version: 66.06
glider: 143
mission: 10
dive: 273
start: 12 10 109 5 23 30
data:
$ID,143
$MISSION,10
$DIVE,273
$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,-40382.93
$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,19
$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
$GPS1,050751,6659.083,-5652.871,161,2.1,180,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-55.1
$GPS2,050751,6659.083,-5652.871,181,99.0,181,-37.5
$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,63.4,8062,-16.9,-9.167
$D_GRID,629
$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,-146.0,0.0,0.0,0,139,0.00,0.00,-120.40,0.000,2,0.000,0.000,123,2467,3107,0,0,0,0,0,0
$GC,143,-0.73,-146.0,3.5,-5.6,24,164,11.20,0.00,-7.50,0.000,6,0.295,0.000,2445,2467,3398,0,0,0,0,0,0
$GC,501,-0.73,-146.0,50.1,-14.9,88,507,0.00,3.05,0.00,0.000,4,0.000,0.092,2446,3912,3401,0,0,1,0,0,0
$GC,704,-0.73,-146.0,73.1,-8.3,124,710,0.00,2.92,0.00,0.000,6,0.000,0.068,2446,2462,3402,0,0,1,0,0,0
$GC,1046,-0.73,-146.0,103.0,-8.6,182,1051,0.00,3.08,0.00,0.000,4,0.000,0.092,2446,3921,3400,0,0,1,0,0,0
$GC,1220,-0.73,-146.0,119.1,-9.3,197,1225,0.00,2.95,0.00,0.000,6,0.000,0.068,2446,2464,3400,0,0,0,0,0,0
$GC,1546,-0.78,-146.0,148.7,-8.9,227,1551,0.00,3.05,0.00,0.000,4,0.000,0.090,2446,3915,3400,0,0,1,0,0,0
$GC,1747,-0.83,-146.0,166.4,-8.6,244,1753,0.00,2.88,0.00,0.000,6,0.000,0.067,2446,2482,3401,0,0,1,0,0,0
$GC,2072,-0.89,-146.0,192.5,-8.5,275,2078,0.15,3.03,0.00,0.000,4,0.120,0.087,2384,3922,3400,0,0,1,0,0,0
$GC,2181,-0.75,-146.0,204.7,-12.4,284,2187,0.25,2.85,0.00,0.000,6,0.209,0.066,2442,2496,3400,0,0,1,0,0,0
$GC,2506,-0.81,-146.0,236.1,-9.4,314,2511,0.00,2.97,0.00,0.000,4,0.000,0.089,2442,3915,3401,0,0,1,0,0,0
$GC,2669,-0.89,-146.0,251.7,-8.9,328,2674,0.12,2.83,0.00,0.000,6,0.125,0.065,2404,2506,3401,0,0,1,0,0,0
$GC,2994,-0.83,-146.0,283.6,-9.4,358,2999,0.00,2.95,0.00,0.000,4,0.000,0.089,2404,3912,3401,0,0,1,0,0,0
$GC,3128,-0.77,-146.0,296.5,-9.2,369,3135,0.15,2.80,0.00,0.000,6,0.206,0.066,2437,2521,3400,0,0,1,0,0,0
$GC,3453,-0.83,-146.0,320.5,-7.4,400,3458,0.00,2.92,0.00,0.000,4,0.000,0.087,2437,3912,3401,0,0,1,0,0,0
$GC,3595,-0.90,-146.0,331.0,-7.4,412,3600,0.12,2.78,0.00,0.000,6,0.123,0.064,2398,2531,3401,0,0,1,0,0,0
