version: 66.06
glider: 143
mission: 10
dive: 336
start: 12 18 109 13 46 7
data:
$ID,143
$MISSION,10
$DIVE,336
$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,-42273.027
$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,16
$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
$GPS1,134030,6707.713,-5706.383,40,1.2,40,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-65.8
$GPS2,134549,6707.750,-5706.508,13,1.2,13,-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,161.1,16001,-16.9,-9.167
$D_GRID,547
$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,-115.22,0.000,2,0.000,0.000,128,2470,3178,0,0,0,0,0,0
$GC,136,-0.73,-146.0,3.6,-5.8,23,162,11.20,2.30,-5.65,0.000,4,0.291,0.097,2445,853,3399,0,0,0,0,0,0
$GC,186,-0.60,-146.0,13.4,-12.0,32,192,0.17,2.15,0.00,0.000,6,0.201,0.067,2488,2461,3401,0,0,0,0,0,0
$GC,532,-0.74,-146.0,41.1,-8.2,93,538,0.12,2.20,0.00,0.000,4,0.118,0.085,2445,861,3402,0,0,0,0,0,0
$GC,792,-0.74,-146.0,67.8,-10.4,139,798,0.00,2.22,0.00,0.000,6,0.000,0.069,2445,2502,3402,0,0,0,0,0,0
$GC,1139,-0.74,-146.0,105.0,-11.1,197,1143,0.00,2.30,0.00,0.000,4,0.000,0.086,2445,847,3401,0,0,0,0,0,0
$GC,1396,-0.74,-146.0,134.7,-10.9,219,1403,0.00,2.38,0.00,0.000,6,0.000,0.070,2445,2553,3400,0,0,0,0,0,0
$GC,1722,-0.82,-146.0,161.4,-7.7,250,1726,0.00,2.38,0.00,0.000,4,0.000,0.086,2445,861,3398,0,0,0,0,0,0
$GC,1744,-0.89,-146.0,163.3,-8.3,251,1750,0.15,2.35,0.00,0.000,6,0.115,0.069,2395,2572,3399,0,0,0,0,0,0
$GC,2068,-0.83,-146.0,193.8,-10.0,282,2073,0.00,3.10,0.00,0.000,4,0.000,0.087,2395,3921,3397,0,0,3,0,0,0
$GC,2326,-0.76,-146.0,220.4,-10.8,304,2332,0.17,2.88,0.00,0.000,6,0.203,0.061,2435,2606,3398,0,0,3,0,0,0
$GC,2651,-0.83,-146.0,246.4,-7.5,335,2656,0.00,3.03,0.00,0.000,4,0.000,0.084,2435,3929,3397,0,0,3,0,0,0
$GC,2809,-0.91,-146.0,258.5,-7.7,348,2815,0.12,2.85,0.00,0.000,6,0.119,0.059,2394,2617,3398,0,0,3,0,0,0
$GC,3133,-0.85,-146.0,288.4,-9.6,379,3138,0.00,2.95,0.00,0.000,4,0.000,0.082,2394,3921,3398,0,0,4,0,0,0
$GC,3284,-0.78,-146.0,303.6,-10.1,392,3290,0.17,2.80,0.00,0.000,6,0.198,0.058,2435,2630,3399,0,0,3,0,0,0
$GC,3609,-0.86,-146.0,331.3,-8.2,422,3614,0.00,2.92,0.00,0.000,4,0.000,0.081,2435,3924,3400,0,0,4,0,0,0
$GC,3799,-0.94,-146.0,347.2,-8.6,438,3806,0.15,2.75,0.00,0.000,6,0.108,0.057,2383,2657,3400,0,0,3,0,0,0
$GC,4124,-0.85,-146.0,379.5,-9.9,469,4129,0.12,2.90,0.00,0.000,4,0.199,0.081,2410,3920,3400,0,0,4,0,0,0
$GC,4332,-0.85,-146.0,399.3,-9.8,487,4336,0.00,2.72,0.00,0.000,6,0.000,0.057,2410,2673,3401,0,0,3,0,0,0
$GC,4656,-0.85,-146.0,429.9,-9.7,517,4661,0.00,2.88,0.00,0.000,4,0.000,0.080,2411,3930,3402,0,0,3,0,0,0
$GC,4852,-0.85,-146.0,448.3,-9.2,534,4856,0.00,2.67,0.00,0.000,6,0.000,0.056,2411,2696,3402,0,0,4,0,0,0
