version: 66.06
glider: 143
mission: 10
dive: 337
start: 12 18 109 17 7 25
data:
$ID,143
$MISSION,10
$DIVE,337
$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,-42288.965
$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,23
$R_STBD_OVSHOOT,20
$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
$GPS1,170025,6708.580,-5709.557,37,1.7,37,-37.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-67.7
$GPS2,170707,6708.594,-5709.764,8,1.4,13,-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,161.2,18823,-16.9,-9.167
$D_GRID,574
$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,-146.0,0.0,0.0,0,134,0.00,0.00,-115.28,0.000,2,0.000,0.000,124,2459,3172,0,0,0,0,0,0
$GC,138,-0.73,-146.0,3.6,-6.1,23,165,11.43,3.38,-5.70,0.000,4,0.298,0.097,2445,3906,3399,0,0,4,0,0,0
$GC,198,-0.73,-146.0,15.3,-10.9,34,204,0.00,3.15,0.00,0.000,6,0.000,0.062,2445,2469,3401,0,0,3,0,0,0
$GC,542,-0.73,-146.0,51.3,-10.5,95,547,0.00,3.28,0.00,0.000,4,0.000,0.084,2445,3911,3401,0,0,4,0,0,0
$GC,800,-0.73,-146.0,78.4,-10.0,141,805,0.00,3.10,0.00,0.000,6,0.000,0.064,2445,2497,3400,0,0,3,0,0,0
$GC,1138,-0.79,-146.0,111.4,-10.3,192,1143,0.00,3.22,0.00,0.000,4,0.000,0.087,2445,3913,3400,0,0,4,0,0,0
$GC,1395,-0.85,-146.0,137.9,-10.3,214,1401,0.00,3.03,0.00,0.000,6,0.000,0.064,2445,2540,3399,0,0,2,0,0,0
$GC,1721,-0.93,-146.0,168.1,-7.8,245,1727,0.17,3.15,0.00,0.000,4,0.110,0.084,2373,3922,3398,0,0,4,0,0,0
$GC,1900,-0.79,-146.0,186.4,-9.6,260,1907,0.25,2.92,0.00,0.000,6,0.202,0.061,2432,2585,3397,0,0,3,0,0,0
$GC,2227,-0.84,-146.0,206.8,-7.3,291,2232,0.00,3.05,0.00,0.000,4,0.000,0.084,2432,3924,3397,0,0,4,0,0,0
$GC,2413,-0.90,-146.0,222.8,-9.5,307,2417,0.00,2.85,0.00,0.000,6,0.000,0.060,2432,2612,3397,0,0,3,0,0,0
$GC,2737,-0.97,-146.0,252.2,-8.2,337,2743,0.17,3.03,0.00,0.000,4,0.108,0.079,2362,3924,3398,0,0,1,0,0,0
$GC,2928,-0.81,-146.0,274.1,-11.4,353,2934,0.28,2.83,0.00,0.000,6,0.199,0.058,2428,2624,3398,0,0,2,0,0,0
$GC,3253,-0.86,-146.0,300.9,-8.1,384,3258,0.00,2.92,0.00,0.000,4,0.000,0.081,2428,3922,3399,0,0,4,0,0,0
$GC,3472,-0.91,-146.0,321.2,-10.3,403,3477,0.00,2.75,0.00,0.000,6,0.000,0.056,2428,2655,3400,0,0,3,0,0,0
$GC,3797,-0.97,-146.0,353.4,-10.0,433,3803,0.17,2.90,0.00,0.000,4,0.104,0.079,2361,3921,3400,0,0,3,0,0,0
$GC,3928,-0.81,-146.0,369.6,-12.8,444,3933,0.28,2.72,0.00,0.000,6,0.194,0.056,2429,2665,3400,0,0,3,0,0,0
$GC,4255,-0.87,-146.0,400.1,-9.3,474,4260,0.00,2.85,0.00,0.000,4,0.000,0.080,2429,3914,3401,0,0,3,0,0,0
$GC,4422,-0.95,-146.0,416.4,-9.7,488,4429,0.15,2.70,0.00,0.000,6,0.109,0.055,2377,2688,3401,0,0,3,0,0,0
$GC,4749,-0.85,-146.0,450.6,-10.4,519,4754,0.15,2.85,0.00,0.000,4,0.199,0.079,2412,3920,3402,0,0,3,0,0,0
