version: 66.06
glider: 143
mission: 10
dive: 334
start: 12 18 109 7 5 2
data:
$ID,143
$MISSION,10
$DIVE,334
$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,-42242.98
$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,28
$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
$GPS1,065931,6708.114,-5704.704,38,1.1,38,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-66.0
$GPS2,070444,6708.123,-5704.750,14,1.0,14,-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,165.8,15373,-16.9,-9.167
$D_GRID,518
$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,-115.28,0.000,2,0.000,0.000,125,2468,3174,0,0,0,0,0,0
$GC,137,-0.73,-146.0,3.5,-6.0,23,163,11.15,2.33,-5.88,0.000,4,0.290,0.096,2447,845,3398,0,0,0,0,0,0
$GC,175,0.02,-146.0,12.0,-17.6,30,181,0.90,2.15,0.00,0.000,6,0.182,0.067,2692,2449,3400,0,0,0,0,0,0
$GC,520,-0.88,-146.0,35.7,-8.4,91,527,0.85,3.28,0.00,0.000,4,0.108,0.079,2411,3916,3401,0,0,3,0,0,0
$GC,612,-0.79,-146.0,45.4,-12.1,107,617,0.00,3.12,0.00,0.000,6,0.000,0.061,2411,2469,3401,0,0,3,0,0,0
$GC,957,-0.70,-146.0,90.2,-13.4,168,964,0.20,3.28,0.00,0.000,4,0.209,0.083,2455,3922,3401,0,0,3,0,0,0
$GC,970,-0.63,-146.0,92.3,-13.9,170,976,0.00,3.05,0.00,0.000,6,0.000,0.061,2455,2508,3400,0,0,3,0,0,0
$GC,1304,-0.72,-146.0,129.4,-9.4,207,1308,0.00,2.30,0.00,0.000,4,0.000,0.084,2455,856,3399,0,0,0,0,0,0
$GC,1445,-0.77,-146.0,142.0,-8.5,219,1450,0.00,2.33,0.00,0.000,6,0.000,0.068,2455,2548,3398,0,0,0,0,0,0
$GC,1770,-0.87,-146.0,161.6,-6.1,250,1775,0.15,2.40,0.00,0.000,4,0.104,0.084,2404,858,3397,0,0,0,0,0,0
$GC,2027,-0.81,-146.0,186.9,-11.1,272,2033,0.00,2.38,0.00,0.000,6,0.000,0.068,2404,2585,3397,0,0,0,0,0,0
$GC,2352,-0.81,-146.0,222.5,-11.7,303,2357,0.00,3.05,0.00,0.000,4,0.000,0.085,2404,3922,3396,0,0,2,0,0,0
$GC,2424,-0.81,-146.0,231.2,-12.5,309,2429,0.00,2.85,0.00,0.000,6,0.000,0.061,2404,2607,3396,0,0,3,0,0,0
$GC,2749,-0.81,-146.0,268.6,-11.0,339,2754,0.00,3.00,0.00,0.000,4,0.000,0.083,2403,3918,3396,0,0,2,0,0,0
$GC,2923,-0.81,-146.0,286.7,-10.3,354,2928,0.00,2.85,0.00,0.000,6,0.000,0.059,2404,2623,3396,0,0,1,0,0,0
$GC,3247,-0.81,-146.0,314.3,-8.4,384,3252,0.00,2.92,0.00,0.000,4,0.000,0.081,2404,3917,3397,0,0,3,0,0,0
$GC,3400,-0.81,-146.0,326.9,-8.1,397,3405,0.00,2.78,0.00,0.000,6,0.000,0.058,2404,2645,3398,0,0,2,0,0,0
$GC,3725,-0.81,-146.0,353.9,-8.7,427,3729,0.00,2.85,0.00,0.000,4,0.000,0.081,2403,3918,3399,0,0,3,0,0,0
$GC,3880,-0.81,-146.0,368.3,-9.3,440,3886,0.00,2.75,0.00,0.000,6,0.000,0.056,2404,2671,3399,0,0,1,0,0,0
$GC,4206,-0.81,-146.0,398.9,-9.7,471,4210,0.00,2.83,0.00,0.000,4,0.000,0.081,2404,3922,3399,0,0,2,0,0,0
