version: 66.06
glider: 143
mission: 10
dive: 325
start: 12 17 109 2 39 32
data:
$ID,143
$MISSION,10
$DIVE,325
$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,-42112.797
$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,19
$R_STBD_OVSHOOT,17
$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
$GPS1,023100,6708.813,-5706.466,42,1.1,47,-37.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-70.1
$GPS2,023914,6708.869,-5706.623,12,1.2,12,-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,166.6,17291,-16.9,-9.167
$D_GRID,515
$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,16,-0.73,-146.0,0.0,0.0,0,134,0.00,0.00,-115.07,0.000,2,0.000,0.000,124,2452,3071,0,0,0,0,0,0
$GC,138,-0.73,-146.0,3.1,-4.5,23,164,11.35,2.25,-9.38,0.000,4,0.295,0.098,2445,866,3398,0,0,0,0,0,0
$GC,266,-0.73,-146.0,20.7,-11.5,46,271,0.00,2.20,0.00,0.000,6,0.000,0.071,2444,2463,3401,0,0,0,0,0,0
$GC,609,-0.73,-146.0,56.4,-10.0,107,615,0.00,2.28,0.00,0.000,4,0.000,0.088,2445,852,3401,0,0,0,0,0,0
$GC,868,-0.73,-146.0,87.3,-12.8,153,873,0.00,2.28,0.00,0.000,6,0.000,0.073,2445,2494,3401,0,0,0,0,0,0
$GC,1204,-0.77,-146.0,125.6,-9.4,193,1209,0.00,3.22,0.00,0.000,4,0.000,0.092,2445,3916,3399,0,0,3,0,0,0
$GC,1357,-0.84,-146.0,139.9,-9.0,206,1362,0.00,3.08,0.00,0.000,6,0.000,0.067,2445,2517,3398,0,0,2,0,0,0
$GC,1682,-0.93,-146.0,165.9,-7.3,236,1688,0.17,3.17,0.00,0.000,4,0.110,0.087,2372,3918,3397,0,0,3,0,0,0
$GC,1902,-0.78,-146.0,188.5,-10.6,255,1908,0.25,2.92,0.00,0.000,6,0.201,0.064,2431,2571,3397,0,0,2,0,0,0
$GC,2227,-0.83,-146.0,213.3,-7.7,285,2232,0.00,3.08,0.00,0.000,4,0.000,0.086,2431,3926,3397,0,0,2,0,0,0
$GC,2429,-0.89,-146.0,230.5,-9.0,302,2435,0.00,2.90,0.00,0.000,6,0.000,0.062,2432,2588,3397,0,0,2,0,0,0
$GC,2755,-0.95,-146.0,258.9,-8.7,333,2761,0.15,3.03,0.00,0.000,4,0.117,0.084,2373,3925,3398,0,0,3,0,0,0
$GC,2946,-0.81,-146.0,281.3,-11.9,349,2953,0.22,2.83,0.00,0.000,6,0.201,0.061,2426,2620,3398,0,0,2,0,0,0
$GC,3272,-0.85,-146.0,309.0,-8.2,380,3277,0.00,2.95,0.00,0.000,4,0.000,0.085,2426,3924,3399,0,0,3,0,0,0
$GC,3457,-0.85,-146.0,324.9,-8.5,396,3462,0.00,2.75,0.00,0.000,6,0.000,0.061,2426,2653,3399,0,0,3,0,0,0
$GC,3781,-0.85,-146.0,352.7,-8.8,426,3786,0.00,2.92,0.00,0.000,4,0.000,0.086,2426,3929,3400,0,0,2,0,0,0
$GC,3972,-0.90,-146.0,369.9,-9.3,442,3977,0.00,2.75,0.00,0.000,6,0.000,0.061,2426,2673,3400,0,0,2,0,0,0
$GC,4297,-0.96,-146.0,397.6,-8.5,473,4303,0.15,2.88,0.00,0.000,4,0.113,0.084,2362,3926,3400,0,0,3,0,0,0
$GC,4460,-0.80,-146.0,416.3,-12.0,487,4466,0.28,2.70,0.00,0.000,6,0.207,0.061,2426,2699,3400,0,0,2,0,0,0
$GC,4786,-0.86,-146.0,443.1,-7.9,517,4790,0.00,2.85,0.00,0.000,4,0.000,0.085,2426,3920,3400,0,0,1,0,0,0
