version: 66.06
glider: 143
mission: 10
dive: 318
start: 12 16 109 2 1 16
data:
$ID,143
$MISSION,10
$DIVE,318
$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,-41984.895
$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,19
$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
$GPS1,015436,6709.371,-5708.058,38,1.6,43,-37.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-57.8
$GPS2,020058,6709.454,-5708.066,7,1.5,15,-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,167.3,18784,-16.9,-9.167
$D_GRID,517
$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,-146.0,0.0,0.0,0,129,0.00,0.00,-110.32,0.000,2,0.000,0.000,125,2462,2996,0,0,0,0,0,0
$GC,133,-0.73,-146.0,3.0,-4.9,22,165,10.90,3.33,-11.88,0.000,4,0.283,0.097,2445,3905,3400,0,0,2,0,0,0
$GC,198,-0.73,-146.0,14.6,-15.6,34,204,0.00,3.15,0.00,0.000,6,0.000,0.065,2446,2462,3401,0,0,2,0,0,0
$GC,543,-0.73,-146.0,54.3,-10.9,95,549,0.00,3.28,0.00,0.000,4,0.000,0.086,2446,3920,3402,0,0,2,0,0,0
$GC,762,-0.73,-146.0,80.9,-11.8,134,768,0.00,3.08,0.00,0.000,6,0.000,0.064,2445,2485,3402,0,0,3,0,0,0
$GC,1104,-0.78,-146.0,114.6,-8.5,181,1109,0.00,3.22,0.00,0.000,4,0.000,0.087,2446,3918,3400,0,0,2,0,0,0
$GC,1362,-0.86,-146.0,136.2,-7.9,203,1367,0.00,3.00,0.00,0.000,6,0.000,0.063,2446,2529,3400,0,0,2,0,0,0
$GC,1688,-0.94,-146.0,162.0,-8.8,234,1693,0.17,3.12,0.00,0.000,4,0.109,0.083,2373,3913,3398,0,0,2,0,0,0
$GC,1912,-0.81,-146.0,189.1,-12.1,253,1919,0.22,2.92,0.00,0.000,6,0.196,0.061,2427,2562,3398,0,0,1,0,0,0
$GC,2237,-0.81,-146.0,217.1,-7.9,284,2242,0.00,3.05,0.00,0.000,4,0.000,0.083,2427,3914,3399,0,0,2,0,0,0
$GC,2394,-0.81,-146.0,230.0,-8.6,297,2400,0.00,2.88,0.00,0.000,6,0.000,0.060,2427,2580,3399,0,0,2,0,0,0
$GC,2719,-0.86,-146.0,256.0,-7.8,328,2724,0.00,3.03,0.00,0.000,4,0.000,0.082,2427,3925,3399,0,0,2,0,0,0
$GC,2861,-0.91,-146.0,267.3,-8.2,340,2866,0.00,2.85,0.00,0.000,6,0.000,0.058,2427,2594,3399,0,0,2,0,0,0
$GC,3185,-0.91,-146.0,291.9,-7.4,370,3190,0.00,2.95,0.00,0.000,4,0.000,0.081,2427,3914,3400,0,0,3,0,0,0
$GC,3444,-0.97,-146.0,314.0,-8.3,392,3450,0.17,2.78,0.00,0.000,6,0.104,0.057,2366,2621,3401,0,0,2,0,0,0
$GC,3768,-0.82,-146.0,349.2,-11.4,423,3774,0.22,2.92,0.00,0.000,4,0.197,0.077,2413,3918,3402,0,0,2,0,0,0
$GC,3882,-0.82,-146.0,359.5,-9.1,432,3888,0.00,2.75,0.00,0.000,6,0.000,0.057,2413,2642,3402,0,0,2,0,0,0
$GC,4207,-0.82,-146.0,386.9,-8.5,463,4212,0.00,2.90,0.00,0.000,4,0.000,0.081,2413,3920,3403,0,0,2,0,0,0
$GC,4386,-0.82,-146.0,403.3,-9.0,478,4392,0.00,2.75,0.00,0.000,6,0.000,0.057,2413,2656,3403,0,0,1,0,0,0