$GC,5176,-0.85,-146.0,476.7,-8.6,564,5181,0.00,2.85,0.00,0.000,4,0.000,0.080,2410,3928,3402,0,0,2,0,0,0
$GC,5294,-0.85,-146.0,486.6,-8.7,574,5299,0.00,2.65,0.00,0.000,6,0.000,0.055,2411,2722,3403,0,0,3,0,0,0
$GC,5618,-0.85,-146.0,512.1,-7.7,604,5623,0.00,2.80,0.00,0.000,4,0.000,0.081,2410,3929,3403,0,0,3,0,0,0
$GC,5771,-0.85,-146.0,524.3,-8.0,617,5776,0.00,2.62,0.00,0.000,6,0.000,0.055,2410,2747,3402,0,0,2,0,0,0
$STATE,6053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6054,begin apogee
$GC,6060,-0.16,0.0,547.7,8.8,643,6186,0.77,0.00,121.45,1.068,6,0.173,0.000,2631,1930,2800,0,0,0,0,0,0
$STATE,6187,end apogee,CONTROL_FINISHED_OK
$STATE,6187,begin climb
$GC,6190,0.73,146.0,551.5,0.0,656,6323,0.93,2.08,124.32,1.020,4,0.120,0.082,2924,351,2202,0,0,0,0,0,0
$GC,6374,0.65,146.0,535.9,12.2,673,6380,0.00,2.03,0.00,0.000,6,0.000,0.054,2924,1964,2199,0,0,0,0,0,0
$GC,6698,0.57,146.0,495.9,12.7,704,6705,0.20,3.47,0.00,0.000,4,0.200,0.070,2861,3532,2195,0,0,4,0,0,0
$GC,6819,0.63,146.0,482.8,10.8,714,6824,0.00,3.45,0.00,0.000,6,0.000,0.064,2875,1963,2194,0,0,3,0,0,0
$GC,7146,0.71,146.0,449.2,11.0,744,7152,0.12,3.45,0.00,0.000,4,0.117,0.074,2919,3536,2194,0,0,4,0,0,0
$GC,7281,0.58,146.0,429.9,14.3,755,7288,0.22,3.45,0.00,0.000,6,0.203,0.067,2882,1981,2193,0,0,1,0,0,0
$GC,7606,0.64,146.0,392.4,11.3,786,7611,0.00,3.42,0.00,0.000,4,0.000,0.074,2882,3542,2193,0,0,4,0,0,0
$GC,7723,0.64,146.0,377.9,12.9,796,7729,0.00,3.40,0.00,0.000,6,0.000,0.067,2895,2003,2192,0,0,2,0,0,0
$GC,8047,0.64,146.0,341.3,11.1,826,8053,0.00,3.38,0.00,0.000,4,0.000,0.074,2895,3531,2192,0,0,4,0,0,0
$GC,8182,0.64,146.0,325.2,12.0,837,8188,0.00,3.38,0.00,0.000,6,0.000,0.065,2909,2018,2192,0,0,1,0,0,0
$GC,8506,0.64,146.0,288.8,11.0,868,8511,0.00,3.35,0.00,0.000,4,0.000,0.073,2910,3534,2192,0,0,4,0,0,0
$GC,8636,0.58,146.0,272.7,12.6,879,8642,0.20,3.35,0.00,0.000,6,0.198,0.066,2877,2036,2193,0,0,1,0,0,0
$GC,8961,0.68,150.6,241.2,9.0,909,8966,0.00,3.33,0.00,0.000,4,0.000,0.073,2877,3535,2192,0,0,4,0,0,0
$GC,9095,0.68,150.6,226.9,10.7,920,9101,0.00,3.33,0.00,0.000,6,0.000,0.064,2890,2056,2193,0,0,1,0,0,0
$GC,9420,0.75,150.6,195.5,10.0,951,9426,0.12,3.30,0.00,0.000,4,0.103,0.072,2936,3537,2192,0,0,3,0,0,0
$GC,9577,0.62,150.6,175.1,13.1,964,9584,0.22,3.28,0.00,0.000,6,0.202,0.064,2895,2068,2192,0,0,3,0,0,0
$GC,9902,0.68,150.6,143.5,10.1,995,9907,0.00,3.25,0.00,0.000,4,0.000,0.073,2895,3532,2193,0,0,3,0,0,0
$GC,9991,0.68,150.6,133.7,10.9,1002,9997,0.00,3.22,0.00,0.000,6,0.000,0.064,2908,2089,2193,0,0,3,0,0,0
$GC,10316,0.76,161.8,102.0,8.7,1033,10337,0.00,3.30,12.50,0.735,4,0.000,0.072,2908,3532,2139,0,0,4,0,0,0
$GC,10360,0.78,174.3,98.3,8.6,1038,10381,0.00,3.28,11.95,0.726,6,0.000,0.064,2922,2090,2088,0,0,1,0,0,0
