version: 66.06
glider: 143
mission: 10
dive: 312
start: 12 15 109 5 28 20
data:
$ID,143
$MISSION,10
$DIVE,312
$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,-41871.867
$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,22
$R_STBD_OVSHOOT,21
$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
$GPS1,052237,6708.414,-5705.549,36,1.0,36,-37.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-64.5
$GPS2,052802,6708.441,-5705.515,15,1.0,15,-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,166.2,16172,-16.9,-9.167
$D_GRID,518
$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,-146.0,0.0,0.0,0,138,0.00,0.00,-120.22,0.000,2,0.000,0.000,129,2477,3163,0,0,0,0,0,0
$GC,142,-0.73,-146.0,3.3,-6.5,24,163,11.35,0.00,-6.05,0.000,6,0.297,0.000,2446,2477,3397,0,0,0,0,0,0
$GC,501,-0.73,-146.0,48.3,-11.1,88,507,0.00,3.20,0.00,0.000,4,0.000,0.089,2446,3910,3401,0,0,2,0,0,0
$GC,759,-0.73,-146.0,78.8,-11.6,134,765,0.00,3.10,0.00,0.000,6,0.000,0.064,2447,2460,3401,0,0,1,0,0,0
$GC,1094,-0.73,-146.0,116.0,-9.7,181,1099,0.00,3.22,0.00,0.000,4,0.000,0.087,2446,3914,3399,0,0,2,0,0,0
$GC,1302,-0.81,-146.0,134.9,-9.2,199,1307,0.00,3.03,0.00,0.000,6,0.000,0.064,2446,2494,3398,0,0,2,0,0,0
$GC,1627,-0.89,-146.0,160.5,-7.6,229,1633,0.15,3.17,0.00,0.000,4,0.117,0.085,2388,3911,3397,0,0,1,0,0,0
$GC,1874,-0.81,-146.0,187.1,-10.5,250,1881,0.17,2.95,0.00,0.000,6,0.206,0.062,2428,2528,3397,0,0,1,0,0,0
$GC,2199,-0.81,-146.0,211.6,-7.4,281,2204,0.00,3.05,0.00,0.000,4,0.000,0.084,2428,3911,3397,0,0,3,0,0,0
$GC,2356,-0.81,-146.0,223.9,-8.1,294,2362,0.00,2.90,0.00,0.000,6,0.000,0.061,2428,2556,3397,0,0,1,0,0,0
$GC,2681,-0.86,-146.0,250.6,-8.4,325,2686,0.00,3.03,0.00,0.000,4,0.000,0.083,2428,3924,3397,0,0,2,0,0,0
$GC,2938,-0.86,-146.0,273.3,-8.6,347,2944,0.00,2.83,0.00,0.000,6,0.000,0.058,2428,2590,3398,0,0,1,0,0,0
$GC,3264,-0.91,-146.0,301.4,-8.8,378,3269,0.00,2.92,0.00,0.000,4,0.000,0.081,2428,3913,3399,0,0,2,0,0,0
$GC,3364,-0.97,-146.0,310.5,-9.2,386,3370,0.17,2.80,0.00,0.000,6,0.105,0.058,2367,2594,3399,0,0,1,0,0,0
$GC,3689,-0.83,-146.0,346.6,-11.0,417,3695,0.22,2.92,0.00,0.000,4,0.199,0.078,2413,3913,3400,0,0,2,0,0,0
$GC,3880,-0.83,-146.0,364.5,-8.8,433,3886,0.00,2.75,0.00,0.000,6,0.000,0.057,2413,2632,3400,0,0,1,0,0,0
$GC,4205,-0.83,-146.0,392.9,-8.8,464,4210,0.00,2.88,0.00,0.000,4,0.000,0.081,2413,3922,3401,0,0,2,0,0,0
$GC,4361,-0.83,-146.0,406.5,-9.1,477,4367,0.00,2.75,0.00,0.000,6,0.000,0.057,2413,2642,3401,0,0,1,0,0,0
$GC,4687,-0.83,-146.0,432.8,-8.1,508,4692,0.00,2.85,0.00,0.000,4,0.000,0.081,2413,3916,3401,0,0,2,0,0,0
