version: 66.06
glider: 143
mission: 10
dive: 314
start: 12 15 109 12 8 50
data:
$ID,143
$MISSION,10
$DIVE,314
$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,-41900.379
$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,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
$GPS1,120237,6708.431,-5707.395,37,1.0,37,-37.7
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-67.1
$GPS2,120832,6708.503,-5707.580,14,1.0,14,-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,163.5,17430,-16.9,-9.167
$D_GRID,529
$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,14,begin dive
$GC,16,-0.73,-146.0,0.0,0.0,0,140,0.00,0.00,-119.28,0.000,2,0.000,0.000,124,2474,3125,0,0,0,0,0,0
$GC,142,-0.73,-146.0,3.2,-5.3,24,169,11.07,2.35,-7.38,0.000,4,0.289,0.098,2443,869,3399,0,0,0,0,0,0
$GC,186,-0.33,-146.0,12.4,-16.0,32,192,0.50,2.20,0.00,0.000,6,0.188,0.069,2577,2458,3400,0,0,0,0,0,0
$GC,532,-0.74,-146.0,33.8,-6.5,93,538,0.35,3.28,0.00,0.000,4,0.084,0.083,2440,3928,3401,0,0,2,0,0,0
$GC,790,-0.74,-146.0,64.3,-11.7,139,796,0.00,3.03,0.00,0.000,6,0.000,0.064,2439,2507,3401,0,0,3,0,0,0
$GC,1139,-0.74,-146.0,101.3,-9.9,200,1144,0.00,3.15,0.00,0.000,4,0.000,0.087,2439,3923,3400,0,0,3,0,0,0
$GC,1396,-0.74,-146.0,125.9,-9.9,222,1402,0.00,2.95,0.00,0.000,6,0.000,0.064,2440,2545,3398,0,0,2,0,0,0
$GC,1721,-0.79,-146.0,157.4,-9.4,253,1726,0.00,3.10,0.00,0.000,4,0.000,0.088,2439,3928,3398,0,0,2,0,0,0
$GC,1922,-0.87,-146.0,176.6,-9.4,270,1928,0.00,2.90,0.00,0.000,6,0.000,0.063,2440,2570,3397,0,0,2,0,0,0
$GC,2247,-0.95,-146.0,204.3,-7.8,301,2252,0.17,3.03,0.00,0.000,4,0.100,0.083,2363,3917,3397,0,0,2,0,0,0
$GC,2437,-0.78,-146.0,225.6,-10.7,317,2444,0.30,2.85,0.00,0.000,6,0.207,0.061,2434,2584,3396,0,0,1,0,0,0
$GC,2763,-0.85,-146.0,250.3,-7.2,348,2768,0.00,2.95,0.00,0.000,4,0.000,0.084,2434,3916,3397,0,0,3,0,0,0
$GC,2948,-0.92,-146.0,263.7,-6.7,364,2954,0.15,2.80,0.00,0.000,6,0.114,0.059,2385,2595,3397,0,0,2,0,0,0
$GC,3274,-0.84,-146.0,292.6,-9.0,394,3279,0.12,2.95,0.00,0.000,4,0.207,0.082,2412,3917,3398,0,0,3,0,0,0
$GC,3475,-0.84,-146.0,309.6,-8.0,411,3481,0.00,2.75,0.00,0.000,6,0.000,0.058,2412,2630,3398,0,0,2,0,0,0
$GC,3800,-0.84,-146.0,334.6,-7.6,442,3805,0.00,2.90,0.00,0.000,4,0.000,0.082,2412,3929,3399,0,0,2,0,0,0
$GC,3963,-0.84,-146.0,347.2,-7.5,456,3967,0.00,2.75,0.00,0.000,6,0.000,0.058,2412,2640,3400,0,0,2,0,0,0
$GC,4287,-0.84,-146.0,370.8,-7.2,486,4292,0.00,2.88,0.00,0.000,4,0.000,0.081,2412,3925,3400,0,0,2,0,0,0
$GC,4433,-0.84,-146.0,381.8,-8.0,498,4439,0.00,2.67,0.00,0.000,6,0.000,0.058,2412,2672,3401,0,0,3,0,0,0
$GC,4758,-0.84,-146.0,404.7,-6.7,529,4762,0.00,2.83,0.00,0.000,4,0.000,0.081,2412,3922,3401,0,0,2,0,0,0
$GC,4917,-0.84,-146.0,416.9,-7.8,542,4922,0.00,2.65,0.00,0.000,6,0.000,0.058,2412,2691,3400,0,0,2,0,0,0
