version: 66.06
glider: 143
mission: 10
dive: 311
start: 12 15 109 2 23 56
data:
$ID,143
$MISSION,10
$DIVE,311
$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,-41854.59
$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,20
$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
$GPS1,021707,6708.448,-5704.863,38,1.2,38,-37.7
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-64.2
$GPS2,022337,6708.547,-5704.905,9,1.3,14,-37.7
$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,167.8,15956,-16.9,-9.167
$D_GRID,502
$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,14,-0.73,-146.0,0.0,0.0,0,128,0.00,0.00,-110.35,0.000,2,0.000,0.000,122,2465,3000,0,0,0,0,0,0
$GC,132,-0.73,-146.0,3.3,-5.2,22,163,11.20,2.35,-10.73,0.000,4,0.292,0.097,2446,858,3400,0,0,0,0,0,0
$GC,192,-0.67,-146.0,14.8,-15.8,33,197,0.00,2.20,0.00,0.000,6,0.000,0.069,2446,2458,3402,0,0,0,0,0,0
$GC,536,-0.67,-146.0,51.7,-11.5,94,541,0.00,3.25,0.00,0.000,4,0.000,0.088,2446,3925,3401,0,0,2,0,0,0
$GC,738,-0.67,-146.0,75.3,-10.7,130,743,0.00,3.10,0.00,0.000,6,0.000,0.064,2446,2468,3402,0,0,2,0,0,0
$GC,1083,-0.73,-146.0,108.0,-9.1,184,1088,0.00,3.22,0.00,0.000,4,0.000,0.087,2446,3918,3400,0,0,2,0,0,0
$GC,1105,-0.80,-146.0,110.1,-8.9,185,1111,0.00,3.00,0.00,0.000,6,0.000,0.064,2446,2516,3400,0,0,2,0,0,0
$GC,1430,-0.88,-146.0,136.4,-8.0,216,1435,0.12,2.38,0.00,0.000,4,0.123,0.086,2409,851,3399,0,0,0,0,0,0
$GC,1676,-0.82,-146.0,164.4,-11.9,237,1682,0.00,2.33,0.00,0.000,6,0.000,0.070,2409,2528,3399,0,0,0,0,0,0
$GC,2001,-0.82,-146.0,195.8,-9.8,268,2006,0.00,3.10,0.00,0.000,4,0.000,0.086,2409,3927,3398,0,0,2,0,0,0
$GC,2259,-0.82,-146.0,221.6,-8.7,290,2264,0.00,2.90,0.00,0.000,6,0.000,0.062,2409,2568,3398,0,0,2,0,0,0
$GC,2583,-0.82,-146.0,249.4,-7.7,321,2588,0.00,3.00,0.00,0.000,4,0.000,0.084,2409,3921,3398,0,0,3,0,0,0
$GC,2773,-0.82,-146.0,265.5,-8.5,337,2779,0.00,2.88,0.00,0.000,6,0.000,0.060,2409,2586,3399,0,0,0,0,0,0
$GC,3098,-0.82,-146.0,292.0,-7.3,368,3103,0.00,2.97,0.00,0.000,4,0.000,0.083,2410,3924,3400,0,0,2,0,0,0
$GC,3344,-0.82,-146.0,310.7,-7.4,389,3350,0.00,2.80,0.00,0.000,6,0.000,0.059,2409,2615,3400,0,0,1,0,0,0
$GC,3669,-0.82,-146.0,336.4,-8.2,420,3673,0.00,2.92,0.00,0.000,4,0.000,0.083,2409,3925,3400,0,0,2,0,0,0
$GC,3757,-0.82,-146.0,344.4,-9.2,427,3763,0.00,2.78,0.00,0.000,6,0.000,0.058,2410,2629,3400,0,0,1,0,0,0
$GC,4082,-0.82,-146.0,372.8,-8.6,458,4087,0.00,2.90,0.00,0.000,4,0.000,0.082,2409,3927,3400,0,0,2,0,0,0
$GC,4228,-0.82,-146.0,385.8,-8.5,470,4234,0.00,2.78,0.00,0.000,6,0.000,0.058,2409,2637,3401,0,0,1,0,0,0