$GC,4894,-0.83,-146.0,450.6,-9.2,526,4898,0.00,2.67,0.00,0.000,6,0.000,0.056,2413,2689,3401,0,0,1,0,0,0
$GC,5219,-0.83,-146.0,476.6,-7.8,556,5224,0.00,2.78,0.00,0.000,4,0.000,0.081,2413,3916,3402,0,0,2,0,0,0
$GC,5386,-0.83,-146.0,491.0,-8.7,570,5392,0.00,2.62,0.00,0.000,6,0.000,0.056,2413,2717,3401,0,0,0,0,0,0
$GC,5711,-0.83,-146.0,517.6,-7.6,601,5715,0.00,2.12,0.00,0.000,3,0.000,0.079,2413,3546,3402,0,0,2,0,0,0
$STATE,5716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5716,begin apogee
$GC,5724,-0.16,0.0,518.1,7.5,601,5851,0.77,0.00,120.18,1.051,6,0.179,0.000,2628,1936,2800,0,0,0,0,0,0
$STATE,5851,end apogee,CONTROL_FINISHED_OK
$STATE,5852,begin climb
$GC,5854,0.73,146.0,521.3,0.0,614,5988,0.95,2.15,123.72,1.006,4,0.126,0.083,2926,362,2202,0,0,0,0,0,0
$GC,6027,0.66,146.0,507.1,11.9,630,6033,0.00,2.10,0.00,0.000,6,0.000,0.056,2926,1964,2199,0,0,0,0,0,0
$GC,6351,0.58,146.0,470.4,11.2,661,6358,0.20,3.40,0.00,0.000,4,0.199,0.073,2877,3532,2194,0,0,3,0,0,0
$GC,6453,0.58,146.0,460.0,9.3,669,6459,0.00,3.40,0.00,0.000,6,0.000,0.067,2891,1949,2193,0,0,2,0,0,0
$GC,6777,0.58,146.0,430.2,9.4,700,6782,0.00,3.38,0.00,0.000,4,0.000,0.075,2891,3525,2193,0,0,3,0,0,0
$GC,6895,0.58,146.0,418.0,10.6,710,6900,0.00,3.33,0.00,0.000,6,0.000,0.067,2905,1973,2192,0,0,2,0,0,0
$GC,7219,0.58,146.0,384.7,10.8,740,7224,0.00,3.35,0.00,0.000,4,0.000,0.075,2906,3528,2192,0,0,2,0,0,0
$GC,7350,0.51,146.0,369.4,11.4,751,7356,0.25,3.33,0.00,0.000,6,0.195,0.067,2859,1975,2192,0,0,1,0,0,0
$GC,7676,0.67,153.5,340.8,8.9,781,7689,0.15,3.28,5.93,0.756,4,0.112,0.074,2911,3525,2173,0,0,1,0,0,0
$GC,7817,0.59,153.5,323.3,13.2,793,7824,0.17,3.28,0.00,0.000,6,0.199,0.067,2886,2005,2172,0,0,1,0,0,0
$GC,8142,0.66,153.5,291.3,9.8,824,8147,0.00,3.33,0.00,0.000,4,0.000,0.074,2886,3534,2172,0,0,1,0,0,0
$GC,8264,0.66,153.5,278.1,11.0,834,8271,0.00,3.25,0.00,0.000,6,0.000,0.066,2898,2029,2172,0,0,1,0,0,0
$GC,8590,0.66,153.5,244.6,10.7,865,8595,0.00,3.30,0.00,0.000,4,0.000,0.075,2899,3534,2172,0,0,1,0,0,0
$GC,8689,0.66,153.5,232.6,12.3,873,8696,0.00,3.22,0.00,0.000,6,0.000,0.066,2913,2046,2171,0,0,1,0,0,0
$GC,9014,0.66,153.5,195.3,10.9,904,9019,0.00,3.25,0.00,0.000,4,0.000,0.074,2913,3533,2171,0,0,2,0,0,0
$GC,9110,0.60,153.5,184.6,10.9,912,9116,0.17,3.20,0.00,0.000,6,0.196,0.066,2886,2056,2171,0,0,2,0,0,0
$GC,9434,0.69,153.5,155.3,9.2,942,9439,0.00,3.22,0.00,0.000,4,0.000,0.074,2886,3531,2171,0,0,2,0,0,0
$GC,9530,0.74,153.5,145.0,11.0,950,9535,0.00,3.12,0.00,0.000,6,0.000,0.065,2898,2068,2171,0,0,2,0,0,0
$GC,9855,0.86,169.4,112.5,8.5,980,9877,0.20,3.20,14.27,0.756,4,0.090,0.074,2971,3526,2108,0,0,2,0,0,0