$GC,10719,0.89,196.1,69.3,8.2,1102,10746,0.15,3.30,18.92,0.740,4,0.097,0.073,2978,3537,1999,0,0,4,0,0,0
$GC,10837,0.75,196.1,54.5,13.4,1123,10843,0.25,3.28,0.00,0.000,6,0.196,0.064,2933,2104,1996,0,0,2,0,0,0
$GC,11182,0.83,206.4,23.2,8.7,1184,11198,0.00,3.30,9.43,0.693,4,0.000,0.074,2933,3537,1958,0,0,3,0,0,0
$GC,11299,0.83,206.4,10.9,11.1,1205,11304,0.00,3.25,0.00,0.000,6,0.000,0.066,2945,2125,1956,0,0,2,0,0,0
$FREEZE,8.74,0.039,-1.832,0,1,0
$FREEZE,8.29,0.038,-1.832,0,1,0
$FREEZE,7.71,0.038,-1.831,0,1,0
$FREEZE,7.13,0.031,-1.831,0,1,0
$FREEZE,6.58,0.031,-1.830,0,1,0
$FREEZE,6.17,0.033,-1.830,0,1,0
$FREEZE,5.69,0.033,-1.830,0,1,0
$FREEZE,5.15,0.033,-1.829,0,1,0
$FREEZE,4.61,0.034,-1.829,0,1,0
$FREEZE,4.18,0.034,-1.828,0,1,0
$FREEZE,3.54,0.033,-1.828,0,1,0
$FREEZE,2.95,0.038,-1.827,0,1,0
$FREEZE,2.49,0.035,-1.827,0,1,0
$FREEZE,1.93,0.034,-1.827,0,1,0
$STATE,11392,end climb,SURFACE_DEPTH_REACHED
$STATE,11392,begin surface coast
$FREEZE,1.38,0.037,-1.826,0,1,0
$FREEZE,0.83,0.038,-1.826,0,1,0
$FREEZE,0.64,0.038,-1.697,0,1,0
$FREEZE,0.62,0.038,-1.825,0,1,0
$FINISH,0.6,1.026728
$STATE,11416,end surface coast,CONTROL_FINISHED_OK
$STATE,11416,begin surface
$SM_CCo,11434,129.68,0.713,0,0,1066,425.10
$SM_GC,1.34,0.00,0.00,129.68,0.000,0.000,0.713,124,2458,1066,-8.02,-0.06,425.10
$RAFOS_CLK,699
$RAFOS,6,1261154943,16.833334,16.817499,75,65,61,0,0,0,788,213,166,0,0,0
$RAFOS,5,1261154464,16.700001,16.684444,107,63,57,0,0,0,623,215,202,0,0,0
$RAFOS,4,1261153984,16.566668,16.551111,60,57,56,0,0,0,206,146,230,0,0,0
$RAFOS,3,1261153503,16.433332,16.417500,63,61,60,0,0,0,147,196,211,0,0,0
$RAFOS,2,1261153021,16.299999,16.283611,70,62,61,0,0,0,217,205,178,0,0,0
$RAFOS,1,1261152544,16.166666,16.151112,57,53,53,0,0,0,168,151,202,0,0,0
$RAFOS,0,1261152063,16.033333,16.017500,58,56,55,0,0,0,215,227,201,0,0,0
$RAFOS_FIX,6707.912598,-5712.275879,181209,161656,2,91,0.38
$IRIDIUM_FIX,6636.54,-5707.59,140399,101017
$TT8_MAMPS,0.027612
$HUMID,46.73
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.20
$XPDR_PINGS,4
$ALTIM_TOP_PING,20.0,19.6
$ALTIM_BOTTOM_PING,400.7,173.0
$24V_AH,22.7,63.151
$10V_AH,10.1,33.438
$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,23.725,143.200,298.575,129.675,0.000,23.530,32.328,139.683,2.250,0.000,14.983,2075.668,6630.813,591.996,2185.561,398.971,0.000,1705.876,0.000,2143.801,2520.000,11.052,0.000
$DEVICE_MAMPS,291.460,96.642,1067.664,712.543,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,895.191,834.140,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152508
$DATA_FILE_SIZE,47285,1226
$CAP_FILE_SIZE,142281,0
$CFSIZE,260165632,223981568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,111,0,0
$SOUNDSPEED,1468.2
$GPS,181209,170025,6708.580,-5709.557,37,1.7,37,-37.8