$GC,4953,-0.92,-146.0,457.5,-8.1,531,4959,0.00,2.62,0.00,0.000,6,0.000,0.060,2427,2728,3400,0,0,2,0,0,0
$GC,5278,-0.98,-146.0,482.1,-7.3,562,5284,0.17,2.78,0.00,0.000,4,0.107,0.084,2361,3921,3400,0,0,3,0,0,0
$GC,5381,-0.83,-146.0,492.9,-10.9,570,5387,0.25,2.58,0.00,0.000,6,0.207,0.060,2419,2743,3400,0,0,3,0,0,0
$STATE,5650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5650,begin apogee
$GC,5656,-0.16,0.0,515.6,7.4,596,5783,0.75,0.00,120.95,1.070,6,0.176,0.000,2630,1940,2800,0,0,0,0,0,0
$STATE,5784,end apogee,CONTROL_FINISHED_OK
$STATE,5784,begin climb
$GC,5787,0.73,146.0,517.7,0.0,609,5920,0.95,2.22,124.72,1.021,4,0.129,0.086,2923,354,2202,0,0,0,0,0,0
$GC,5977,0.65,146.0,501.8,11.4,627,5981,0.00,2.10,0.00,0.000,6,0.000,0.059,2923,1967,2198,0,0,0,0,0,0
$GC,6302,0.59,146.0,463.9,12.0,657,6308,0.17,3.47,0.00,0.000,4,0.199,0.076,2881,3528,2195,0,0,2,0,0,0
$GC,6454,0.59,146.0,447.5,10.3,670,6459,0.00,3.45,0.00,0.000,6,0.000,0.070,2894,1966,2194,0,0,1,0,0,0
$GC,6778,0.59,146.0,415.3,10.3,700,6784,0.00,3.42,0.00,0.000,4,0.000,0.078,2893,3528,2194,0,0,3,0,0,0
$GC,6898,0.54,146.0,402.4,11.1,710,6904,0.17,3.40,0.00,0.000,6,0.200,0.071,2868,1980,2192,0,0,1,0,0,0
$GC,7222,0.68,161.2,373.9,8.5,740,7244,0.12,3.42,12.25,0.906,4,0.122,0.077,2910,3520,2141,0,0,3,0,0,0
$GC,7384,0.61,161.2,354.4,12.6,754,7391,0.15,3.38,0.00,0.000,6,0.202,0.071,2892,1998,2139,0,0,2,0,0,0
$GC,7709,0.66,161.2,322.1,9.6,785,7714,0.00,3.38,0.00,0.000,4,0.000,0.078,2892,3525,2139,0,0,2,0,0,0
$GC,7827,0.66,161.2,310.3,10.4,795,7832,0.00,3.33,0.00,0.000,6,0.000,0.071,2904,2009,2138,0,0,2,0,0,0
$GC,8152,0.66,161.2,278.2,10.2,825,8157,0.00,3.35,0.00,0.000,4,0.000,0.078,2904,3528,2139,0,0,3,0,0,0
$GC,8264,0.66,161.2,265.2,11.6,834,8270,0.00,3.33,0.00,0.000,6,0.000,0.070,2919,2029,2139,0,0,2,0,0,0
$GC,8588,0.66,161.2,227.8,11.8,865,8593,0.00,3.35,0.00,0.000,4,0.000,0.078,2919,3526,2139,0,0,1,0,0,0
$GC,8695,0.59,161.2,214.0,13.5,874,8701,0.20,3.30,0.00,0.000,6,0.198,0.071,2887,2045,2139,0,0,1,0,0,0
$GC,9021,0.69,166.8,183.0,8.9,904,9034,0.00,3.33,5.97,0.729,4,0.000,0.077,2887,3533,2118,0,0,1,0,0,0
$GC,9176,0.74,166.8,167.1,10.7,918,9182,0.00,3.28,0.00,0.000,6,0.000,0.070,2899,2065,2117,0,0,1,0,0,0
$GC,9501,0.81,166.8,135.5,9.2,948,9507,0.15,3.30,0.00,0.000,4,0.101,0.077,2949,3536,2118,0,0,3,0,0,0
$GC,9579,0.69,166.8,125.6,13.5,954,9586,0.20,3.28,0.00,0.000,6,0.204,0.070,2916,2068,2117,0,0,1,0,0,0
$GC,9907,0.76,184.6,96.0,8.4,989,9933,0.00,3.28,16.05,0.782,4,0.000,0.077,2916,3526,2045,0,0,2,0,0,0
$GC,10084,0.76,184.6,79.5,9.7,1021,10090,0.00,3.22,0.00,0.000,6,0.000,0.070,2928,2094,2044,0,0,2,0,0,0
