version: 66.06
glider: 143
mission: 10
dive: 313
start: 12 15 109 8 42 13
data:
$ID,143
$MISSION,10
$DIVE,313
$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,-41883.43
$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,20
$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
$GPS1,083620,6707.770,-5705.784,38,99.0,57,-37.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-67.0
$GPS2,084155,6707.766,-5705.814,9,1.4,9,-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,162.2,15601,-16.9,-9.167
$D_GRID,547
$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,-120.22,0.000,2,0.000,0.000,124,2455,3140,0,0,0,0,0,0
$GC,142,-0.73,-146.0,3.3,-5.8,24,169,11.15,2.33,-6.90,0.000,4,0.290,0.098,2445,864,3399,0,0,0,0,0,0
$GC,417,-0.73,-146.0,38.7,-11.5,73,423,0.00,2.20,0.00,0.000,6,0.000,0.071,2445,2455,3401,0,0,0,0,0,0
$GC,760,-0.73,-146.0,74.8,-9.4,134,766,0.00,2.25,0.00,0.000,4,0.000,0.087,2445,870,3401,0,0,0,0,0,0
$GC,1018,-0.73,-146.0,101.9,-11.3,179,1022,0.00,2.30,0.00,0.000,6,0.000,0.073,2445,2512,3401,0,0,0,0,0,0
$GC,1343,-0.78,-146.0,130.9,-7.5,209,1348,0.00,3.12,0.00,0.000,4,0.000,0.091,2445,3916,3399,0,0,3,0,0,0
$GC,1478,-0.86,-146.0,141.8,-8.7,220,1483,0.00,2.95,0.00,0.000,6,0.000,0.065,2445,2529,3398,0,0,3,0,0,0
$GC,1803,-0.94,-146.0,169.5,-8.6,251,1809,0.17,3.12,0.00,0.000,4,0.110,0.085,2373,3926,3397,0,0,2,0,0,0
$GC,1983,-0.80,-146.0,190.5,-11.7,266,1990,0.22,2.90,0.00,0.000,6,0.205,0.063,2426,2556,3397,0,0,3,0,0,0
$GC,2308,-0.80,-146.0,219.7,-8.5,297,2313,0.00,3.05,0.00,0.000,4,0.000,0.085,2425,3924,3398,0,0,2,0,0,0
$GC,2475,-0.80,-146.0,234.1,-8.8,311,2481,0.00,2.88,0.00,0.000,6,0.000,0.061,2426,2574,3397,0,0,1,0,0,0
$GC,2802,-0.84,-146.0,260.0,-7.9,342,2807,0.00,3.00,0.00,0.000,4,0.000,0.084,2426,3927,3398,0,0,2,0,0,0
$GC,2976,-0.89,-146.0,274.3,-7.7,357,2981,0.00,2.85,0.00,0.000,6,0.000,0.059,2426,2579,3399,0,0,2,0,0,0
$GC,3302,-0.93,-146.0,300.4,-8.0,387,3308,0.12,2.97,0.00,0.000,4,0.118,0.080,2373,3919,3399,0,0,2,0,0,0
$GC,3437,-0.78,-146.0,314.6,-11.0,398,3444,0.25,2.72,0.00,0.000,6,0.198,0.058,2433,2598,3400,0,0,2,0,0,0
$GC,3762,-0.86,-146.0,340.5,-7.9,429,3767,0.00,2.92,0.00,0.000,4,0.000,0.081,2433,3918,3401,0,0,2,0,0,0
$GC,3936,-0.93,-146.0,354.5,-8.6,444,3942,0.15,2.78,0.00,0.000,6,0.114,0.058,2383,2609,3401,0,0,2,0,0,0
$GC,4261,-0.85,-146.0,386.3,-10.1,474,4267,0.12,2.95,0.00,0.000,4,0.206,0.082,2410,3925,3402,0,0,2,0,0,0
$GC,4457,-0.85,-146.0,405.2,-9.6,491,4462,0.00,2.75,0.00,0.000,6,0.000,0.058,2410,2634,3402,0,0,2,0,0,0
$GC,4781,-0.85,-146.0,433.3,-8.6,521,4786,0.00,2.88,0.00,0.000,4,0.000,0.081,2410,3918,3402,0,0,2,0,0,0