$GC,4392,-0.81,-146.0,417.3,-9.3,487,4397,0.00,2.72,0.00,0.000,6,0.000,0.056,2404,2694,3400,0,0,1,0,0,0
$GC,4716,-0.81,-146.0,444.2,-7.7,517,4721,0.00,2.85,0.00,0.000,4,0.000,0.080,2404,3921,3400,0,0,1,0,0,0
$GC,4868,-0.81,-146.0,456.4,-7.9,530,4873,0.00,2.65,0.00,0.000,6,0.000,0.055,2404,2717,3401,0,0,2,0,0,0
$GC,5193,-0.81,-146.0,481.7,-8.3,560,5198,0.00,2.80,0.00,0.000,4,0.000,0.080,2404,3924,3401,0,0,3,0,0,0
$GC,5348,-0.81,-146.0,494.8,-8.0,573,5355,0.00,2.67,0.00,0.000,6,0.000,0.056,2404,2736,3401,0,0,1,0,0,0
$STATE,5630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5630,begin apogee
$GC,5636,-0.16,0.0,518.4,8.5,600,5764,0.80,0.00,120.62,1.045,6,0.176,0.000,2629,1945,2800,0,0,0,0,0,0
$STATE,5766,end apogee,CONTROL_FINISHED_OK
$STATE,5766,begin climb
$GC,5768,0.73,146.0,520.5,0.0,613,5902,0.93,2.17,123.22,1.002,4,0.123,0.084,2921,353,2202,0,0,0,0,0,0
$GC,5941,0.65,146.0,506.0,11.9,629,5947,0.00,2.05,0.00,0.000,6,0.000,0.054,2922,1976,2199,0,0,0,0,0,0
$GC,6266,0.58,146.0,468.3,11.8,660,6272,0.17,3.42,0.00,0.000,4,0.199,0.073,2880,3530,2195,0,0,4,0,0,0
$GC,6401,0.58,146.0,453.5,10.9,671,6407,0.00,3.45,0.00,0.000,6,0.000,0.066,2894,1964,2194,0,0,2,0,0,0
$GC,6725,0.58,146.0,419.8,10.4,702,6731,0.00,3.42,0.00,0.000,4,0.000,0.074,2893,3522,2194,0,0,3,0,0,0
$GC,6854,0.58,146.0,404.6,12.4,713,6860,0.12,3.40,0.00,0.000,6,0.209,0.067,2883,1981,2193,0,0,1,0,0,0
$GC,7179,0.64,146.0,372.3,10.3,743,7184,0.00,3.42,0.00,0.000,4,0.000,0.074,2883,3526,2193,0,0,3,0,0,0
$GC,7320,0.64,146.0,356.8,10.5,755,7325,0.00,3.35,0.00,0.000,6,0.000,0.066,2896,2002,2193,0,0,2,0,0,0
$GC,7644,0.64,146.0,323.4,10.2,785,7649,0.00,3.38,0.00,0.000,4,0.000,0.074,2896,3532,2192,0,0,3,0,0,0
$GC,7766,0.64,146.0,309.8,11.0,795,7773,0.00,3.33,0.00,0.000,6,0.000,0.065,2911,2022,2193,0,0,2,0,0,0
$GC,8091,0.64,146.0,277.1,10.0,826,8096,0.00,3.35,0.00,0.000,4,0.000,0.074,2911,3535,2193,0,0,3,0,0,0
$GC,8180,0.58,146.0,267.3,11.2,833,8187,0.20,3.33,0.00,0.000,6,0.199,0.065,2878,2028,2193,0,0,2,0,0,0
$GC,8505,0.71,175.0,241.9,7.9,864,8537,0.12,3.35,23.30,0.846,4,0.121,0.074,2922,3530,2084,0,0,4,0,0,0
$GC,8639,0.63,175.0,226.5,12.1,876,8645,0.17,3.35,0.00,0.000,6,0.202,0.065,2898,2038,2083,0,0,1,0,0,0
$GC,8964,0.69,175.0,193.8,10.1,906,8969,0.00,3.33,0.00,0.000,4,0.000,0.072,2897,3529,2082,0,0,3,0,0,0
$GC,9047,0.69,175.0,184.4,11.2,913,9053,0.00,3.33,0.00,0.000,6,0.000,0.064,2909,2043,2082,0,0,1,0,0,0
$GC,9372,0.69,175.0,152.4,9.9,943,9377,0.00,3.30,0.00,0.000,4,0.000,0.073,2909,3533,2082,0,0,4,0,0,0
$GC,9484,0.69,175.0,139.5,12.0,952,9490,0.00,3.28,0.00,0.000,6,0.000,0.064,2924,2063,2082,0,0,2,0,0,0
