6,0.000,0.067,2911,2048,2117,0,0,1,0,0,0
$GC,9485,0.82,182.8,95.2,8.5,957,9507,0.12,3.22,14.60,0.769,4,0.107,0.077,2959,3548,2053,0,0,0,0,0,0
$GC,9608,0.69,182.8,80.6,12.6,979,9614,0.22,3.17,0.00,0.000,6,0.191,0.069,2919,2064,2050,0,0,0,0,0,0
$GC,9955,0.79,182.8,48.8,10.0,1040,9960,0.00,3.20,0.00,0.000,4,0.000,0.077,2918,3544,2050,0,0,0,0,0,0
$GC,10039,0.79,182.8,39.7,11.1,1055,10045,0.00,3.15,0.00,0.000,6,0.000,0.069,2931,2076,2050,0,0,0,0,0,0
$FREEZE,8.80,-0.060,-1.831,0,1,0
$FREEZE,8.37,-0.065,-1.831,0,1,0
$FREEZE,7.95,-0.049,-1.831,0,1,0
$FREEZE,7.52,-0.061,-1.831,0,1,0
$FREEZE,7.03,-0.041,-1.830,0,1,0
$FREEZE,6.68,-0.058,-1.830,0,1,0
$FREEZE,6.10,-0.038,-1.829,0,1,0
$FREEZE,5.38,-0.059,-1.829,0,1,0
$FREEZE,4.75,-0.065,-1.829,0,1,0
$FREEZE,4.12,-0.062,-1.828,0,1,0
$FREEZE,3.42,-0.063,-1.828,0,1,0
$GC,10382,0.91,213.3,6.7,7.9,1116,10419,0.15,3.22,25.67,0.747,4,0.097,0.078,2985,3539,1927,0,0,2,0,0,0
$FREEZE,1.74,-0.055,-1.826,0,1,0
$STATE,10424,end climb,SURFACE_DEPTH_REACHED
$STATE,10426,begin surface coast
$FREEZE,0.98,-0.040,-1.826,0,1,0
$FREEZE,0.25,-0.037,-1.825,0,1,0
$FREEZE,0.08,-0.034,-1.824,0,1,0
$FINISH,0.1,1.026726
$STATE,10443,end surface coast,CONTROL_FINISHED_OK
$STATE,10443,begin surface
$SM_CCo,10461,116.50,0.717,0,0,1065,425.10
$SM_GC,0.89,0.00,0.00,116.50,0.000,0.000,0.717,127,2450,1065,-8.01,-0.28,425.10
$RAFOS_CLK,689
$RAFOS,6,1260679742,4.833333,4.817222,59,58,57,0,0,0,219,196,157,0,0,0
$RAFOS,5,1260679265,4.700000,4.684722,83,70,56,0,0,0,640,211,114,0,0,0
$RAFOS,4,1260678786,4.566667,4.551667,67,59,59,0,0,0,862,206,167,0,0,0
$RAFOS,3,1260678304,4.433333,4.417778,69,61,59,0,0,0,220,184,164,0,0,0
$RAFOS,2,1260677823,4.300000,4.284167,58,56,56,0,0,0,218,171,119,0,0,0
$RAFOS,1,1260677348,4.166667,4.152222,64,62,62,0,0,0,196,182,172,0,0,0
$RAFOS,0,1260676861,4.033333,4.016944,57,55,54,0,0,0,134,210,108,0,0,0
$RAFOS_FIX,6709.466309,-5706.293945,131209,040428,2,75,1.95
$IRIDIUM_FIX,6636.54,-5652.31,090399,000019
$TT8_MAMPS,0.026845
$HUMID,46.25
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,19.9
$ALTIM_BOTTOM_PING,300.7,220.5
$24V_AH,22.8,58.006
$10V_AH,10.1,30.588
$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,24.000,134.850,302.250,116.500,0.000,30.990,34.770,792.333,1.500,0.000,16.228,1901.674,6046.114,595.735,1965.317,1078.167,0.000,1611.352,0.000,1927.119,2520.000,7.644,0.000
$DEVICE_MAMPS,289.926,99.710,1034.683,717.145,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,824.494,767.472,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152260
$DATA_FILE_SIZE,44131,1126
$CAP_FILE_SIZE,143867,0
$CFSIZE,260165632,226107392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,0,0
$SOUNDSPEED,1464.6
$GPS,131209,060454,6704.862,-5655.497,40,1.1,40,-37.6