version: 66.06
glider: 143
mission: 10
dive: 229
start: 12 2 109 8 13 17
data:
$ID,143
$MISSION,10
$DIVE,229
$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,-35700.973
$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,18
$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
$GPS1,042734,6642.477,-6011.609,0,7118.4,0,-37.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.82
$_SM_ANGLEo,-1.5
$GPS2,042734,6642.477,-6011.609,0,7118.4,0,-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,322.8,10899,-16.9,-9.167
$D_GRID,554
$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,15,-0.73,-146.0,0.0,0.0,0,22,0.00,0.00,-5.30,0.000,2,0.000,0.000,2728,3540,2643,0,0,0,0,0,0
$GC,25,-0.73,-146.0,9.0,-0.0,1,56,0.80,4.75,-21.62,0.000,4,0.114,0.094,2465,863,3400,0,0,0,0,0,0
$GC,90,-0.60,-146.0,15.2,-12.8,13,96,0.12,2.53,0.00,0.000,6,0.248,0.081,2488,2464,3402,0,0,0,0,0,0
$GC,433,-0.60,-146.0,58.0,-11.3,74,439,0.00,2.85,0.00,0.000,4,0.000,0.100,2489,3920,3402,0,0,0,0,0,0
$GC,563,-0.60,-146.0,72.9,-10.8,97,568,0.00,2.75,0.00,0.000,6,0.000,0.074,2489,2461,3402,0,0,0,0,0,0
$GC,900,-0.60,-146.0,110.6,-9.6,148,905,0.00,2.88,0.00,0.000,4,0.000,0.101,2490,3920,3402,0,0,0,0,0,0
$GC,1097,-0.64,-146.0,131.1,-10.4,165,1101,0.00,2.72,0.00,0.000,6,0.000,0.075,2489,2476,3402,0,0,0,0,0,0
$GC,1421,-0.71,-146.0,162.8,-9.7,195,1426,0.00,2.85,0.00,0.000,4,0.000,0.102,2489,3913,3402,0,0,0,0,0,0
$GC,1567,-0.79,-146.0,177.5,-9.4,207,1574,0.17,2.70,0.00,0.000,6,0.124,0.076,2433,2486,3402,0,0,0,0,0,0
$GC,1892,-0.70,-146.0,215.7,-11.7,238,1897,0.12,2.85,0.00,0.000,4,0.229,0.100,2452,3914,3402,0,0,0,0,0,0
$GC,2043,-0.70,-146.0,233.0,-11.4,251,2048,0.00,2.67,0.00,0.000,6,0.000,0.075,2452,2496,3401,0,0,0,0,0,0
$GC,2367,-0.70,-146.0,268.8,-10.3,281,2372,0.00,2.80,0.00,0.000,4,0.000,0.101,2452,3912,3401,0,0,0,0,0,0
$GC,2394,-0.70,-146.0,271.8,-11.6,283,2399,0.00,2.67,0.00,0.000,6,0.000,0.075,2452,2496,3400,0,0,0,0,0,0
$GC,2719,-0.70,-146.0,304.0,-8.9,313,2723,0.00,2.80,0.00,0.000,4,0.000,0.101,2452,3913,3401,0,0,0,0,0,0
$GC,2773,-0.70,-146.0,309.3,-9.2,317,2779,0.00,2.67,0.00,0.000,6,0.000,0.075,2451,2497,3401,0,0,0,0,0,0
$GC,3098,-0.70,-146.0,341.3,-9.3,348,3102,0.00,2.80,0.00,0.000,4,0.000,0.100,2452,3913,3401,0,0,0,0,0,0
$GC,3282,-0.70,-146.0,356.8,-8.0,364,3287,0.00,2.65,0.00,0.000,6,0.000,0.075,2452,2509,3400,0,0,0,0,0,0
$GC,3607,-0.70,-146.0,384.1,-8.5,394,3611,0.00,2.78,0.00,0.000,4,0.000,0.101,2452,3912,3400,0,0,0,0,0,0
$GC,3657,-0.75,-146.0,388.5,-8.9,398,3662,0.00,2.62,0.00,0.000,6,0.000,0.075,2452,2525,3400,0,0,0,0,0,0
$GC,3981,-0.75,-146.0,413.3,-7.7,428,3986,0.00,2.75,0.00,0.000,4,0.000,0.100,2452,3912,3400,0,0,0,0,0,0