$GC,4934,-0.85,-146.0,445.7,-8.2,534,4938,0.00,2.72,0.00,0.000,6,0.000,0.058,2410,2644,3402,0,0,2,0,0,0
$GC,5258,-0.85,-146.0,470.0,-7.6,564,5263,0.00,2.88,0.00,0.000,4,0.000,0.081,2411,3929,3402,0,0,2,0,0,0
$GC,5381,-0.85,-146.0,479.7,-7.6,574,5387,0.00,2.67,0.00,0.000,6,0.000,0.058,2410,2670,3402,0,0,3,0,0,0
$GC,5707,-0.85,-146.0,505.3,-8.3,605,5712,0.00,2.85,0.00,0.000,4,0.000,0.081,2410,3927,3403,0,0,1,0,0,0
$GC,5791,-0.85,-146.0,512.6,-8.1,612,5796,0.00,2.67,0.00,0.000,6,0.000,0.057,2410,2670,3402,0,0,3,0,0,0
$GC,6116,-0.85,-146.0,539.2,-7.9,642,6120,0.00,2.85,0.00,0.000,4,0.000,0.081,2411,3922,3403,0,0,1,0,0,0
$STATE,6213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6213,begin apogee
$GC,6223,-0.16,0.0,547.2,7.8,650,6349,0.75,0.00,121.03,1.071,6,0.176,0.000,2622,1936,2800,0,0,0,0,0,0
$STATE,6350,end apogee,CONTROL_FINISHED_OK
$STATE,6350,begin climb
$GC,6352,0.73,146.0,550.1,0.0,663,6485,0.98,0.00,124.18,1.025,6,0.127,0.000,2915,1936,2204,0,0,0,0,0,0
$GC,6802,0.73,146.0,504.7,10.6,706,6807,0.00,3.50,0.00,0.000,4,0.000,0.074,2916,3544,2197,0,0,2,0,0,0
$GC,6914,0.62,146.0,490.9,12.1,715,6920,0.17,3.45,0.00,0.000,6,0.205,0.066,2892,1941,2196,0,0,1,0,0,0
$GC,7238,0.62,146.0,458.4,9.4,746,7243,0.00,3.45,0.00,0.000,4,0.000,0.075,2893,3552,2195,0,0,2,0,0,0
$GC,7356,0.62,146.0,445.9,10.6,756,7361,0.00,3.40,0.00,0.000,6,0.000,0.067,2906,1965,2194,0,0,1,0,0,0
$GC,7682,0.62,146.0,411.6,11.1,786,7687,0.00,3.40,0.00,0.000,4,0.000,0.076,2906,3544,2194,0,0,2,0,0,0
$GC,7778,0.56,146.0,399.8,12.2,794,7784,0.20,3.35,0.00,0.000,6,0.198,0.067,2874,1971,2193,0,0,2,0,0,0
$GC,8103,0.66,154.7,370.0,8.8,824,8117,0.00,3.42,7.03,0.808,4,0.000,0.074,2874,3547,2169,0,0,2,0,0,0
$GC,8240,0.66,154.7,356.1,10.6,836,8247,0.00,3.33,0.00,0.000,6,0.000,0.066,2886,1997,2168,0,0,1,0,0,0
$GC,8565,0.73,154.7,326.3,9.5,867,8571,0.12,3.38,0.00,0.000,4,0.107,0.075,2934,3547,2168,0,0,2,0,0,0
$GC,8685,0.58,154.7,311.4,13.8,877,8691,0.28,3.30,0.00,0.000,6,0.201,0.067,2883,2005,2168,0,0,2,0,0,0
$GC,9010,0.67,160.3,281.3,8.9,907,9024,0.00,3.33,6.32,0.751,4,0.000,0.074,2883,3546,2146,0,0,2,0,0,0
$GC,9158,0.67,160.3,266.1,10.1,920,9165,0.00,3.25,0.00,0.000,6,0.000,0.067,2896,2036,2145,0,0,2,0,0,0
$GC,9484,0.73,160.3,233.9,9.8,951,9489,0.00,3.28,0.00,0.000,4,0.000,0.075,2895,3544,2144,0,0,3,0,0,0
$GC,9618,0.73,160.3,219.4,10.9,962,9624,0.00,3.22,0.00,0.000,6,0.000,0.066,2910,2057,2144,0,0,2,0,0,0
$GC,9942,0.73,160.3,185.5,11.2,993,9947,0.00,3.25,0.00,0.000,4,0.000,0.074,2909,3545,2144,0,0,2,0,0,0
$GC,10027,0.73,160.3,175.4,12.8,1000,10032,0.00,3.25,0.00,0.000,6,0.000,0.065,2924,2060,2144,0,0,0,0,0,0