$GC,5242,-0.84,-146.0,440.9,-7.5,573,5246,0.00,2.80,0.00,0.000,4,0.000,0.082,2412,3926,3401,0,0,3,0,0,0
$GC,5337,-0.84,-146.0,448.2,-7.9,581,5341,0.00,2.62,0.00,0.000,6,0.000,0.058,2412,2701,3401,0,0,3,0,0,0
$GC,5662,-0.84,-146.0,473.6,-8.2,611,5666,0.00,2.78,0.00,0.000,4,0.000,0.081,2412,3917,3401,0,0,2,0,0,0
$GC,5818,-0.84,-146.0,486.9,-8.5,624,5824,0.00,2.60,0.00,0.000,6,0.000,0.057,2412,2718,3401,0,0,2,0,0,0
$GC,6143,-0.84,-146.0,513.1,-7.1,655,6144,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2719,3402,0,0,0,0,0,0
$STATE,6321,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6321,begin apogee
$GC,6327,-0.16,0.0,529.2,7.9,672,6454,0.77,0.00,120.82,1.059,6,0.181,0.000,2628,1941,2799,0,0,0,0,0,0
$STATE,6455,end apogee,CONTROL_FINISHED_OK
$STATE,6455,begin climb
$GC,6457,0.73,146.0,531.7,0.0,685,6591,0.95,2.15,123.78,1.016,4,0.128,0.084,2923,368,2202,0,0,0,0,0,0
$GC,6615,0.65,146.0,520.3,9.9,700,6619,0.00,2.12,0.00,0.000,6,0.000,0.057,2923,1973,2200,0,0,0,0,0,0
$GC,6939,0.58,146.0,481.1,12.2,730,6945,0.20,3.42,0.00,0.000,4,0.196,0.072,2868,3541,2194,0,0,3,0,0,0
$GC,7042,0.62,146.0,470.5,10.2,738,7048,0.00,3.42,0.00,0.000,6,0.000,0.066,2881,1955,2193,0,0,2,0,0,0
$GC,7367,0.70,155.6,441.5,8.8,769,7382,0.10,3.42,7.97,0.856,4,0.127,0.076,2917,3531,2164,0,0,2,0,0,0
$GC,7516,0.59,155.6,423.4,12.4,782,7524,0.17,3.35,0.00,0.000,6,0.192,0.068,2887,1974,2162,0,0,2,0,0,0
$GC,7841,0.65,155.6,392.9,9.4,813,7846,0.00,3.38,0.00,0.000,4,0.000,0.074,2887,3536,2162,0,0,2,0,0,0
$GC,7948,0.65,155.6,381.8,11.0,822,7953,0.00,3.33,0.00,0.000,6,0.000,0.067,2900,1988,2162,0,0,2,0,0,0
$GC,8272,0.65,155.6,350.3,9.8,852,8277,0.00,3.35,0.00,0.000,4,0.000,0.077,2900,3528,2161,0,0,2,0,0,0
$GC,8383,0.65,155.6,338.0,11.4,861,8389,0.00,3.30,0.00,0.000,6,0.000,0.067,2915,1993,2161,0,0,2,0,0,0
$GC,8707,0.65,155.6,301.6,12.0,892,8713,0.00,3.35,0.00,0.000,4,0.000,0.076,2914,3537,2161,0,0,2,0,0,0
$GC,8820,0.57,155.6,287.4,13.0,901,8827,0.22,3.28,0.00,0.000,6,0.197,0.067,2875,2024,2161,0,0,2,0,0,0
$GC,9147,0.66,155.6,255.2,9.3,932,9152,0.00,3.28,0.00,0.000,4,0.000,0.074,2875,3532,2161,0,0,3,0,0,0
$GC,9271,0.71,155.6,242.8,9.9,942,9277,0.00,3.25,0.00,0.000,6,0.000,0.067,2887,2036,2160,0,0,2,0,0,0
$GC,9596,0.82,188.4,214.2,7.8,973,9631,0.20,3.35,27.35,0.849,4,0.091,0.074,2959,3530,2030,0,0,2,0,0,0
$GC,9742,0.65,188.4,195.0,14.4,986,9749,0.30,3.25,0.00,0.000,6,0.201,0.067,2902,2055,2027,0,0,2,0,0,0
$GC,10068,0.71,188.4,165.0,10.2,1017,10073,0.00,3.28,0.00,0.000,4,0.000,0.074,2903,3541,2026,0,0,2,0,0,0
$GC,10141,0.71,188.4,156.7,11.1,1023,10146,0.00,3.20,0.00,0.000,6,0.000,0.065,2914,2080,2026,0,0,2,0,0,0
$GC,10465,0.71,188.4,122.1,10.6,1053,10470,0.00,3.22,0.00,0.000,4,0.000,0.074,2914,3541,2026,0,0,2,0,0,0