$GC,9936,0.66,169.4,103.1,12.6,987,9942,0.32,3.15,0.00,0.000,6,0.198,0.065,2906,2084,2107,0,0,2,0,0,0
$GC,10279,0.84,210.1,77.7,7.5,1044,10321,0.17,3.22,33.95,0.761,4,0.104,0.074,2967,3527,1942,0,0,2,0,0,0
$GC,10423,0.74,210.1,60.8,12.7,1070,10430,0.20,3.17,0.00,0.000,6,0.193,0.066,2934,2088,1939,0,0,2,0,0,0
$GC,10769,0.82,210.1,26.3,9.7,1131,10775,0.00,3.22,0.00,0.000,4,0.000,0.075,2933,3530,1938,0,0,1,0,0,0
$GC,10876,0.82,210.1,14.9,11.2,1150,10882,0.00,3.15,0.00,0.000,6,0.000,0.067,2946,2097,1936,0,0,2,0,0,0
$FREEZE,8.87,-0.416,-1.829,0,1,0
$FREEZE,8.32,-0.417,-1.828,0,1,0
$FREEZE,7.85,-0.418,-1.828,0,1,0
$FREEZE,7.35,-0.420,-1.828,0,1,0
$FREEZE,6.85,-0.423,-1.827,0,1,0
$FREEZE,6.35,-0.424,-1.827,0,1,0
$FREEZE,5.72,-0.427,-1.826,0,1,0
$FREEZE,5.24,-0.429,-1.826,0,1,0
$FREEZE,4.72,-0.430,-1.826,0,1,0
$FREEZE,4.31,-0.431,-1.825,0,1,0
$FREEZE,3.67,-0.432,-1.825,0,1,0
$FREEZE,2.99,-0.434,-1.824,0,1,0
$FREEZE,2.65,-0.435,-1.824,0,1,0
$FREEZE,1.98,-0.448,-1.824,0,1,0
$STATE,11011,end climb,SURFACE_DEPTH_REACHED
$STATE,11011,begin surface coast
$FREEZE,1.35,-0.456,-1.823,0,1,0
$FREEZE,0.82,-0.468,-1.823,0,1,0
$FREEZE,0.45,-0.477,-1.823,0,1,0
$FREEZE,0.29,-0.641,-1.051,0,1,0
$FINISH,0.3,1.015535
$STATE,11033,end surface coast,CONTROL_FINISHED_OK
$STATE,11033,begin surface
$SM_CCo,11050,122.65,0.719,0,0,1066,425.10
$SM_GC,1.16,0.00,0.00,122.65,0.000,0.000,0.719,124,2453,1066,-8.02,-0.17,425.10
$RAFOS_CLK,678
$RAFOS,3,1260865502,8.433333,8.417222,59,57,56,0,0,0,198,120,215,0,0,0
$RAFOS,2,1260865023,8.300000,8.284166,64,59,53,0,0,0,206,158,118,0,0,0
$RAFOS,1,1260864550,8.166667,8.152778,62,59,58,0,0,0,152,206,163,0,0,0
$RAFOS,0,1260864066,8.033334,8.018333,65,60,58,0,0,0,184,197,208,0,0,0
$RAFOS_FIX,6705.832031,-5708.091309,151209,000056,2,73,0.65
$IRIDIUM_FIX,6636.54,-5704.59,110399,020243
$TT8_MAMPS,0.026845
$HUMID,46.37
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.10
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.8,19.4
$ALTIM_BOTTOM_PING,450.2,98.7
$24V_AH,22.7,60.127
$10V_AH,10.2,31.708
$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,23.975,140.575,298.050,122.650,0.000,28.947,31.914,145.445,3.000,0.000,16.649,1996.656,6401.079,586.320,2102.423,406.394,0.000,1658.169,0.000,2062.258,1440.000,15.622,0.000
$DEVICE_MAMPS,296.829,88.972,1050.790,718.679,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,863.507,802.822,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152500
$DATA_FILE_SIZE,47318,1178
$CAP_FILE_SIZE,135446,0
$CFSIZE,260165632,225734656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,71,0,0
$SOUNDSPEED,1466.9
$GPS,151209,083620,6707.770,-5705.784,38,99.0,57,-37.7