$GC,4552,-0.82,-146.0,413.5,-8.4,501,4557,0.00,2.88,0.00,0.000,4,0.000,0.082,2409,3917,3401,0,0,2,0,0,0
$GC,4705,-0.82,-146.0,426.7,-8.8,514,4710,0.00,2.72,0.00,0.000,6,0.000,0.058,2409,2658,3401,0,0,1,0,0,0
$GC,5030,-0.82,-146.0,453.7,-8.6,544,5035,0.00,2.88,0.00,0.000,4,0.000,0.081,2409,3929,3402,0,0,1,0,0,0
$GC,5160,-0.82,-146.0,465.1,-9.0,555,5165,0.00,2.67,0.00,0.000,6,0.000,0.057,2409,2674,3402,0,0,3,0,0,0
$GC,5485,-0.82,-146.0,493.0,-8.8,585,5489,0.00,2.85,0.00,0.000,4,0.000,0.081,2409,3927,3403,0,0,1,0,0,0
$STATE,5593,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5593,begin apogee
$GC,5602,-0.16,0.0,502.2,7.7,594,5729,0.80,0.00,120.50,1.041,6,0.183,0.000,2631,1942,2799,0,0,0,0,0,0
$STATE,5730,end apogee,CONTROL_FINISHED_OK
$STATE,5730,begin climb
$GC,5732,0.73,146.0,505.2,0.0,607,5865,0.93,0.00,123.35,0.996,6,0.127,0.000,2913,1942,2203,0,0,0,0,0,0
$GC,6182,0.73,146.0,460.7,11.2,650,6187,0.00,3.50,0.00,0.000,4,0.000,0.073,2913,3549,2196,0,0,2,0,0,0
$GC,6327,0.63,146.0,443.4,12.4,662,6334,0.15,3.42,0.00,0.000,6,0.207,0.066,2897,1941,2195,0,0,2,0,0,0
$GC,6651,0.63,146.0,409.2,10.6,693,6656,0.00,3.42,0.00,0.000,4,0.000,0.075,2897,3541,2195,0,0,2,0,0,0
$GC,6769,0.63,146.0,395.5,12.1,703,6775,0.00,3.38,0.00,0.000,6,0.000,0.067,2909,1966,2193,0,0,1,0,0,0
$GC,7095,0.63,146.0,356.0,12.8,733,7100,0.00,3.38,0.00,0.000,4,0.000,0.074,2909,3541,2193,0,0,2,0,0,0
$GC,7215,0.55,146.0,339.0,14.8,743,7221,0.22,3.35,0.00,0.000,6,0.195,0.067,2870,1975,2193,0,0,1,0,0,0
$GC,7539,0.67,146.0,304.3,9.6,773,7545,0.12,3.35,0.00,0.000,4,0.117,0.074,2909,3543,2193,0,0,2,0,0,0
$GC,7680,0.61,146.0,287.4,12.6,785,7686,0.15,3.30,0.00,0.000,6,0.200,0.066,2889,2002,2193,0,0,1,0,0,0
$GC,8005,0.69,161.9,257.4,8.5,815,8026,0.00,3.35,12.57,0.831,4,0.000,0.074,2888,3538,2139,0,0,2,0,0,0
$GC,8111,0.69,163.2,247.6,9.1,824,8117,0.00,3.25,0.00,0.000,6,0.000,0.066,2901,2014,2137,0,0,1,0,0,0
$GC,8435,0.69,163.2,217.4,9.9,855,8440,0.00,3.33,0.00,0.000,4,0.000,0.074,2901,3541,2136,0,0,1,0,0,0
$GC,8534,0.69,163.2,205.8,11.3,863,8541,0.00,3.28,0.00,0.000,6,0.000,0.066,2915,2024,2135,0,0,1,0,0,0
$GC,8861,0.69,163.2,171.2,10.3,894,8866,0.00,3.30,0.00,0.000,4,0.000,0.074,2915,3542,2135,0,0,1,0,0,0
$GC,8927,0.64,163.2,164.0,10.7,899,8934,0.15,3.25,0.00,0.000,6,0.201,0.065,2897,2032,2136,0,0,1,0,0,0
$GC,9252,0.75,183.2,135.4,8.3,930,9277,0.12,3.30,18.40,0.785,4,0.120,0.074,2940,3543,2052,0,0,1,0,0,0
$GC,9384,0.67,183.2,119.1,13.5,942,9390,0.20,3.25,0.00,0.000,6,0.196,0.064,2907,2042,2050,0,0,1,0,0,0
$GC,9719,0.83,205.9,83.6,8.2,986,9746,0.15,3.30,19.60,0.753,4,0.110,0.073,2961,3541,1959,0,0,0,0,0,0