$GC,10431,0.87,212.1,52.5,8.0,1082,10463,0.12,3.25,23.73,0.773,4,0.109,0.078,2974,3525,1933,0,0,3,0,0,0
$GC,10565,0.76,212.1,36.9,12.6,1106,10571,0.20,3.25,0.00,0.000,6,0.199,0.071,2942,2103,1931,0,0,1,0,0,0
$FREEZE,8.62,-0.503,-1.829,0,1,0
$FREEZE,8.15,-0.537,-1.829,0,1,0
$FREEZE,7.48,-0.551,-1.828,0,1,0
$FREEZE,6.95,-0.615,-1.827,0,1,0
$FREEZE,6.39,-0.652,-1.827,0,1,0
$FREEZE,5.91,-0.646,-1.826,0,1,0
$FREEZE,5.36,-0.654,-1.825,0,1,0
$FREEZE,4.83,-0.669,-1.824,0,1,0
$FREEZE,4.35,-0.690,-1.824,0,1,0
$GC,10909,0.76,212.1,4.3,9.5,1167,10914,0.00,3.28,0.00,0.000,4,0.000,0.080,2942,3536,1928,0,0,2,0,0,0
$FREEZE,3.05,-0.755,-1.823,0,1,0
$FREEZE,2.43,-0.777,-1.821,0,1,0
$FREEZE,1.92,-0.778,-1.820,0,1,0
$STATE,10931,end climb,SURFACE_DEPTH_REACHED
$STATE,10931,begin surface coast
$FREEZE,1.41,-0.775,-1.819,0,1,0
$FREEZE,0.77,-0.780,-1.819,0,1,0
$FREEZE,0.55,-0.809,-1.075,0,1,0
$FREEZE,0.67,-0.770,-1.818,0,1,0
$FINISH,0.7,1.026663
$STATE,10955,end surface coast,CONTROL_FINISHED_OK
$STATE,10955,begin surface
$SM_CCo,10974,128.80,0.733,0,0,1065,425.10
$SM_GC,1.33,0.00,0.00,128.80,0.000,0.000,0.733,127,2465,1065,-8.01,0.14,425.10
$RAFOS_CLK,703
$RAFOS,6,1261025346,4.833333,4.818333,128,61,58,0,0,0,779,161,189,0,0,0
$RAFOS,5,1261024865,4.700000,4.684722,89,68,59,0,0,0,628,204,178,0,0,0
$RAFOS,4,1261024382,4.566667,4.550556,70,60,60,0,0,0,195,157,143,0,0,0
$RAFOS,3,1261023906,4.433333,4.418334,68,58,56,0,0,0,198,211,176,0,0,0
$RAFOS,2,1261023423,4.300000,4.284167,56,55,54,0,0,0,221,180,198,0,0,0
$RAFOS,1,1261022944,4.166667,4.151111,59,58,58,0,0,0,210,194,220,0,0,0
$RAFOS,0,1261022462,4.033333,4.017222,55,55,54,0,0,0,196,205,1390,0,0,0
$RAFOS_FIX,6708.536133,-5711.700684,171209,040400,2,108,0.48
$IRIDIUM_FIX,6641.98,-5706.23,120399,191906
$TT8_MAMPS,0.027612
$HUMID,47.36
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.80
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.4,18.9
$ALTIM_BOTTOM_PING,400.0,133.5
$24V_AH,22.6,61.806
$10V_AH,10.1,32.679
$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,24.500,139.375,303.675,128.800,0.000,27.400,37.943,281.517,2.250,0.000,13.526,2015.590,6328.955,590.914,2089.853,572.847,0.000,1659.637,0.000,2048.026,2520.000,13.988,0.000
$DEVICE_MAMPS,295.295,98.176,1069.965,733.252,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,860.460,804.517,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152564
$DATA_FILE_SIZE,47220,1175
$CAP_FILE_SIZE,139640,0
$CFSIZE,260165632,224755712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,84,0,0
$SOUNDSPEED,1462.1
$GPS,171209,054606,6708.842,-5706.350,36,1.1,36,-37.7