$GC,4882,-0.85,-146.0,462.7,-9.0,530,4886,0.00,2.65,0.00,0.000,6,0.000,0.055,2412,2709,3402,0,0,3,0,0,0
$GC,5206,-0.85,-146.0,492.1,-8.7,560,5211,0.00,2.80,0.00,0.000,4,0.000,0.079,2412,3923,3403,0,0,3,0,0,0
$GC,5379,-0.85,-146.0,508.0,-9.5,575,5384,0.00,2.62,0.00,0.000,6,0.000,0.055,2412,2730,3403,0,0,3,0,0,0
$GC,5706,-0.85,-146.0,535.0,-8.3,605,5710,0.00,2.78,0.00,0.000,4,0.000,0.080,2412,3927,3403,0,0,3,0,0,0
$GC,5884,-0.85,-146.0,550.9,-8.7,620,5890,0.00,2.58,0.00,0.000,6,0.000,0.054,2412,2753,3403,0,0,3,0,0,0
$STATE,6166,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6166,begin apogee
$GC,6172,-0.16,0.0,574.2,7.4,647,6298,0.77,0.00,122.07,1.082,6,0.179,0.000,2627,1929,2800,0,0,0,0,0,0
$STATE,6299,end apogee,CONTROL_FINISHED_OK
$STATE,6299,begin climb
$GC,6301,0.73,146.0,576.8,0.0,660,6435,0.95,2.05,124.50,1.038,4,0.125,0.082,2924,360,2203,0,0,0,0,0,0
$GC,6469,0.64,146.0,562.6,12.5,676,6473,0.00,2.03,0.00,0.000,6,0.000,0.054,2924,1967,2201,0,0,0,0,0,0
$GC,6800,0.56,146.0,520.7,12.9,707,6806,0.20,3.47,0.00,0.000,4,0.202,0.071,2862,3530,2196,0,0,4,0,0,0
$GC,6924,0.56,146.0,506.9,11.5,717,6929,0.00,3.45,0.00,0.000,6,0.000,0.064,2875,1961,2195,0,0,3,0,0,0
$GC,7248,0.63,146.0,472.5,10.7,748,7253,0.00,3.47,0.00,0.000,4,0.000,0.072,2876,3540,2195,0,0,3,0,0,0
$GC,7401,0.63,146.0,454.8,12.4,761,7406,0.00,3.45,0.00,0.000,6,0.000,0.067,2891,1973,2193,0,0,2,0,0,0
$GC,7725,0.63,146.0,417.3,11.6,791,7730,0.00,3.42,0.00,0.000,4,0.000,0.074,2890,3532,2193,0,0,4,0,0,0
$GC,7867,0.63,146.0,399.9,12.2,803,7872,0.00,3.40,0.00,0.000,6,0.000,0.067,2906,1996,2193,0,0,2,0,0,0
$GC,8191,0.63,146.0,362.0,11.4,833,8196,0.00,3.42,0.00,0.000,4,0.000,0.073,2906,3542,2193,0,0,3,0,0,0
$GC,8269,0.57,146.0,351.9,13.2,839,8275,0.20,3.42,0.00,0.000,6,0.202,0.067,2875,1999,2193,0,0,1,0,0,0
$GC,8595,0.65,146.0,318.5,10.3,870,8600,0.00,3.40,0.00,0.000,4,0.000,0.074,2875,3534,2192,0,0,3,0,0,0
$GC,8680,0.65,146.0,309.1,11.5,877,8685,0.00,3.38,0.00,0.000,6,0.000,0.066,2888,2022,2192,0,0,1,0,0,0
$GC,9004,0.65,146.1,277.2,9.2,907,9009,0.00,3.40,0.00,0.000,4,0.000,0.074,2887,3542,2192,0,0,2,0,0,0
$GC,9134,0.65,146.1,263.9,10.1,918,9139,0.00,3.35,0.00,0.000,6,0.000,0.066,2902,2038,2192,0,0,2,0,0,0
$GC,9458,0.66,154.2,233.5,8.8,948,9472,0.00,3.38,6.53,0.723,4,0.000,0.073,2903,3532,2170,0,0,4,0,0,0
$GC,9551,0.61,154.2,224.0,10.6,956,9557,0.00,3.33,0.00,0.000,6,0.000,0.064,2918,2041,2170,0,0,2,0,0,0
$GC,9876,0.61,154.2,189.5,10.8,987,9881,0.00,3.35,0.00,0.000,4,0.000,0.073,2918,3531,2169,0,0,2,0,0,0
$GC,10011,0.55,154.2,173.4,11.7,998,10018,0.25,3.28,0.00,0.000,6,0.194,0.065,2872,2064,2170,0,0,3,0,0,0
