version: 66.06
glider: 143
mission: 10
dive: 231
start: 12 2 109 14 29 8
data:
$ID,143
$MISSION,10
$DIVE,231
$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,19
$R_STBD_OVSHOOT,17
$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
$GPS1,122328,6645.659,-6018.896,0,6100.8,0,-37.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.29
$_SM_ANGLEo,-1.8
$GPS2,122328,6645.659,-6018.896,0,6100.8,0,-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,115.9,155647,-16.9,-9.167
$D_GRID,538
$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,-5.07,0.000,2,0.000,0.000,2730,362,2587,0,0,0,0,0,0
$GC,25,-0.73,-146.0,4.3,-0.0,1,67,0.82,6.22,-31.95,0.000,4,0.114,0.098,2459,3909,3399,0,0,0,0,0,0
$GC,174,-0.64,-146.0,22.4,-13.1,28,179,0.00,2.67,0.00,0.000,6,0.000,0.074,2459,2462,3400,0,0,0,0,0,0
$GC,518,-0.53,-146.0,71.4,-13.1,89,524,0.22,2.80,0.00,0.000,4,0.229,0.097,2501,3911,3400,0,0,0,0,0,0
$GC,643,-0.60,-146.0,86.0,-11.6,111,649,0.00,2.67,0.00,0.000,6,0.000,0.074,2501,2463,3400,0,0,0,0,0,0
$GC,975,-0.67,-146.0,121.5,-10.5,153,980,0.00,2.80,0.00,0.000,4,0.000,0.100,2501,3909,3400,0,0,0,0,0,0
$GC,1048,-0.77,-146.0,129.1,-10.5,159,1053,0.17,2.67,0.00,0.000,6,0.118,0.074,2442,2468,3400,0,0,0,0,0,0
$GC,1372,-0.68,-146.0,168.7,-12.1,189,1377,0.00,2.80,0.00,0.000,4,0.000,0.100,2442,3910,3400,0,0,0,0,0,0
$GC,1490,-0.60,-146.0,182.7,-12.1,199,1495,0.22,2.65,0.00,0.000,6,0.221,0.075,2493,2483,3400,0,0,0,0,0,0
$GC,1814,-0.71,-146.0,214.7,-9.8,229,1818,0.00,2.78,0.00,0.000,4,0.000,0.101,2493,3910,3400,0,0,0,0,0,0
$GC,1887,-0.84,-146.0,221.3,-8.9,235,1893,0.25,2.65,0.00,0.000,6,0.110,0.076,2412,2485,3400,0,0,0,0,0,0
$GC,2212,-0.70,-146.0,260.2,-11.8,265,2217,0.20,2.80,0.00,0.000,4,0.224,0.098,2448,3921,3400,0,0,0,0,0,0
$GC,2356,-0.70,-146.0,275.2,-10.1,277,2363,0.00,2.65,0.00,0.000,6,0.000,0.074,2448,2491,3399,0,0,0,0,0,0
$GC,2681,-0.70,-146.0,309.7,-10.8,308,2686,0.00,2.78,0.00,0.000,4,0.000,0.101,2448,3911,3400,0,0,0,0,0,0
$GC,2765,-0.70,-146.0,318.6,-11.0,315,2770,0.00,2.62,0.00,0.000,6,0.000,0.075,2448,2506,3399,0,0,0,0,0,0
$GC,3090,-0.70,-146.0,350.6,-9.1,345,3095,0.00,2.75,0.00,0.000,4,0.000,0.101,2448,3910,3399,0,0,0,0,0,0
$GC,3225,-0.70,-146.0,363.3,-9.1,356,3231,0.00,2.60,0.00,0.000,6,0.000,0.076,2447,2521,3398,0,0,0,0,0,0
$GC,3550,-0.70,-146.0,392.5,-9.0,387,3554,0.00,2.75,0.00,0.000,4,0.000,0.102,2448,3920,3399,0,0,0,0,0,0
$GC,3622,-0.70,-146.0,399.1,-9.3,393,3626,0.00,2.62,0.00,0.000,6,0.000,0.075,2448,2519,3398,0,0,0,0,0,0
$GC,3948,-0.70,-146.0,426.6,-8.6,423,3953,0.00,2.75,0.00,0.000,4,0.000,0.100,2448,3918,3398,0,0,0,0,0,0