$GC,3919,-0.83,-146.0,358.6,-8.2,442,3924,0.00,2.90,0.00,0.000,4,0.000,0.087,2397,3913,3401,0,0,1,0,0,0
$GC,4121,-0.77,-146.0,375.6,-8.6,459,4127,0.17,2.75,0.00,0.000,6,0.203,0.063,2438,2546,3402,0,0,1,0,0,0
$GC,4446,-0.85,-146.0,398.9,-7.1,490,4451,0.00,2.88,0.00,0.000,4,0.000,0.086,2438,3914,3403,0,0,1,0,0,0
$GC,4581,-0.91,-146.0,408.9,-6.9,501,4587,0.15,2.75,0.00,0.000,6,0.117,0.062,2389,2545,3403,0,0,1,0,0,0
$GC,4905,-0.82,-146.0,438.3,-9.6,532,4911,0.15,2.92,0.00,0.000,4,0.204,0.085,2423,3917,3403,0,0,0,0,0,0
$GC,5029,-0.82,-146.0,448.7,-8.0,542,5035,0.00,2.75,0.00,0.000,6,0.000,0.062,2423,2548,3403,0,0,1,0,0,0
$GC,5354,-0.82,-146.0,475.2,-8.1,573,5358,0.00,2.88,0.00,0.000,4,0.000,0.085,2424,3916,3403,0,0,1,0,0,0
$GC,5495,-0.82,-146.0,486.9,-8.5,585,5500,0.00,2.72,0.00,0.000,6,0.000,0.062,2424,2563,3404,0,0,1,0,0,0
$GC,5820,-0.82,-146.0,512.8,-7.7,615,5824,0.00,2.85,0.00,0.000,4,0.000,0.085,2424,3913,3405,0,0,1,0,0,0
$GC,5942,-0.82,-146.0,523.1,-8.2,625,5949,0.00,2.70,0.00,0.000,6,0.000,0.062,2424,2583,3405,0,0,0,0,0,0
$GC,6267,-0.82,-146.0,548.8,-7.8,656,6271,0.00,2.83,0.00,0.000,4,0.000,0.085,2423,3916,3404,0,0,1,0,0,0
$GC,6424,-0.82,-146.0,561.6,-7.9,669,6430,0.00,2.67,0.00,0.000,6,0.000,0.062,2423,2594,3405,0,0,1,0,0,0
$GC,6750,-0.87,-146.0,585.5,-7.3,700,6754,0.00,2.80,0.00,0.000,4,0.000,0.087,2424,3912,3405,0,0,1,0,0,0
$GC,6884,-0.87,-146.0,595.6,-7.7,711,6889,0.00,2.67,0.00,0.000,6,0.000,0.061,2424,2602,3405,0,0,0,0,0,0
$GC,7200,-0.92,-146.0,618.7,-7.4,726,7204,0.00,2.80,0.00,0.000,4,0.000,0.087,2424,3914,3405,0,0,1,0,0,0
$STATE,7326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7327,begin apogee
$GC,7336,-0.16,0.0,629.3,8.1,730,7462,0.75,0.00,123.00,1.151,6,0.180,0.000,2629,1954,2800,0,0,0,0,0,0
$STATE,7463,end apogee,CONTROL_FINISHED_OK
$STATE,7463,begin climb
$GC,7465,0.73,146.0,632.0,0.0,734,7598,0.95,0.00,127.03,1.097,6,0.134,0.000,2910,1954,2204,0,0,0,0,0,0
$GC,7895,0.67,146.0,589.7,11.1,752,7900,0.00,3.33,0.00,0.000,4,0.000,0.079,2910,3535,2196,0,0,1,0,0,0
$GC,7962,0.54,146.0,581.1,13.1,757,7968,0.22,3.30,0.00,0.000,6,0.206,0.071,2874,1937,2195,0,0,0,0,0,0
$GC,8286,0.61,146.0,549.5,9.2,788,8291,0.00,3.28,0.00,0.000,4,0.000,0.079,2874,3536,2194,0,0,1,0,0,0
$GC,8433,0.61,146.0,534.2,10.6,800,8439,0.00,3.17,0.00,0.000,6,0.000,0.072,2885,1983,2193,0,0,0,0,0,0
