version: 66.06
glider: 143
mission: 10
dive: 315
start: 12 15 109 15 33 50
data:
$ID,143
$MISSION,10
$DIVE,315
$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,-41932.227
$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,21
$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
$GPS1,152801,6709.286,-5710.155,37,1.5,37,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-66.6
$GPS2,153334,6709.347,-5710.236,9,2.8,28,-37.8
$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,164.0,19900,-16.9,-9.167
$D_GRID,563
$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,-146.0,0.0,0.0,0,145,0.00,0.00,-125.32,0.000,2,0.000,0.000,129,2459,3262,0,0,0,0,0,0
$GC,148,-0.73,-146.0,4.0,-8.1,25,169,11.30,2.28,-3.22,0.000,4,0.295,0.097,2446,856,3400,0,0,0,0,0,0
$GC,176,0.91,-146.0,13.6,-30.5,30,182,1.92,2.20,0.00,0.000,6,0.183,0.068,2975,2456,3400,0,0,0,0,0,0
$GC,521,-0.51,-146.0,40.6,-8.3,91,527,1.62,2.33,0.00,0.000,4,0.189,0.085,2541,869,3403,0,0,0,0,0,0
$GC,642,-0.81,-146.0,48.5,-7.4,112,648,0.32,2.17,0.00,0.000,6,0.087,0.070,2426,2451,3402,0,0,0,0,0,0
$GC,985,-0.81,-146.0,86.6,-11.2,173,991,0.00,2.25,0.00,0.000,4,0.000,0.087,2425,859,3401,0,0,0,0,0,0
$GC,1244,-0.81,-146.0,118.9,-12.8,206,1248,0.00,2.28,0.00,0.000,6,0.000,0.072,2426,2495,3401,0,0,0,0,0,0
$GC,1568,-0.81,-146.0,154.4,-10.6,236,1574,0.00,3.17,0.00,0.000,4,0.000,0.090,2426,3925,3399,0,0,3,0,0,0
$GC,1815,-0.81,-146.0,178.5,-9.0,257,1821,0.00,2.95,0.00,0.000,6,0.000,0.064,2425,2538,3398,0,0,3,0,0,0
$GC,2139,-0.81,-146.0,205.5,-9.0,288,2144,0.00,3.10,0.00,0.000,4,0.000,0.086,2426,3926,3398,0,0,2,0,0,0
$GC,2297,-0.81,-146.0,219.8,-8.7,301,2303,0.00,2.90,0.00,0.000,6,0.000,0.061,2426,2557,3397,0,0,3,0,0,0
$GC,2622,-0.85,-146.0,244.9,-6.9,332,2627,0.00,3.03,0.00,0.000,4,0.000,0.083,2426,3916,3398,0,0,2,0,0,0
$GC,2856,-0.85,-146.0,261.6,-7.0,352,2862,0.00,2.83,0.00,0.000,6,0.000,0.059,2426,2583,3398,0,0,2,0,0,0
$GC,3182,-0.91,-146.0,285.0,-7.4,383,3187,0.00,2.95,0.00,0.000,4,0.000,0.083,2426,3918,3399,0,0,3,0,0,0
$GC,3439,-0.91,-146.0,305.1,-7.9,405,3445,0.00,2.72,0.00,0.000,6,0.000,0.058,2426,2619,3400,0,0,2,0,0,0
$GC,3764,-0.91,-146.0,330.7,-8.2,436,3768,0.00,2.90,0.00,0.000,4,0.000,0.081,2425,3920,3401,0,0,2,0,0,0
$GC,3954,-0.95,-146.0,346.2,-7.9,452,3960,0.12,2.72,0.00,0.000,6,0.118,0.058,2382,2643,3401,0,0,2,0,0,0
$GC,4278,-0.87,-146.0,377.4,-9.7,483,4283,0.00,2.88,0.00,0.000,4,0.000,0.082,2382,3925,3402,0,0,2,0,0,0
$GC,4423,-0.77,-146.0,391.8,-9.7,495,4429,0.22,2.70,0.00,0.000,6,0.200,0.058,2435,2663,3402,0,0,2,0,0,0
$GC,4748,-0.86,-146.0,416.9,-7.8,526,4753,0.00,2.85,0.00,0.000,4,0.000,0.082,2435,3928,3403,0,0,2,0,0,0
$GC,4922,-0.94,-146.0,431.8,-9.0,541,4927,0.15,2.67,0.00,0.000,6,0.113,0.057,2386,2675,3403,0,0,3,0,0,0