$GC,4711,-0.82,-146.0,432.6,-9.0,509,4716,0.00,2.88,0.00,0.000,4,0.000,0.081,2413,3926,3403,0,0,2,0,0,0
$GC,4878,-0.82,-146.0,448.7,-9.8,523,4884,0.00,2.70,0.00,0.000,6,0.000,0.057,2413,2684,3403,0,0,2,0,0,0
$GC,5203,-0.82,-146.0,477.9,-8.9,554,5208,0.00,2.83,0.00,0.000,4,0.000,0.081,2413,3916,3403,0,0,2,0,0,0
$GC,5388,-0.82,-146.0,495.3,-10.0,570,5392,0.00,2.62,0.00,0.000,6,0.000,0.057,2413,2724,3403,0,0,2,0,0,0
$STATE,5647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5647,begin apogee
$GC,5654,-0.16,0.0,517.7,9.2,594,5780,0.75,0.00,120.88,1.058,6,0.172,0.000,2626,1937,2800,0,0,0,0,0,0
$STATE,5781,end apogee,CONTROL_FINISHED_OK
$STATE,5781,begin climb
$GC,5783,0.73,146.0,520.3,0.0,607,5917,0.95,2.15,123.57,1.010,4,0.128,0.084,2922,342,2202,0,0,0,0,0,0
$GC,5975,0.64,146.0,504.2,12.5,625,5979,0.00,2.10,0.00,0.000,6,0.000,0.055,2921,1971,2198,0,0,0,0,0,0
$GC,6305,0.58,146.0,464.2,11.3,656,6311,0.17,3.40,0.00,0.000,4,0.199,0.074,2878,3525,2194,0,0,3,0,0,0
$GC,6446,0.58,146.0,449.6,9.9,668,6451,0.00,3.38,0.00,0.000,6,0.000,0.067,2891,1955,2193,0,0,3,0,0,0
$GC,6770,0.58,146.0,419.4,9.4,698,6776,0.00,3.38,0.00,0.000,4,0.000,0.074,2891,3524,2192,0,0,3,0,0,0
$GC,6911,0.58,146.0,404.6,10.5,710,6917,0.12,3.35,0.00,0.000,6,0.205,0.068,2880,1972,2192,0,0,2,0,0,0
$GC,7236,0.65,148.0,375.3,9.1,740,7241,0.00,3.35,0.00,0.000,4,0.000,0.075,2881,3524,2192,0,0,3,0,0,0
$GC,7360,0.65,148.0,362.6,10.7,750,7366,0.00,3.33,0.00,0.000,6,0.000,0.067,2892,1990,2192,0,0,2,0,0,0
$GC,7684,0.65,148.0,330.3,10.3,781,7689,0.00,3.38,0.00,0.000,4,0.000,0.076,2892,3532,2192,0,0,2,0,0,0
$GC,7806,0.65,148.0,315.7,11.7,791,7812,0.00,3.33,0.00,0.000,6,0.000,0.068,2907,2013,2191,0,0,1,0,0,0
$GC,8131,0.65,148.0,278.6,11.8,822,8136,0.00,3.33,0.00,0.000,4,0.000,0.076,2908,3524,2191,0,0,2,0,0,0
$GC,8215,0.58,148.0,268.4,12.5,829,8220,0.17,3.28,0.00,0.000,6,0.200,0.068,2882,2025,2190,0,0,2,0,0,0
$GC,8539,0.66,148.0,237.2,9.7,859,8544,0.00,3.30,0.00,0.000,4,0.000,0.074,2882,3524,2190,0,0,2,0,0,0
$GC,8712,0.66,148.0,218.4,11.7,874,8717,0.00,3.25,0.00,0.000,6,0.000,0.067,2894,2044,2190,0,0,2,0,0,0
$GC,9036,0.66,148.0,183.2,10.8,904,9041,0.00,3.30,0.00,0.000,4,0.000,0.075,2894,3531,2190,0,0,2,0,0,0
$GC,9111,0.66,148.0,174.6,11.6,910,9116,0.00,3.25,0.00,0.000,6,0.000,0.067,2909,2064,2190,0,0,1,0,0,0
$GC,9435,0.66,148.0,139.7,10.3,940,9440,0.00,3.25,0.00,0.000,4,0.000,0.074,2909,3530,2191,0,0,3,0,0,0
$GC,9490,0.61,148.0,134.0,9.7,944,9497,0.15,3.20,0.00,0.000,6,0.198,0.066,2890,2070,2191,0,0,3,0,0,0
$GC,9815,0.78,201.9,111.7,6.9,975,9867,0.15,3.33,44.08,0.782,4,0.110,0.074,2943,3530,1975,0,0,2,0,0,0