$GC,4054,-0.70,-146.0,435.7,-8.1,432,4059,0.00,2.60,0.00,0.000,6,0.000,0.075,2448,2532,3398,0,0,0,0,0,0
$GC,4379,-0.70,-146.0,461.9,-7.9,462,4383,0.00,2.72,0.00,0.000,4,0.000,0.100,2447,3917,3398,0,0,0,0,0,0
$GC,4462,-0.70,-146.0,469.2,-9.5,469,4466,0.00,2.60,0.00,0.000,6,0.000,0.074,2448,2533,3398,0,0,0,0,0,0
$GC,4787,-0.77,-146.0,496.5,-8.3,499,4791,0.00,2.72,0.00,0.000,4,0.000,0.099,2448,3919,3399,0,0,0,0,0,0
$GC,4905,-0.85,-146.0,506.3,-7.8,509,4910,0.00,2.58,0.00,0.000,6,0.000,0.074,2448,2546,3399,0,0,0,0,0,0
$GC,5230,-0.91,-146.0,531.8,-8.3,539,5235,0.15,2.70,0.00,0.000,4,0.120,0.096,2388,3912,3399,0,0,0,0,0,0
$STATE,5290,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5290,begin apogee
$GC,5299,-0.16,0.0,538.6,11.4,544,5425,0.95,0.00,120.00,1.132,6,0.218,0.000,2629,1951,2800,0,0,0,0,0,0
$STATE,5426,end apogee,CONTROL_FINISHED_OK
$STATE,5426,begin climb
$GC,5428,0.73,146.0,541.5,0.0,557,5564,1.00,2.83,126.20,1.075,4,0.149,0.098,2923,365,2203,0,0,0,0,0,0
$GC,5626,0.65,146.0,527.8,11.6,576,5631,0.00,2.58,0.00,0.000,6,0.000,0.073,2923,1952,2199,0,0,0,0,0,0
$GC,5950,0.60,146.0,493.0,10.4,606,5952,0.15,0.00,0.00,0.000,6,0.205,0.000,2891,1953,2195,0,0,0,0,0,0
$GC,6269,0.69,159.0,465.1,8.6,636,6289,0.00,3.03,10.80,0.965,4,0.000,0.088,2891,3540,2150,0,0,0,0,0,0
$GC,6357,0.69,159.0,456.3,10.3,644,6362,0.00,3.00,0.00,0.000,6,0.000,0.080,2901,1959,2150,0,0,0,0,0,0
$GC,6682,0.76,174.0,425.8,8.5,674,6704,0.10,3.03,14.23,0.989,4,0.133,0.088,2937,3538,2089,0,0,0,0,0,0
$GC,6749,0.65,174.0,418.4,12.1,680,6755,0.20,2.97,0.00,0.000,6,0.203,0.079,2904,1966,2088,0,0,0,0,0,0
$GC,7075,0.73,180.9,388.4,8.9,710,7089,0.00,3.03,7.12,0.884,4,0.000,0.087,2904,3531,2062,0,0,0,0,0,0
$GC,7162,0.73,180.9,379.7,9.9,718,7167,0.00,2.95,0.00,0.000,6,0.000,0.079,2914,1971,2061,0,0,0,0,0,0
$GC,7486,0.79,180.9,348.7,9.5,748,7491,0.00,2.97,0.00,0.000,4,0.000,0.089,2914,3537,2061,0,0,0,0,0,0
$GC,7529,0.79,180.9,344.2,10.2,751,7536,0.00,2.95,0.00,0.000,6,0.000,0.078,2926,1968,2060,0,0,0,0,0,0
$GC,7855,0.81,197.7,315.3,8.5,782,7878,0.00,3.00,16.20,0.960,4,0.000,0.088,2926,3541,1991,0,0,0,0,0,0
$GC,7933,0.81,197.7,307.6,9.9,789,7940,0.00,2.95,0.00,0.000,6,0.000,0.078,2939,1983,1989,0,0,0,0,0,0
$GC,8258,0.83,208.5,278.8,8.7,820,8271,0.00,0.00,10.45,0.908,6,0.000,0.000,2939,1984,1948,0,0,0,0,0,0
$GC,8588,0.89,208.5,249.2,9.2,851,8593,0.12,3.00,0.00,0.000,4,0.118,0.090,2981,3542,1945,0,0,0,0,0,0
$GC,8654,0.73,208.5,241.6,12.6,856,8661,0.28,2.92,0.00,0.000,6,0.202,0.080,2927,1986,1944,0,0,0,0,0,0
$GC,8979,0.90,247.4,216.1,7.5,887,9021,0.17,3.03,33.85,0.932,4,0.116,0.091,2983,3542,1790,0,0,0,0,0,0