$GC,4054,-0.81,-146.0,419.2,-8.4,434,4059,0.00,2.62,0.00,0.000,6,0.000,0.075,2452,2526,3400,0,0,0,0,0,0
$GC,4381,-0.87,-146.0,446.2,-8.1,464,4386,0.12,2.78,0.00,0.000,4,0.130,0.097,2398,3922,3400,0,0,0,0,0,0
$GC,4492,-0.76,-146.0,458.3,-11.2,473,4500,0.15,2.58,0.00,0.000,6,0.218,0.072,2436,2542,3400,0,0,0,0,0,0
$GC,4817,-0.76,-146.0,486.5,-8.6,504,4822,0.00,2.72,0.00,0.000,4,0.000,0.099,2436,3921,3401,0,0,0,0,0,0
$GC,4916,-0.76,-146.0,496.2,-9.6,512,4922,0.00,2.60,0.00,0.000,6,0.000,0.072,2436,2536,3401,0,0,0,0,0,0
$GC,5243,-0.76,-146.0,524.7,-8.6,543,5247,0.00,2.72,0.00,0.000,4,0.000,0.098,2436,3913,3401,0,0,0,0,0,0
$GC,5338,-0.76,-146.0,533.1,-8.8,551,5343,0.00,2.58,0.00,0.000,6,0.000,0.072,2436,2549,3401,0,0,0,0,0,0
$STATE,5395,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5395,begin apogee
$GC,5401,-0.16,0.0,538.3,9.0,556,5528,0.73,0.00,120.32,1.127,6,0.195,0.000,2629,1944,2802,0,0,0,0,0,0
$STATE,5529,end apogee,CONTROL_FINISHED_OK
$STATE,5529,begin climb
$GC,5530,0.73,146.0,541.5,0.0,569,5668,1.00,3.42,127.00,1.071,4,0.148,0.088,2914,3542,2202,0,0,0,0,0,0
$GC,5690,0.66,146.0,530.8,9.6,584,5696,0.00,3.25,0.00,0.000,6,0.000,0.077,2927,1953,2200,0,0,0,0,0,0
$GC,6015,0.59,146.0,494.4,9.3,615,6020,0.20,2.58,0.00,0.000,4,0.196,0.097,2890,352,2194,0,0,0,0,0,0
$GC,6043,0.61,163.2,491.9,8.4,617,6064,0.00,2.47,14.57,0.989,6,0.000,0.073,2890,1960,2134,0,0,0,0,0,0
$GC,6382,0.69,163.2,461.0,9.2,649,6387,0.00,3.03,0.00,0.000,4,0.000,0.089,2890,3538,2131,0,0,0,0,0,0
$GC,6477,0.69,163.2,451.1,10.6,657,6482,0.00,3.00,0.00,0.000,6,0.000,0.079,2903,1960,2129,0,0,0,0,0,0
$GC,6801,0.72,183.5,421.7,8.3,687,6825,0.00,3.08,18.05,1.001,4,0.000,0.088,2903,3536,2051,0,0,0,0,0,0
$GC,6888,0.72,183.5,413.4,10.9,695,6893,0.00,2.92,0.00,0.000,6,0.000,0.079,2915,2008,2049,0,0,0,0,0,0
$GC,7213,0.72,183.5,382.0,9.5,725,7218,0.00,2.55,0.00,0.000,4,0.000,0.098,2926,358,2049,0,0,0,0,0,0
$GC,7263,0.72,183.5,376.6,10.8,729,7268,0.00,2.47,0.00,0.000,6,0.000,0.074,2926,2012,2048,0,0,0,0,0,0
$GC,7587,0.72,183.5,343.6,9.7,759,7592,0.00,2.58,0.00,0.000,4,0.000,0.099,2937,359,2047,0,0,0,0,0,0
$GC,7603,0.72,183.5,341.9,10.1,760,7607,0.00,2.45,0.00,0.000,6,0.000,0.074,2937,2001,2048,0,0,0,0,0,0
$GC,7927,0.72,183.5,307.7,11.0,790,7928,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2002,2047,0,0,0,0,0,0
$GC,8247,0.72,183.5,272.6,10.6,820,8251,0.00,2.90,0.00,0.000,4,0.000,0.091,2936,3539,2047,0,0,0,0,0,0
$GC,8319,0.72,183.5,264.5,11.9,826,8324,0.00,2.90,0.00,0.000,6,0.000,0.079,2950,1990,2048,0,0,0,0,0,0
$GC,8644,0.72,187.9,233.3,9.0,856,8655,0.00,2.53,5.03,0.759,4,0.000,0.101,2961,346,2033,0,0,0,0,0,0
