version: 66.06
glider: 143
mission: 10
dive: 223
start: 12 1 109 10 39 12
data:
$ID,143
$MISSION,10
$DIVE,223
$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,-2
$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,325
$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,-35332.465
$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,13
$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
$GPS1,082725,6640.611,-5949.682,0,7094.6,0,-37.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.39
$_SM_ANGLEo,-2.1
$GPS2,082725,6640.611,-5949.682,0,7094.6,0,-37.8
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,321.1,27300,-16.9,-9.167
$D_GRID,713
$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
$STATE,13,begin dive
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$GC,2693,-0.69,-146.0,319.5,-10.3,300,2698,0.00,2.78,0.00,0.000,4,0.000,0.102,2440,3918,3399,0,0,0,0,0,0
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$GC,3547,-0.69,-146.0,404.6,-8.7,378,3552,0.00,2.72,0.00,0.000,4,0.000,0.101,2440,3911,3400,0,0,0,0,0,0
$GC,3602,-0.69,-146.0,409.6,-9.1,382,3608,0.00,2.58,0.00,0.000,6,0.000,0.075,2440,2528,3399,0,0,0,0,0,0
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$GC,4033,-0.69,-146.0,447.6,-9.0,422,4037,0.00,2.58,0.00,0.000,6,0.000,0.074,2440,2539,3399,0,0,0,0,0,0
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$GC,5587,-0.74,-146.0,579.5,-7.9,565,5592,0.00,2.65,0.00,0.000,4,0.000,0.097,2440,3915,3400,0,0,0,0,0,0
$GC,5620,-0.74,-146.0,582.2,-8.1,567,5626,0.00,2.50,0.00,0.000,6,0.000,0.071,2441,2565,3400,0,0,0,0,0,0
$GC,5941,-0.74,-146.0,608.3,-8.4,592,5946,0.00,2.62,0.00,0.000,4,0.000,0.097,2440,3914,3400,0,0,0,0,0,0
$GC,6008,-0.79,-146.0,614.1,-8.3,594,6012,0.00,2.47,0.00,0.000,6,0.000,0.071,2440,2576,3401,0,0,0,0,0,0
$GC,6336,-0.85,-146.0,641.3,-8.3,605,6341,0.00,2.60,0.00,0.000,4,0.000,0.096,2440,3911,3402,0,0,0,0,0,0
$GC,6426,-0.91,-146.0,649.1,-8.8,607,6432,0.12,2.47,0.00,0.000,6,0.125,0.070,2401,2578,3401,0,0,0,0,0,0
$GC,6740,-0.83,-146.0,678.8,-9.7,618,6741,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2579,3402,0,0,0,0,0,0
$GC,7044,-0.75,-146.0,707.8,-9.5,628,7049,0.20,2.60,0.00,0.000,4,0.209,0.093,2438,3911,3402,0,0,0,0,0,0
$GC,7066,-0.75,-146.0,709.5,-7.7,628,7071,0.00,2.45,0.00,0.000,6,0.000,0.069,2437,2588,3402,0,0,0,0,0,0
$STATE,7131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7131,begin apogee
$GC,7136,-0.16,0.0,714.0,7.0,631,7263,0.73,0.00,123.35,1.233,6,0.192,0.000,2630,1954,2799,0,0,0,0,0,0
$STATE,7264,end apogee,CONTROL_FINISHED_OK
$STATE,7264,begin climb
$GC,7266,0.73,146.0,714.5,0.0,635,7403,0.98,2.80,129.25,1.174,4,0.142,0.095,2920,361,2203,0,0,0,0,0,0