$GC,9810,0.75,175.0,103.9,9.7,983,9815,0.00,3.28,0.00,0.000,4,0.000,0.072,2924,3527,2082,0,0,3,0,0,0
$GC,9951,0.75,175.0,88.2,11.3,1004,9956,0.00,3.25,0.00,0.000,6,0.000,0.064,2939,2085,2082,0,0,1,0,0,0
$GC,10296,0.81,181.4,54.6,8.9,1065,10312,0.00,3.35,6.53,0.656,4,0.000,0.074,2939,3537,2058,0,0,2,0,0,0
$GC,10409,0.81,181.4,42.8,10.7,1085,10414,0.00,3.25,0.00,0.000,6,0.000,0.066,2953,2099,2058,0,0,1,0,0,0
$GC,10754,0.81,184.2,10.1,9.0,1146,10765,0.00,3.28,3.75,0.522,4,0.000,0.076,2953,3531,2049,0,0,2,0,0,0
$FREEZE,8.24,0.011,-1.832,0,1,0
$FREEZE,7.58,0.012,-1.831,0,1,0
$FREEZE,6.94,0.011,-1.831,0,1,0
$FREEZE,6.28,0.012,-1.830,0,1,0
$FREEZE,5.81,0.011,-1.830,0,1,0
$FREEZE,5.15,0.010,-1.829,0,1,0
$FREEZE,4.50,0.011,-1.829,0,1,0
$FREEZE,3.95,0.011,-1.828,0,1,0
$FREEZE,3.37,0.011,-1.828,0,1,0
$FREEZE,2.70,0.010,-1.827,0,1,0
$FREEZE,1.88,0.010,-1.827,0,1,0
$STATE,10827,end climb,SURFACE_DEPTH_REACHED
$STATE,10827,begin surface coast
$FREEZE,1.25,0.010,-1.826,0,1,0
$FREEZE,0.56,0.011,-1.826,0,1,0
$FREEZE,0.54,0.022,-1.126,0,1,0
$FINISH,0.5,1.016643
$STATE,10844,end surface coast,CONTROL_FINISHED_OK
$STATE,10844,begin surface
$SM_CCo,10864,139.18,0.716,0,0,1066,425.10
$SM_GC,1.47,0.00,0.00,139.18,0.000,0.000,0.716,126,2469,1066,-8.02,0.25,425.10
$RAFOS_CLK,667
$RAFOS,6,1261126144,8.833333,8.817778,63,61,56,0,0,0,184,193,119,0,0,0
$RAFOS,5,1261125662,8.700000,8.683888,67,55,54,0,0,0,211,194,178,0,0,0
$RAFOS,4,1261125182,8.566667,8.550555,68,62,59,0,0,0,862,197,229,0,0,0
$RAFOS,3,1261124705,8.433333,8.418056,60,59,59,0,0,0,203,153,227,0,0,0
$RAFOS,2,1261124225,8.300000,8.284722,68,61,60,0,0,0,203,146,219,0,0,0
$RAFOS,1,1261123742,8.166667,8.150556,58,57,56,0,0,0,220,186,120,0,0,0
$RAFOS,0,1261123265,8.033334,8.018056,57,54,51,0,0,0,205,186,130,0,0,0
$RAFOS_FIX,6709.091309,-5709.041992,181209,040456,2,94,1.23
$IRIDIUM_FIX,6636.54,-5659.96,140399,040442
$TT8_MAMPS,0.027612
$HUMID,47.08
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,19.2
$ALTIM_BOTTOM_PING,400.5,144.7
$24V_AH,22.7,62.902
$10V_AH,10.1,33.291
$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,24.025,144.525,277.425,139.175,0.000,27.732,30.633,134.294,1.750,0.000,16.336,1966.712,6311.183,588.107,2057.324,386.745,0.000,1639.491,0.000,2009.493,2520.000,14.035,0.000
$DEVICE_MAMPS,289.926,95.875,1045.421,716.378,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,845.234,791.012,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152524
$DATA_FILE_SIZE,44148,1162
$CAP_FILE_SIZE,133050,0
$CFSIZE,260165632,224137216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,91,0,0
$SOUNDSPEED,1467.6
$GPS,181209,100937,6707.311,-5704.733,24,1.7,24,-37.7