$GC,5246,-0.88,-146.0,465.3,-10.3,571,5251,0.00,2.85,0.00,0.000,4,0.000,0.081,2385,3922,3403,0,0,1,0,0,0
$GC,5324,-0.81,-146.0,473.5,-10.4,577,5330,0.17,2.65,0.00,0.000,6,0.201,0.058,2425,2691,3403,0,0,3,0,0,0
$GC,5649,-0.88,-146.0,499.4,-8.3,608,5654,0.00,2.80,0.00,0.000,4,0.000,0.082,2425,3917,3403,0,0,2,0,0,0
$GC,5862,-0.95,-146.0,517.6,-8.7,626,5868,0.12,2.60,0.00,0.000,6,0.120,0.058,2384,2721,3403,0,0,2,0,0,0
$GC,6187,-0.89,-146.0,548.3,-9.1,657,6191,0.00,2.75,0.00,0.000,4,0.000,0.082,2384,3919,3403,0,0,2,0,0,0
$STATE,6338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6338,begin apogee
$GC,6346,-0.16,0.0,563.0,10.5,670,6473,0.90,0.00,121.50,1.085,6,0.186,0.000,2627,1949,2800,0,0,0,0,0,0
$STATE,6474,end apogee,CONTROL_FINISHED_OK
$STATE,6474,begin climb
$GC,6476,0.73,146.0,566.0,0.0,683,6609,0.95,0.00,124.80,1.036,6,0.130,0.000,2911,1949,2204,0,0,0,0,0,0
$GC,6926,0.73,146.0,524.1,10.0,726,6932,0.00,3.47,0.00,0.000,4,0.000,0.074,2911,3541,2195,0,0,3,0,0,0
$GC,7062,0.62,146.0,508.1,12.7,737,7068,0.15,3.42,0.00,0.000,6,0.206,0.067,2895,1950,2194,0,0,2,0,0,0
$GC,7386,0.62,146.0,473.0,11.4,768,7391,0.00,3.42,0.00,0.000,4,0.000,0.075,2895,3548,2193,0,0,3,0,0,0
$GC,7516,0.62,146.0,457.6,12.2,779,7521,0.00,3.40,0.00,0.000,6,0.000,0.067,2908,1967,2193,0,0,1,0,0,0
$GC,7840,0.62,146.0,422.1,10.7,809,7845,0.00,3.40,0.00,0.000,4,0.000,0.076,2908,3543,2192,0,0,4,0,0,0
$GC,7952,0.54,146.0,408.7,12.6,818,7958,0.22,3.35,0.00,0.000,6,0.195,0.067,2868,1975,2193,0,0,2,0,0,0
$GC,8277,0.67,163.2,380.4,8.4,849,8299,0.12,3.38,13.95,0.917,4,0.119,0.076,2912,3541,2133,0,0,3,0,0,0
$GC,8445,0.60,163.2,360.3,12.1,864,8451,0.17,3.33,0.00,0.000,6,0.197,0.067,2886,1999,2131,0,0,2,0,0,0
$GC,8770,0.67,163.2,329.4,9.8,894,8775,0.00,3.35,0.00,0.000,4,0.000,0.075,2886,3543,2131,0,0,2,0,0,0
$GC,8870,0.67,163.2,318.1,11.8,902,8876,0.00,3.30,0.00,0.000,6,0.000,0.067,2898,2005,2130,0,0,3,0,0,0
$GC,9194,0.67,163.2,284.0,10.5,933,9199,0.00,3.35,0.00,0.000,4,0.000,0.075,2899,3549,2131,0,0,2,0,0,0
$GC,9278,0.67,163.2,274.1,11.4,940,9283,0.00,3.30,0.00,0.000,6,0.000,0.067,2913,2025,2131,0,0,1,0,0,0
$GC,9604,0.67,163.2,236.4,11.4,970,9609,0.00,3.30,0.00,0.000,4,0.000,0.075,2913,3548,2130,0,0,3,0,0,0
$GC,9704,0.60,163.2,223.6,13.4,978,9711,0.17,3.28,0.00,0.000,6,0.198,0.066,2887,2040,2130,0,0,1,0,0,0
$GC,10029,0.68,163.2,188.8,10.3,1009,10034,0.00,3.28,0.00,0.000,4,0.000,0.074,2887,3549,2130,0,0,3,0,0,0
$GC,10153,0.68,163.2,175.3,10.5,1019,10159,0.00,3.22,0.00,0.000,6,0.000,0.065,2899,2063,2130,0,0,2,0,0,0
$GC,10478,0.80,214.4,144.0,7.0,1050,10530,0.15,3.35,41.88,0.805,4,0.097,0.074,2956,3543,1923,0,0,2,0,0,0
$GC,10614,0.69,214.4,128.5,13.1,1062,10621,0.22,3.25,0.00,0.000,6,0.199,0.065,2917,2070,1921,0,0,2,0,0,0