$GC,9991,0.72,201.9,91.0,11.0,997,9998,0.15,3.25,0.00,0.000,6,0.198,0.067,2925,2085,1970,0,0,2,0,0,0
$GC,10338,0.86,236.6,61.2,7.7,1058,10375,0.15,3.28,28.38,0.749,4,0.110,0.074,2977,3524,1834,0,0,2,0,0,0
$GC,10476,0.76,236.6,45.0,13.9,1083,10483,0.22,3.20,0.00,0.000,6,0.189,0.067,2938,2107,1830,0,0,2,0,0,0
$GC,10820,0.76,236.6,10.5,9.8,1144,10826,0.00,3.20,0.00,0.000,4,0.000,0.072,2938,3525,1829,0,0,2,0,0,0
$FREEZE,8.67,-0.223,-1.830,0,1,0
$FREEZE,7.88,-0.225,-1.830,0,1,0
$FREEZE,7.15,-0.225,-1.829,0,1,0
$FREEZE,6.42,-0.225,-1.829,0,1,0
$FREEZE,5.89,-0.225,-1.828,0,1,0
$FREEZE,5.33,-0.225,-1.828,0,1,0
$FREEZE,4.83,-0.227,-1.828,0,1,0
$FREEZE,4.15,-0.227,-1.827,0,1,0
$FREEZE,3.30,-0.226,-1.826,0,1,0
$FREEZE,2.54,-0.226,-1.826,0,1,0
$FREEZE,2.05,-0.228,-1.825,0,1,0
$FREEZE,1.63,-0.230,-1.825,0,1,0
$STATE,10900,end climb,SURFACE_DEPTH_REACHED
$STATE,10900,begin surface coast
$FREEZE,1.03,-0.225,-1.825,0,1,0
$FREEZE,0.37,-0.234,-1.824,0,1,0
$FREEZE,0.36,-0.534,-1.019,0,1,0
$FINISH,0.4,1.015057
$STATE,10917,end surface coast,CONTROL_FINISHED_OK
$STATE,10917,begin surface
$SM_CCo,10935,109.35,0.719,0,0,1066,425.10
$SM_GC,1.11,0.00,0.00,109.35,0.000,0.000,0.719,124,2459,1066,-8.02,-0.06,425.10
$RAFOS_CLK,679
$RAFOS,6,1260938945,4.833333,4.818056,62,61,59,0,0,0,213,196,136,0,0,0
$RAFOS,5,1260938465,4.700000,4.684722,67,59,59,0,0,0,626,223,151,0,0,0
$RAFOS,4,1260937983,4.566667,4.550833,61,57,55,0,0,0,206,215,176,0,0,0
$RAFOS,3,1260937503,4.433333,4.417500,53,53,51,0,0,0,132,175,158,0,0,0
$RAFOS,2,1260937021,4.300000,4.283611,67,61,56,0,0,0,222,206,160,0,0,0
$RAFOS,1,1260936547,4.166667,4.151945,67,66,51,0,0,0,193,204,116,0,0,0
$RAFOS,0,1260936067,4.033333,4.018611,61,58,51,0,0,0,212,169,190,0,0,0
$RAFOS_FIX,6708.132324,-5713.788574,151209,202012,3,79,0.64
$IRIDIUM_FIX,6641.98,-5701.58,110399,222247
$TT8_MAMPS,0.026845
$HUMID,47.04
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,19.0
$ALTIM_BOTTOM_PING,400.0,160.8
$24V_AH,22.7,60.887
$10V_AH,10.1,32.149
$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,22.950,142.400,316.900,109.350,0.000,28.681,34.594,194.881,2.000,0.000,16.985,1983.414,6315.544,580.917,2084.395,454.858,0.000,1648.748,0.000,2046.089,2520.000,12.111,0.000
$DEVICE_MAMPS,283.023,96.642,1058.460,719.446,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,849.986,792.099,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152524
$DATA_FILE_SIZE,44209,1161
$CAP_FILE_SIZE,134710,0
$CFSIZE,260165632,225304576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,91,0,0
$SOUNDSPEED,1467.0
$GPS,161209,050707,6709.372,-5708.890,58,1.2,58,-37.8