$GC,8716,0.67,187.9,226.1,10.2,862,8723,0.20,2.45,0.00,0.000,6,0.193,0.074,2913,1991,2032,0,0,0,0,0,0
$GC,9043,0.89,253.9,202.5,6.4,893,9108,0.20,3.05,56.85,0.923,4,0.105,0.091,2980,3532,1763,0,0,0,0,0,0
$GC,9204,0.79,253.9,184.3,12.6,908,9210,0.20,2.95,0.00,0.000,6,0.197,0.081,2947,2005,1758,0,0,0,0,0,0
$GC,9530,0.92,253.9,153.3,9.7,938,9535,0.12,2.58,0.00,0.000,4,0.123,0.101,2996,356,1755,0,0,0,0,0,0
$GC,9591,0.87,253.9,145.6,12.8,943,9596,0.00,2.50,0.00,0.000,6,0.000,0.076,2997,2012,1754,0,0,0,0,0,0
$GC,9916,0.88,260.8,113.3,8.9,973,9927,0.00,2.90,5.90,0.768,4,0.000,0.091,2996,3536,1735,0,0,0,0,0,0
$GC,10018,0.81,260.8,102.8,10.5,982,10024,0.22,2.85,0.00,0.000,6,0.193,0.081,2955,2037,1735,0,0,0,0,0,0
$GC,10361,1.01,293.4,76.5,7.8,1039,10396,0.17,0.00,28.83,0.861,6,0.115,0.000,3010,2039,1602,0,0,0,0,0,0
$GC,10733,1.01,293.4,34.6,11.9,1106,10738,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2039,1597,0,0,0,0,0,0
$FREEZE,8.56,-1.777,-1.764,2,24,0
$STATE,10956,end climb,FINISH_DEPTH_REACHED
$STATE,10957,begin subsurface finish
$FINISH1,8.6,1.025833,81
$GC,10963,0.10,81.0,8.6,-12.5,1146,10999,1.00,0.00,-30.08,0.000,6,0.176,0.000,2729,1946,2470,0,0,0,0,0,0
$FINISH2,7.3
$STATE,11000,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11000,begin surface
$RAFOS_CLK,772
$RAFOS,6,1259743750,8.833333,8.819445,74,61,57,0,0,0,817,158,167,0,0,0
$RAFOS,5,1259743263,8.700000,8.684167,99,67,67,0,0,0,973,204,193,0,0,0
$RAFOS,4,1259742782,8.566667,8.550555,129,60,58,0,0,0,748,178,211,0,0,0
$RAFOS,3,1259742304,8.433333,8.417778,131,63,61,0,0,0,790,206,197,0,0,0
$RAFOS,2,1259741821,8.300000,8.283611,147,60,56,0,0,0,668,162,211,0,0,0
$RAFOS,1,1259741341,8.166667,8.150278,145,71,57,0,0,0,577,219,201,0,0,0
$RAFOS_FIX,6643.584961,-6016.871582,021209,080849,7,123,0.30
$IRIDIUM_FIX,6620.33,-5850.01,230299,080832
$TT8_MAMPS,0.027612
$HUMID,50.23
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,16.20
$XPDR_PINGS,8
$ALTIM_TOP_PING,19.8,18.8
$ALTIM_BOTTOM_PING,450.2,102.9
$24V_AH,22.6,48.644
$10V_AH,10.1,25.342
$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,5.550,135.250,376.550,0.000,0.000,0.000,0.000,0.000,3.750,0.000,0.000,1957.890,6558.879,446.008,1965.285,145.615,0.000,1476.184,0.000,1940.529,1800.000,15.628,0.000
$DEVICE_MAMPS,247.741,131.157,1126.723,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,853.438,795.748,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152568
$DATA_FILE_SIZE,44185,1153
$CAP_FILE_SIZE,127697,0
$CFSIZE,260165632,231890944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.4
$GPS,021209,082649,6643.585,-6016.872,0,7123.0,0,-37.8