$GC,10353,0.73,160.3,139.1,11.9,1030,10358,0.00,3.25,0.00,0.000,4,0.000,0.074,2924,3545,2144,0,0,2,0,0,0
$GC,10438,0.65,160.3,128.5,12.4,1037,10443,0.15,3.22,0.00,0.000,6,0.205,0.065,2905,2065,2144,0,0,1,0,0,0
$GC,10764,0.76,168.4,97.6,8.8,1069,10780,0.00,3.22,8.27,0.710,4,0.000,0.074,2904,3547,2112,0,0,3,0,0,0
$GC,10859,0.76,168.4,88.2,9.5,1086,10865,0.00,3.20,0.00,0.000,6,0.000,0.065,2917,2082,2112,0,0,1,0,0,0
$GC,11204,0.91,217.3,61.2,7.1,1147,11256,0.20,3.25,40.72,0.760,4,0.091,0.074,2990,3544,1912,0,0,3,0,0,0
$GC,11334,0.76,217.3,45.8,13.6,1171,11341,0.28,3.22,0.00,0.000,6,0.198,0.067,2938,2097,1907,0,0,1,0,0,0
$GC,11678,0.83,217.3,13.4,9.5,1232,11684,0.00,3.25,0.00,0.000,4,0.000,0.076,2938,3544,1905,0,0,1,0,0,0
$FREEZE,8.51,-0.452,-1.828,0,1,0
$FREEZE,7.91,-0.448,-1.828,0,1,0
$FREEZE,7.41,-0.448,-1.827,0,1,0
$FREEZE,6.81,-0.451,-1.827,0,1,0
$FREEZE,6.17,-0.450,-1.827,0,1,0
$GC,11746,0.83,217.3,6.2,10.4,1244,11752,0.00,3.20,0.00,0.000,6,0.000,0.067,2950,2103,1903,0,0,1,0,0,0
$FREEZE,4.92,-0.453,-1.826,0,1,0
$FREEZE,4.35,-0.453,-1.825,0,1,0
$FREEZE,3.72,-0.453,-1.825,0,1,0
$FREEZE,3.21,-0.454,-1.824,0,1,0
$FREEZE,2.43,-0.454,-1.824,0,1,0
$FREEZE,1.89,-0.453,-1.823,0,1,0
$STATE,11785,end climb,SURFACE_DEPTH_REACHED
$STATE,11785,begin surface coast
$FREEZE,1.05,-0.453,-1.823,0,1,0
$FREEZE,0.25,-0.456,-1.822,0,1,0
$FREEZE,0.36,-0.453,-1.821,0,1,0
$FINISH,0.4,1.026700
$STATE,11805,end surface coast,CONTROL_FINISHED_OK
$STATE,11805,begin surface
$SM_CCo,11822,119.95,0.717,0,0,1065,425.10
$SM_GC,1.04,0.00,0.00,119.95,0.000,0.000,0.717,125,2472,1065,-8.02,0.34,425.10
$RAFOS_CLK,730
$RAFOS,6,1260866942,8.833333,8.817223,64,64,61,0,0,0,197,806,222,0,0,0
$RAFOS_FIX,6705.832031,-5708.091309,151209,000056,2,73,0.65
$IRIDIUM_FIX,6636.54,-5712.23,110399,050514
$TT8_MAMPS,0.026845
$HUMID,46.22
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.4,19.2
$ALTIM_BOTTOM_PING,450.3,114.8
$24V_AH,22.7,60.252
$10V_AH,10.1,31.781
$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,23.575,153.575,307.550,119.950,0.000,25.478,42.536,152.588,2.250,0.000,10.936,2107.806,6926.171,609.317,2195.274,430.529,0.000,1730.216,0.000,2161.317,360.000,15.694,0.000
$DEVICE_MAMPS,289.926,98.176,1071.499,717.145,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,918.473,854.205,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152508
$DATA_FILE_SIZE,47260,1254
$CAP_FILE_SIZE,143203,0
$CFSIZE,260165632,225660928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,87,0,0
$SOUNDSPEED,1466.9
$GPS,151209,120237,6708.431,-5707.395,37,1.0,37,-37.7