$GC,10336,0.74,180.3,147.2,8.1,1029,10368,0.17,3.38,22.58,0.792,4,0.109,0.073,2933,3535,2063,0,0,3,0,0,0
$GC,10486,0.68,180.3,129.2,12.6,1042,10492,0.15,3.30,0.00,0.000,6,0.199,0.064,2914,2078,2061,0,0,2,0,0,0
$GC,10812,0.78,180.3,96.1,9.3,1076,10818,0.00,3.30,0.00,0.000,4,0.000,0.071,2914,3535,2061,0,0,3,0,0,0
$GC,10858,0.78,180.3,91.6,9.9,1084,10863,0.00,3.28,0.00,0.000,6,0.000,0.064,2926,2087,2061,0,0,2,0,0,0
$GC,11203,0.89,203.7,61.3,8.2,1145,11230,0.15,3.30,20.50,0.745,4,0.100,0.073,2982,3532,1967,0,0,3,0,0,0
$GC,11337,0.74,203.7,44.8,12.5,1169,11344,0.28,3.28,0.00,0.000,6,0.197,0.066,2930,2105,1964,0,0,2,0,0,0
$GC,11681,0.84,216.8,13.8,8.6,1230,11702,0.00,3.38,11.52,0.717,4,0.000,0.075,2930,3540,1914,0,0,2,0,0,0
$FREEZE,8.49,-0.164,-1.831,0,1,0
$FREEZE,7.83,-0.161,-1.830,0,1,0
$FREEZE,7.25,-0.157,-1.830,0,1,0
$FREEZE,6.63,-0.157,-1.830,0,1,0
$FREEZE,6.06,-0.159,-1.829,0,1,0
$FREEZE,5.47,-0.158,-1.829,0,1,0
$FREEZE,5.02,-0.155,-1.828,0,1,0
$FREEZE,4.30,-0.153,-1.828,0,1,0
$FREEZE,3.69,-0.159,-1.827,0,1,0
$FREEZE,3.14,-0.171,-1.827,0,1,0
$FREEZE,2.60,-0.176,-1.827,0,1,0
$FREEZE,1.94,-0.173,-1.826,0,1,0
$STATE,11796,end climb,SURFACE_DEPTH_REACHED
$STATE,11796,begin surface coast
$FREEZE,1.31,-0.179,-1.826,0,1,0
$FINISH,1.3,1.026737
$STATE,11803,end surface coast,CONTROL_FINISHED_OK
$STATE,11803,begin surface
$SM_CCo,11821,126.78,0.717,0,0,1066,425.10
$SM_GC,1.47,0.00,0.00,126.78,0.000,0.000,0.717,125,2464,1066,-8.02,0.11,425.10
$RAFOS_CLK,731
$RAFOS,2,1261167427,20.299999,20.285278,65,61,60,0,0,0,214,115,147,0,0,0
$RAFOS,1,1261166946,20.166666,20.151667,68,63,59,0,0,0,214,171,189,0,0,0
$RAFOS,0,1261166461,20.033333,20.016945,67,62,62,0,0,0,209,191,167,0,0,0
$RAFOS_FIX,6707.912598,-5712.275879,181209,161656,2,91,0.38
$IRIDIUM_FIX,6636.54,-5707.59,140399,131305
$TT8_MAMPS,0.026845
$HUMID,46.61
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,19.8
$ALTIM_BOTTOM_PING,400.1,221.9
$24V_AH,22.6,63.281
$10V_AH,10.1,33.511
$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,24.400,155.850,307.700,126.775,0.000,31.019,53.042,195.218,1.750,0.000,15.310,2091.442,6921.618,602.297,2240.429,487.278,0.000,1741.186,0.000,2196.538,1080.000,11.184,0.000
$DEVICE_MAMPS,297.596,97.409,1082.237,717.145,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,914.162,852.756,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152520
$DATA_FILE_SIZE,47208,1252
$CAP_FILE_SIZE,144738,0
$CFSIZE,260165632,223903744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,134,0,0
$SOUNDSPEED,1468.4
$GPS,181209,202801,6708.053,-5710.744,40,1.5,40,-37.7