version: 66.06
glider: 143
mission: 10
dive: 329
start: 12 17 109 15 25 20
data:
$ID,143
$MISSION,10
$DIVE,329
$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,-42171.066
$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,15
$R_STBD_OVSHOOT,15
$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
$GPS1,151931,6709.333,-5706.061,37,1.3,37,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-64.4
$GPS2,152502,6709.388,-5706.250,11,1.7,11,-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,169.7,17710,-16.9,-9.167
$D_GRID,499
$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,-146.0,0.0,0.0,0,133,0.00,0.00,-115.30,0.000,2,0.000,0.000,128,2466,3125,0,0,0,0,0,0
$GC,136,-0.73,-146.0,3.1,-4.3,23,163,11.00,2.30,-7.50,0.000,4,0.285,0.098,2445,854,3399,0,0,0,0,0,0
$GC,303,-0.73,-146.0,26.1,-11.5,53,308,0.00,2.17,0.00,0.000,6,0.000,0.068,2446,2463,3402,0,0,0,0,0,0
$GC,646,-0.73,-146.0,61.7,-9.8,114,651,0.00,2.22,0.00,0.000,4,0.000,0.086,2445,861,3401,0,0,0,0,0,0
$GC,905,-0.73,-146.0,89.7,-11.3,160,910,0.00,2.25,0.00,0.000,6,0.000,0.070,2446,2506,3402,0,0,0,0,0,0
$GC,1241,-0.78,-146.0,120.5,-8.8,200,1246,0.00,3.17,0.00,0.000,4,0.000,0.089,2445,3914,3399,0,0,3,0,0,0
$GC,1342,-0.85,-146.0,130.4,-10.4,208,1348,0.00,3.05,0.00,0.000,6,0.000,0.064,2445,2510,3398,0,0,2,0,0,0
$GC,1667,-0.93,-146.0,167.4,-11.3,239,1673,0.17,3.17,0.00,0.000,4,0.109,0.083,2373,3920,3398,0,0,3,0,0,0
$GC,1846,-0.78,-146.0,192.2,-12.9,254,1853,0.25,3.00,0.00,0.000,6,0.199,0.061,2433,2532,3397,0,0,2,0,0,0
$GC,2172,-0.83,-146.0,221.5,-8.0,285,2177,0.00,3.12,0.00,0.000,4,0.000,0.084,2433,3917,3397,0,0,3,0,0,0
$GC,2358,-0.88,-146.0,235.1,-6.9,301,2363,0.00,2.92,0.00,0.000,6,0.000,0.061,2433,2573,3397,0,0,1,0,0,0
$GC,2683,-0.94,-146.0,255.1,-5.9,331,2688,0.15,3.05,0.00,0.000,4,0.115,0.080,2373,3915,3398,0,0,2,0,0,0
$GC,2896,-0.80,-146.0,275.9,-9.7,349,2902,0.22,2.83,0.00,0.000,6,0.197,0.059,2426,2594,3398,0,0,3,0,0,0
$GC,3221,-0.80,-146.0,302.9,-8.8,380,3225,0.00,3.00,0.00,0.000,4,0.000,0.081,2426,3925,3399,0,0,2,0,0,0
$GC,3421,-0.86,-146.0,321.9,-9.4,397,3427,0.00,2.85,0.00,0.000,6,0.000,0.058,2427,2610,3399,0,0,0,0,0,0
$GC,3747,-0.91,-146.0,349.1,-8.0,428,3752,0.00,2.92,0.00,0.000,4,0.000,0.080,2427,3915,3400,0,0,3,0,0,0
$GC,3949,-0.96,-146.0,364.9,-7.6,445,3956,0.15,2.67,0.00,0.000,6,0.108,0.057,2375,2645,3400,0,0,3,0,0,0
$GC,4275,-0.85,-146.0,394.9,-9.3,476,4280,0.17,2.90,0.00,0.000,4,0.197,0.079,2413,3917,3401,0,0,2,0,0,0
$GC,4398,-0.85,-146.0,405.5,-7.9,486,4404,0.00,2.70,0.00,0.000,6,0.000,0.056,2413,2660,3401,0,0,3,0,0,0
$GC,4723,-0.85,-146.0,431.6,-8.2,517,4728,0.00,2.85,0.00,0.000,4,0.000,0.079,2413,3917,3402,0,0,2,0,0,0