$GC,7505,0.64,146.0,695.5,10.9,642,7510,0.00,2.58,0.00,0.000,6,0.000,0.071,2920,1952,2197,0,0,0,0,0,0
$GC,7820,0.59,146.0,661.7,10.7,652,7826,0.17,3.03,0.00,0.000,4,0.192,0.087,2881,3540,2194,0,0,0,0,0,0
$GC,7850,0.59,146.0,658.5,9.9,653,7855,0.00,3.00,0.00,0.000,6,0.000,0.077,2891,1954,2193,0,0,0,0,0,0
$GC,8185,0.64,146.0,627.8,9.2,664,8186,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1955,2193,0,0,0,0,0,0
$GC,8490,0.71,160.9,601.4,8.5,674,8509,0.00,3.05,11.88,1.064,4,0.000,0.088,2891,3544,2144,0,0,0,0,0,0
$GC,8544,0.71,160.9,596.4,10.2,677,8549,0.00,2.95,0.00,0.000,6,0.000,0.078,2903,1958,2142,0,0,0,0,0,0
$GC,8868,0.71,160.9,567.1,9.4,707,8869,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1960,2142,0,0,0,0,0,0
$GC,9188,0.71,160.9,535.6,9.5,737,9193,0.00,2.95,0.00,0.000,4,0.000,0.088,2903,3543,2141,0,0,0,0,0,0
$GC,9238,0.66,160.9,530.2,11.0,741,9243,0.00,2.90,0.00,0.000,6,0.000,0.078,2915,1972,2141,0,0,0,0,0,0
$GC,9564,0.66,160.9,496.4,10.8,771,9569,0.00,2.92,0.00,0.000,4,0.000,0.087,2915,3542,2140,0,0,0,0,0,0
$GC,9603,0.58,160.9,492.0,11.3,774,9608,0.20,2.88,0.00,0.000,6,0.196,0.078,2881,1986,2140,0,0,0,0,0,0
$GC,9928,0.70,166.5,463.1,8.9,804,9942,0.10,2.90,6.22,0.895,4,0.134,0.087,2914,3547,2120,0,0,0,0,0,0
$GC,9975,0.63,166.5,457.8,12.0,808,9982,0.12,2.85,0.00,0.000,6,0.200,0.077,2900,2000,2119,0,0,0,0,0,0
$GC,10300,0.70,166.5,425.9,9.9,839,10301,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2002,2119,0,0,0,0,0,0
$GC,10620,0.78,166.5,395.4,9.9,869,10625,0.12,2.90,0.00,0.000,4,0.121,0.087,2941,3541,2119,0,0,0,0,0,0
$GC,10671,0.65,166.5,389.4,12.6,873,10677,0.20,2.83,0.00,0.000,6,0.197,0.078,2906,2009,2119,0,0,0,0,0,0
$GC,10996,0.74,187.8,360.1,8.3,903,11021,0.00,2.88,19.25,0.993,4,0.000,0.088,2906,3541,2034,0,0,0,0,0,0
$GC,11077,0.74,187.8,352.8,9.8,910,11082,0.00,2.83,0.00,0.000,6,0.000,0.078,2916,2023,2032,0,0,0,0,0,0
$GC,11402,0.82,200.2,325.0,8.6,940,11423,0.12,2.88,12.00,0.946,4,0.114,0.089,2962,3545,1982,0,0,0,0,0,0
$GC,11446,0.70,200.2,320.4,11.4,944,11451,0.22,2.83,0.00,0.000,6,0.199,0.078,2922,2033,1981,0,0,0,0,0,0
$GC,11770,0.81,208.4,290.3,8.8,974,11785,0.00,2.67,8.00,0.883,4,0.000,0.098,2931,358,1950,0,0,0,0,0,0
$GC,11796,0.89,213.1,287.7,9.0,976,11808,0.12,2.58,5.72,0.793,6,0.121,0.074,2973,2053,1931,0,0,0,0,0,0
$GC,12126,0.84,213.1,250.1,11.1,1007,12131,0.00,2.80,0.00,0.000,4,0.000,0.090,2972,3540,1930,0,0,0,0,0,0
$GC,12177,0.71,213.1,244.1,11.7,1011,12182,0.25,2.78,0.00,0.000,6,0.199,0.079,2925,2050,1929,0,0,0,0,0,0
$GC,12502,0.87,257.8,218.6,7.3,1041,12544,0.15,0.00,39.65,0.937,6,0.116,0.000,2974,2052,1747,0,0,0,0,0,0