$GC,10944,0.81,214.4,91.8,10.1,1099,10950,0.00,3.25,0.00,0.000,4,0.000,0.073,2917,3543,1919,0,0,2,0,0,0
$GC,11051,0.87,214.4,81.3,9.2,1118,11058,0.12,3.17,0.00,0.000,6,0.112,0.065,2972,2096,1919,0,0,2,0,0,0
$GC,11396,0.87,218.6,49.9,9.0,1179,11407,0.00,3.20,4.25,0.555,4,0.000,0.075,2972,3542,1907,0,0,2,0,0,0
$GC,11481,0.78,218.6,41.2,11.3,1194,11488,0.17,3.15,0.00,0.000,6,0.201,0.065,2946,2103,1907,0,0,2,0,0,0
$FREEZE,8.88,-0.420,-1.829,0,1,0
$FREEZE,8.30,-0.421,-1.829,0,1,0
$FREEZE,7.73,-0.422,-1.828,0,1,0
$FREEZE,7.14,-0.421,-1.828,0,1,0
$FREEZE,6.40,-0.422,-1.827,0,1,0
$GC,11827,0.78,218.6,6.4,10.6,1255,11833,0.00,3.22,0.00,0.000,4,0.000,0.078,2946,3547,1907,0,0,2,0,0,0
$FREEZE,4.83,-0.423,-1.826,0,1,0
$FREEZE,4.28,-0.422,-1.826,0,1,0
$FREEZE,3.63,-0.427,-1.825,0,1,0
$FREEZE,3.14,-0.427,-1.825,0,1,0
$FREEZE,2.57,-0.424,-1.824,0,1,0
$FREEZE,1.86,-0.426,-1.824,0,1,0
$STATE,11866,end climb,SURFACE_DEPTH_REACHED
$STATE,11866,begin surface coast
$FREEZE,1.28,-0.425,-1.823,0,1,0
$FREEZE,0.63,-0.430,-1.823,0,1,0
$FREEZE,0.28,-0.431,-0.999,0,1,0
$FINISH,0.3,1.014768
$STATE,11886,end surface coast,CONTROL_FINISHED_OK
$STATE,11886,begin surface
$SM_CCo,11905,119.75,0.723,0,0,1066,425.10
$SM_GC,0.97,0.00,0.00,119.75,0.000,0.000,0.723,127,2460,1066,-8.01,0.00,425.10
$RAFOS_CLK,740
$RAFOS,6,1260895742,16.833334,16.817223,68,58,58,0,0,0,206,180,223,0,0,0
$RAFOS,5,1260895262,16.700001,16.683889,121,61,60,0,0,0,636,144,223,0,0,0
$RAFOS,4,1260894790,16.566668,16.552778,56,56,55,0,0,0,174,210,198,0,0,0
$RAFOS,3,1260894303,16.433332,16.417500,62,59,59,0,0,0,189,126,224,0,0,0
$RAFOS,2,1260893828,16.299999,16.285555,56,53,52,0,0,0,118,213,189,0,0,0
$RAFOS,1,1260893346,16.166666,16.151667,73,61,60,0,0,0,208,169,148,0,0,0
$RAFOS,0,1260892864,16.033333,16.017778,60,57,55,0,0,0,205,136,167,0,0,0
$RAFOS_FIX,6705.832031,-5708.091309,151209,000056,2,73,0.65
$IRIDIUM_FIX,6641.98,-5709.24,110399,121214
$TT8_MAMPS,0.026845
$HUMID,46.45
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.20
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.6,19.2
$ALTIM_BOTTOM_PING,500.3,107.1
$24V_AH,22.6,60.501
$10V_AH,10.1,31.929
$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,27.575,150.225,306.375,119.750,0.000,23.926,32.702,139.171,2.750,0.000,31.219,2118.700,6931.846,609.091,2282.387,405.868,0.000,1754.433,0.000,2224.466,2520.000,14.409,0.000
$DEVICE_MAMPS,295.295,97.409,1084.538,723.281,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,929.403,862.524,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152464
$DATA_FILE_SIZE,50469,1265
$CAP_FILE_SIZE,145840,0
$CFSIZE,260165632,225505280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,99,0,0
$SOUNDSPEED,1467.0
$GPS,151209,185537,6708.969,-5709.691,35,0.9,35,-37.8