$GC,4921,-0.85,-146.0,448.8,-7.9,534,4925,0.00,2.70,0.00,0.000,6,0.000,0.055,2413,2687,3401,0,0,1,0,0,0
$GC,5245,-0.85,-146.0,476.3,-9.5,564,5249,0.00,2.83,0.00,0.000,4,0.000,0.079,2413,3929,3402,0,0,2,0,0,0
$GC,5363,-0.85,-146.0,486.6,-8.4,574,5367,0.00,2.65,0.00,0.000,6,0.000,0.056,2413,2701,3402,0,0,3,0,0,0
$STATE,5525,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5526,begin apogee
$GC,5532,-0.16,0.0,499.2,7.6,589,5658,0.75,0.00,120.65,1.030,6,0.171,0.000,2628,1944,2799,0,0,0,0,0,0
$STATE,5659,end apogee,CONTROL_FINISHED_OK
$STATE,5659,begin climb
$GC,5662,0.73,146.0,500.9,0.0,602,5795,0.95,2.17,122.95,0.986,4,0.129,0.083,2922,364,2202,0,0,0,0,0,0
$GC,5841,0.66,146.0,486.5,12.1,619,5845,0.00,2.05,0.00,0.000,6,0.000,0.054,2923,1968,2199,0,0,0,0,0,0
$GC,6171,0.58,146.0,448.6,12.1,650,6177,0.20,3.40,0.00,0.000,4,0.198,0.071,2861,3526,2195,0,0,4,0,0,0
$GC,6313,0.64,148.5,435.0,9.1,662,6318,0.00,3.42,0.00,0.000,6,0.000,0.064,2874,1951,2194,0,0,1,0,0,0
$GC,6638,0.75,173.7,408.0,8.1,692,6670,0.17,3.50,22.42,0.930,4,0.106,0.074,2935,3520,2091,0,0,2,0,0,0
$GC,6805,0.62,173.7,386.5,13.7,707,6811,0.25,3.38,0.00,0.000,6,0.197,0.067,2890,1988,2089,0,0,1,0,0,0
$GC,7130,0.68,186.2,356.8,8.6,737,7151,0.00,3.38,11.20,0.856,4,0.000,0.072,2891,3532,2041,0,0,3,0,0,0
$GC,7264,0.68,186.2,343.6,9.7,749,7269,0.00,3.38,0.00,0.000,6,0.000,0.066,2903,1995,2039,0,0,1,0,0,0
$GC,7588,0.68,186.2,310.8,10.7,779,7593,0.00,3.38,0.00,0.000,4,0.000,0.073,2903,3527,2039,0,0,1,0,0,0
$GC,7711,0.68,186.2,295.9,11.8,789,7717,0.00,3.30,0.00,0.000,6,0.000,0.066,2918,2017,2039,0,0,2,0,0,0
$GC,8035,0.68,186.2,259.9,10.8,820,8040,0.00,3.33,0.00,0.000,4,0.000,0.073,2918,3529,2039,0,0,2,0,0,0
$GC,8120,0.62,186.2,249.5,12.6,827,8126,0.17,3.30,0.00,0.000,6,0.196,0.065,2892,2030,2039,0,0,1,0,0,0
$GC,8444,0.71,186.2,213.1,11.2,857,8450,0.00,3.30,0.00,0.000,4,0.000,0.071,2892,3528,2038,0,0,2,0,0,0
$GC,8567,0.71,186.2,198.9,11.5,867,8573,0.00,3.25,0.00,0.000,6,0.000,0.064,2904,2040,2039,0,0,2,0,0,0
$GC,8892,0.77,186.2,165.1,10.9,898,8898,0.10,3.30,0.00,0.000,4,0.119,0.072,2944,3534,2038,0,0,3,0,0,0
$GC,8994,0.67,186.2,150.6,14.3,906,9001,0.22,3.28,0.00,0.000,6,0.200,0.064,2905,2050,2038,0,0,1,0,0,0
$GC,9319,0.75,186.2,113.8,9.6,937,9324,0.00,3.30,0.00,0.000,4,0.000,0.071,2904,3531,2039,0,0,1,0,0,0
$GC,9442,0.75,186.2,101.6,9.9,947,9448,0.00,3.20,0.00,0.000,6,0.000,0.064,2917,2085,2039,0,0,2,0,0,0
$GC,9785,0.85,186.2,70.2,9.9,1007,9791,0.15,3.25,0.00,0.000,4,0.097,0.071,2974,3524,2039,0,0,2,0,0,0
$GC,9906,0.72,186.2,55.2,13.0,1028,9913,0.25,3.20,0.00,0.000,6,0.195,0.065,2927,2098,2039,0,0,1,0,0,0