$GC,9893,0.76,205.9,63.4,12.5,1017,9899,0.17,3.22,0.00,0.000,6,0.196,0.064,2935,2061,1957,0,0,1,0,0,0
$GC,10238,0.88,245.7,31.4,7.5,1078,10280,0.12,3.30,33.33,0.738,4,0.121,0.074,2977,3541,1797,0,0,1,0,0,0
$GC,10387,0.77,245.7,14.7,13.0,1105,10394,0.20,3.22,0.00,0.000,6,0.193,0.067,2944,2081,1793,0,0,1,0,0,0
$FREEZE,8.24,-0.389,-1.828,0,1,0
$FREEZE,7.66,-0.390,-1.828,0,1,0
$FREEZE,7.12,-0.390,-1.828,0,1,0
$FREEZE,6.63,-0.388,-1.827,0,1,0
$FREEZE,5.73,-0.389,-1.827,0,1,0
$FREEZE,4.83,-0.390,-1.826,0,1,0
$FREEZE,4.08,-0.393,-1.825,0,1,0
$FREEZE,3.37,-0.394,-1.825,0,1,0
$FREEZE,2.68,-0.392,-1.824,0,1,0
$FREEZE,2.05,-0.392,-1.824,0,1,0
$FREEZE,1.24,-0.386,-1.823,0,1,0
$STATE,10494,end climb,SURFACE_DEPTH_REACHED
$STATE,10494,begin surface coast
$FREEZE,0.48,-0.389,-1.823,0,1,0
$FREEZE,0.37,-0.426,-1.798,0,1,0
$FREEZE,0.55,-0.325,-1.819,0,1,0
$FINISH,0.6,1.026654
$STATE,10512,end surface coast,CONTROL_FINISHED_OK
$STATE,10512,begin surface
$SM_CCo,10530,106.45,0.709,0,0,1066,425.10
$SM_GC,1.06,0.00,0.00,106.45,0.000,0.000,0.709,130,2474,1066,-8.00,0.40,425.10
$RAFOS_CLK,651
$RAFOS,6,1260852544,4.833333,4.817778,71,56,55,0,0,0,201,152,217,0,0,0
$RAFOS,5,1260852067,4.700000,4.685278,77,59,56,0,0,0,620,124,193,0,0,0
$RAFOS,4,1260851583,4.566667,4.550833,60,59,53,0,0,0,198,167,208,0,0,0
$RAFOS,3,1260851107,4.433333,4.418611,59,58,57,0,0,0,197,220,208,0,0,0
$RAFOS,2,1260850630,4.300000,4.286111,65,63,61,0,0,0,213,166,187,0,0,0
$RAFOS,1,1260850145,4.166667,4.151389,69,59,59,0,0,0,212,163,134,0,0,0
$RAFOS,0,1260849667,4.033333,4.018611,62,60,55,0,0,0,216,200,146,0,0,0
$RAFOS_FIX,6705.832031,-5708.091309,151209,000056,2,73,0.65
$IRIDIUM_FIX,6636.54,-5709.24,100399,232358
$TT8_MAMPS,0.026845
$HUMID,45.58
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.40
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.5,19.3
$ALTIM_BOTTOM_PING,400.1,129.6
$24V_AH,22.7,60.005
$10V_AH,10.1,31.639
$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,23.200,135.950,327.750,106.450,0.000,26.983,32.277,207.413,2.000,0.000,16.146,1910.198,6057.225,594.914,1993.428,464.664,0.000,1616.932,0.000,1956.180,2520.000,10.939,0.000
$DEVICE_MAMPS,292.227,96.642,1040.819,709.475,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,826.215,766.130,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152468
$DATA_FILE_SIZE,44250,1127
$CAP_FILE_SIZE,130765,0
$CFSIZE,260165632,225816576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,59,0,0
$SOUNDSPEED,1467.3
$GPS,151209,052237,6708.414,-5705.549,36,1.0,36,-37.7