$GC,12861,0.87,257.8,181.6,9.9,1075,12866,0.00,2.85,0.00,0.000,4,0.000,0.091,2974,3542,1742,0,0,0,0,0,0
$GC,12916,0.82,257.8,175.5,11.9,1079,12922,0.12,2.80,0.00,0.000,6,0.199,0.081,2959,2056,1741,0,0,0,0,0,0
$GC,13240,0.92,257.8,145.2,10.1,1110,13245,0.00,2.67,0.00,0.000,4,0.000,0.101,2969,359,1739,0,0,0,0,0,0
$GC,13268,1.00,257.8,142.5,9.4,1112,13273,0.15,2.60,0.00,0.000,6,0.121,0.076,3017,2066,1739,0,0,0,0,0,0
$GC,13592,0.95,257.8,105.7,11.1,1142,13597,0.00,2.80,0.00,0.000,4,0.000,0.092,3016,3546,1739,0,0,0,0,0,0
$GC,13636,0.79,257.8,100.4,13.3,1145,13642,0.32,2.78,0.00,0.000,6,0.196,0.082,2948,2066,1739,0,0,0,0,0,0
$GC,13982,1.03,316.0,72.2,6.7,1206,14038,0.22,2.75,48.40,0.861,4,0.104,0.103,3036,360,1510,0,0,0,0,0,0
$GC,14089,0.94,316.0,60.2,13.2,1226,14096,0.17,2.65,0.00,0.000,6,0.193,0.077,2996,2070,1506,0,0,0,0,0,0
$GC,14435,1.01,321.1,24.7,9.0,1287,14445,0.00,0.00,4.25,0.641,6,0.000,0.000,2996,2070,1490,0,0,0,0,0,0
$FREEZE,8.79,-1.771,-1.761,2,18,0
$STATE,14574,end climb,FINISH_DEPTH_REACHED
$STATE,14574,begin subsurface finish
$FINISH1,8.8,1.025796,83
$GC,14580,0.10,82.8,8.8,-11.4,1312,14622,0.90,3.05,-33.92,0.000,4,0.162,0.103,2731,3544,2464,0,0,0,0,0,0
$FINISH2,7.3
$STATE,14623,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14623,begin surface
$RAFOS_CLK,1015
$RAFOS,6,1259671767,12.833333,12.824166,96,62,60,0,0,0,665,138,191,0,0,0
$RAFOS,5,1259671262,12.700000,12.683888,75,59,59,0,0,0,912,181,210,0,0,0
$RAFOS,4,1259670810,12.566667,12.558333,99,58,55,0,0,0,528,208,190,0,0,0
$RAFOS,3,1259670303,12.433333,12.417500,137,64,54,0,0,0,744,216,140,0,0,0
$RAFOS,2,1259669830,12.300000,12.286111,106,64,58,0,0,0,597,205,118,0,0,0
$RAFOS,1,1259669345,12.166667,12.151389,88,59,59,0,0,0,529,201,214,0,0,0
$RAFOS,0,1259668869,12.033333,12.019167,138,57,55,0,0,0,629,174,212,0,0,0
$RAFOS_FIX,6642.357910,-5954.378418,011209,121234,7,106,0.33
$IRIDIUM_FIX,6620.33,-5850.01,230299,080832
$TT8_MAMPS,0.026845
$HUMID,50.31
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,16.20
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.5,18.8
$ALTIM_BOTTOM_PING,652.2,76.0
$24V_AH,22.5,47.938
$10V_AH,10.1,24.938
$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,6.875,177.050,407.975,0.000,0.000,0.000,0.000,0.000,5.250,0.000,0.000,2302.742,9382.659,522.014,2308.145,180.103,0.000,1730.858,0.000,2274.462,2520.000,22.590,0.000
$DEVICE_MAMPS,229.333,106.613,1233.336,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,973.290,921.456,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152564
$DATA_FILE_SIZE,50433,1320
$CAP_FILE_SIZE,162806,0
$CFSIZE,260165632,232300544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.7
$GPS,011209,122734,6642.358,-5954.378,0,7105.6,0,-37.8