$GC,10252,0.80,186.2,23.9,10.0,1089,10258,0.00,3.22,0.00,0.000,4,0.000,0.074,2927,3524,2039,0,0,2,0,0,0
$GC,10338,0.80,186.2,13.9,11.4,1104,10344,0.00,3.17,0.00,0.000,6,0.000,0.067,2940,2115,2039,0,0,1,0,0,0
$FREEZE,8.94,-0.161,-1.832,0,1,0
$FREEZE,8.46,-0.165,-1.831,0,1,0
$FREEZE,8.17,-0.164,-1.831,0,1,0
$FREEZE,7.81,-0.164,-1.831,0,1,0
$FREEZE,7.38,-0.164,-1.830,0,1,0
$FREEZE,6.93,-0.158,-1.830,0,1,0
$FREEZE,6.77,-0.167,-1.830,0,1,0
$FREEZE,6.29,-0.153,-1.829,0,1,0
$FREEZE,5.93,-0.153,-1.829,0,1,0
$FREEZE,5.39,-0.166,-1.829,0,1,0
$FREEZE,4.89,-0.167,-1.829,0,1,0
$FREEZE,4.45,-0.162,-1.828,0,1,0
$FREEZE,3.95,-0.162,-1.828,0,1,0
$FREEZE,3.28,-0.164,-1.827,0,1,0
$FREEZE,2.71,-0.158,-1.827,0,1,0
$FREEZE,2.37,-0.160,-1.827,0,1,0
$FREEZE,1.88,-0.154,-1.826,0,1,0
$STATE,10472,end climb,SURFACE_DEPTH_REACHED
$STATE,10472,begin surface coast
$FREEZE,1.43,-0.151,-1.826,0,1,0
$FREEZE,0.78,-0.152,-1.825,0,1,0
$FREEZE,0.57,-0.105,-1.822,0,1,0
$FREEZE,0.73,-0.156,-1.825,0,1,0
$FINISH,0.7,1.026738
$STATE,10496,end surface coast,CONTROL_FINISHED_OK
$STATE,10496,begin surface
$SM_CCo,10513,137.75,0.716,0,0,1066,425.10
$SM_GC,1.41,0.00,0.00,137.75,0.000,0.000,0.716,126,2455,1066,-8.01,-0.14,425.10
$RAFOS_CLK,645
$RAFOS,6,1261068550,16.833334,16.819445,91,60,59,0,0,0,749,221,119,0,0,0
$RAFOS,5,1261068071,16.700001,16.686388,107,72,63,0,0,0,592,203,215,0,0,0
$RAFOS,4,1261067590,16.566668,16.552778,67,60,60,0,0,0,222,207,162,0,0,0
$RAFOS,3,1261067105,16.433332,16.418056,59,55,54,0,0,0,198,165,187,0,0,0
$RAFOS,2,1261066621,16.299999,16.283611,63,60,56,0,0,0,198,151,132,0,0,0
$RAFOS,1,1261066147,16.166666,16.151945,63,63,56,0,0,0,203,218,123,0,0,0
$RAFOS,0,1261065668,16.033333,16.018888,69,52,51,0,0,0,202,219,190,0,0,0
$RAFOS_FIX,6708.519043,-5712.033203,171209,161656,2,99,0.91
$IRIDIUM_FIX,6636.54,-5704.59,130399,121212
$TT8_MAMPS,0.027612
$HUMID,46.18
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.5,19.2
$ALTIM_BOTTOM_PING,350.3,168.3
$24V_AH,22.8,62.301
$10V_AH,10.1,32.952
$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,23.775,133.600,277.225,137.750,0.000,24.594,49.738,139.311,1.750,0.000,12.558,1915.662,6069.891,579.323,2009.839,410.344,0.000,1607.755,0.000,1976.659,2520.000,12.371,0.000
$DEVICE_MAMPS,285.324,98.176,1030.081,716.378,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,834.128,770.307,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152508
$DATA_FILE_SIZE,44137,1132
$CAP_FILE_SIZE,131209,0
$CFSIZE,260165632,224485376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,75,0,0
$SOUNDSPEED,1467.9
$GPS,171209,182425,6709.369,-5706.823,36,1.3,36,-37.8