$GC,10553,0.71,188.4,111.8,11.4,1060,10559,0.00,3.17,0.00,0.000,6,0.000,0.064,2929,2088,2026,0,0,2,0,0,0
$GC,10891,0.78,188.4,77.3,9.4,1110,10897,0.00,3.22,0.00,0.000,4,0.000,0.074,2928,3539,2026,0,0,1,0,0,0
$GC,11005,0.78,188.4,66.4,9.3,1130,11011,0.00,3.15,0.00,0.000,6,0.000,0.065,2942,2100,2026,0,0,2,0,0,0
$GC,11350,0.84,199.4,37.8,8.7,1191,11367,0.00,3.17,10.38,0.706,4,0.000,0.074,2942,3532,1985,0,0,2,0,0,0
$GC,11460,0.84,199.4,27.0,10.7,1210,11465,0.00,3.15,0.00,0.000,6,0.000,0.067,2956,2104,1984,0,0,2,0,0,0
$FREEZE,8.78,-0.414,-1.829,0,1,0
$FREEZE,8.13,-0.415,-1.828,0,1,0
$FREEZE,7.55,-0.414,-1.828,0,1,0
$FREEZE,6.95,-0.411,-1.828,0,1,0
$FREEZE,6.46,-0.409,-1.827,0,1,0
$FREEZE,5.82,-0.414,-1.826,0,1,0
$FREEZE,5.07,-0.417,-1.826,0,1,0
$FREEZE,4.58,-0.418,-1.826,0,1,0
$FREEZE,3.90,-0.419,-1.825,0,1,0
$FREEZE,3.38,-0.420,-1.825,0,1,0
$FREEZE,2.84,-0.420,-1.824,0,1,0
$FREEZE,2.27,-0.419,-1.824,0,1,0
$FREEZE,1.80,-0.420,-1.824,0,1,0
$STATE,11700,end climb,SURFACE_DEPTH_REACHED
$STATE,11700,begin surface coast
$FREEZE,1.15,-0.416,-1.823,0,1,0
$FREEZE,0.42,-0.416,-1.823,0,1,0
$FREEZE,0.32,-0.386,-1.821,0,1,0
$FINISH,0.3,1.026689
$STATE,11721,end surface coast,CONTROL_FINISHED_OK
$STATE,11721,begin surface
$SM_CCo,11738,127.62,0.718,0,0,1066,425.10
$SM_GC,1.13,0.00,0.00,127.62,0.000,0.000,0.718,129,2458,1066,-8.00,-0.06,425.10
$RAFOS_CLK,727
$RAFOS,6,1260881344,12.833333,12.817778,59,53,53,0,0,0,784,184,152,0,0,0
$RAFOS,5,1260880866,12.700000,12.685000,65,60,59,0,0,0,616,210,227,0,0,0
$RAFOS,4,1260880383,12.566667,12.550834,61,54,53,0,0,0,186,210,157,0,0,0
$RAFOS,3,1260879905,12.433333,12.418056,61,58,54,0,0,0,203,118,148,0,0,0
$RAFOS,2,1260879424,12.300000,12.284445,64,53,53,0,0,0,211,169,156,0,0,0
$RAFOS,1,1260878950,12.166667,12.152778,72,67,65,0,0,0,188,205,122,0,0,0
$RAFOS_FIX,6705.832031,-5708.091309,151209,000056,2,73,0.65
$IRIDIUM_FIX,6641.98,-5706.23,110399,080857
$TT8_MAMPS,0.027612
$HUMID,46.06
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,20.0,19.6
$ALTIM_BOTTOM_PING,450.2,141.6
$24V_AH,22.7,60.376
$10V_AH,10.1,31.855
$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,23.700,146.225,290.300,127.625,0.000,27.641,31.533,175.495,2.000,0.000,16.324,2113.684,6845.620,586.848,2222.368,444.788,0.000,1717.440,0.000,2181.681,2160.000,12.738,0.000
$DEVICE_MAMPS,289.159,98.176,1059.227,717.912,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,921.566,856.883,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152536
$DATA_FILE_SIZE,50441,1256
$CAP_FILE_SIZE,143870,0
$CFSIZE,260165632,225579008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,95,0,0
$SOUNDSPEED,1466.4
$GPS,151209,152801,6709.286,-5710.155,37,1.5,37,-37.8