$GC,9089,0.79,247.4,203.9,12.4,897,9095,0.20,2.97,0.00,0.000,6,0.200,0.081,2950,1987,1787,0,0,0,0,0,0
$GC,9414,0.89,255.4,174.8,8.8,927,9424,0.00,0.00,7.68,0.835,6,0.000,0.000,2950,1988,1757,0,0,0,0,0,0
$GC,9742,1.01,255.4,141.8,10.2,958,9748,0.20,3.00,0.00,0.000,4,0.111,0.091,3013,3544,1755,0,0,0,0,0,0
$GC,9775,0.86,255.4,137.6,13.4,960,9782,0.22,2.95,0.00,0.000,6,0.206,0.081,2974,1987,1755,0,0,0,0,0,0
$GC,10100,0.93,256.9,106.7,9.1,991,10105,0.00,2.97,0.00,0.000,4,0.000,0.093,2973,3539,1753,0,0,0,0,0,0
$GC,10139,0.93,256.9,102.7,11.2,994,10144,0.00,2.90,0.00,0.000,6,0.000,0.082,2984,2007,1753,0,0,0,0,0,0
$GC,10482,1.01,274.3,69.3,8.4,1052,10508,0.00,3.00,17.30,0.864,4,0.000,0.094,2984,3535,1679,0,0,0,0,0,0
$GC,10583,1.01,274.3,60.2,9.5,1070,10589,0.00,2.92,0.00,0.000,6,0.000,0.083,2996,2005,1678,0,0,0,0,0,0
$GC,10926,1.01,274.3,29.4,12.4,1131,10931,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2007,1675,0,0,0,0,0,0
$FREEZE,8.55,-1.773,-1.763,2,26,0
$STATE,11127,end climb,FINISH_DEPTH_REACHED
$STATE,11127,begin subsurface finish
$FINISH1,8.6,1.025815,82
$GC,11133,0.10,81.8,8.6,-12.2,1167,11170,0.95,2.47,-28.60,0.000,4,0.185,0.117,2733,357,2471,0,0,0,0,0,0
$FINISH2,6.8
$STATE,11171,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11171,begin surface
$RAFOS_CLK,786
$RAFOS,6,1259772542,16.833334,16.817223,82,64,56,0,0,0,827,215,180,0,0,0
$RAFOS,5,1259772064,16.700001,16.684444,96,63,58,0,0,0,946,195,144,0,0,0
$RAFOS,4,1259771590,16.566668,16.552778,91,58,58,0,0,0,687,208,220,0,0,0
$RAFOS,3,1259771103,16.433332,16.417500,99,56,56,0,0,0,809,228,191,0,0,0
$RAFOS,2,1259770625,16.299999,16.284721,147,60,60,0,0,0,655,194,232,0,0,0
$RAFOS,1,1259770149,16.166666,16.152500,107,61,60,0,0,0,523,212,195,0,0,0
$RAFOS,0,1259769665,16.033333,16.018055,120,67,63,0,0,0,607,211,199,0,0,0
$RAFOS_FIX,6647.012207,-6015.568359,021209,161625,7,106,0.24
$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,19.9,19.5
$ALTIM_BOTTOM_PING,450.8,127.2
$24V_AH,22.6,48.865
$10V_AH,10.1,25.466
$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,6.600,142.150,363.825,0.000,0.000,0.000,0.000,0.000,3.500,0.000,0.000,1971.461,6712.136,451.783,1961.776,146.271,0.000,1482.666,0.000,1940.677,2520.000,12.681,0.000
$DEVICE_MAMPS,229.333,137.293,1132.092,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,871.439,809.630,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152568
$DATA_FILE_SIZE,44149,1174
$CAP_FILE_SIZE,130457,0
$CFSIZE,260165632,231751680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.9
$GPS,021209,162725,6647.012,-6015.568,0,7106.0,0,-37.8