$GC,8758,0.61,146.0,502.4,10.0,831,8763,0.00,3.20,0.00,0.000,4,0.000,0.081,2885,3538,2192,0,0,0,0,0,0
$GC,8854,0.61,146.0,491.8,11.5,839,8859,0.00,3.15,0.00,0.000,6,0.000,0.072,2899,1993,2192,0,0,0,0,0,0
$GC,9178,0.61,146.0,456.6,11.3,869,9183,0.00,3.17,0.00,0.000,4,0.000,0.080,2899,3537,2192,0,0,0,0,0,0
$GC,9274,0.53,146.0,445.2,12.7,877,9279,0.20,3.10,0.00,0.000,6,0.202,0.072,2866,2018,2192,0,0,0,0,0,0
$GC,9599,0.68,170.8,417.2,8.1,907,9626,0.12,3.15,20.02,0.985,4,0.124,0.080,2907,3545,2101,0,0,1,0,0,0
$GC,9705,0.61,170.8,405.3,11.9,916,9710,0.15,3.12,0.00,0.000,6,0.206,0.071,2888,2025,2099,0,0,0,0,0,0
$GC,10029,0.67,170.8,372.5,9.9,946,10034,0.00,3.15,0.00,0.000,4,0.000,0.080,2887,3541,2099,0,0,0,0,0,0
$GC,10124,0.67,170.8,361.5,11.7,954,10129,0.00,3.08,0.00,0.000,6,0.000,0.071,2900,2054,2098,0,0,0,0,0,0
$GC,10448,0.67,170.8,323.6,11.4,984,10453,0.00,3.10,0.00,0.000,4,0.000,0.081,2899,3542,2098,0,0,0,0,0,0
$GC,10509,0.62,170.8,316.0,12.5,989,10514,0.00,3.05,0.00,0.000,6,0.000,0.071,2913,2072,2097,0,0,0,0,0,0
$GC,10833,0.62,170.8,279.9,11.2,1019,10838,0.00,3.05,0.00,0.000,4,0.000,0.079,2913,3537,2097,0,0,0,0,0,0
$GC,10861,0.55,170.8,276.6,11.4,1021,10867,0.22,3.03,0.00,0.000,6,0.202,0.071,2873,2070,2097,0,0,0,0,0,0
$GC,11186,0.68,178.1,247.2,8.9,1051,11201,0.12,3.05,6.85,0.783,4,0.124,0.080,2913,3530,2072,0,0,1,0,0,0
$GC,11276,0.61,178.1,236.7,12.5,1059,11281,0.15,2.97,0.00,0.000,6,0.205,0.071,2893,2091,2071,0,0,0,0,0,0
$GC,11600,0.68,178.1,204.4,9.2,1089,11602,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2092,2071,0,0,0,0,0,0
$GC,11919,0.80,197.2,176.5,8.4,1119,11944,0.17,3.05,17.10,0.830,4,0.109,0.078,2952,3529,1995,0,0,0,0,0,0
$GC,12028,0.64,197.2,162.9,13.3,1129,12034,0.28,2.97,0.00,0.000,6,0.203,0.069,2900,2093,1993,0,0,0,0,0,0
$GC,12353,0.78,223.5,134.4,8.1,1159,12385,0.12,3.08,22.48,0.815,4,0.123,0.079,2941,3529,1888,0,0,0,0,0,0
$GC,12448,0.69,223.5,123.7,12.3,1167,12454,0.17,2.95,0.00,0.000,6,0.202,0.069,2915,2113,1885,0,0,0,0,0,0
$GC,12778,0.78,223.5,90.3,10.1,1206,12784,0.00,2.97,0.00,0.000,4,0.000,0.079,2915,3536,1884,0,0,1,0,0,0
$GC,12834,0.78,223.5,83.8,11.9,1216,12840,0.00,2.92,0.00,0.000,6,0.000,0.070,2925,2131,1884,0,0,0,0,0,0
$GC,13177,0.89,223.5,50.0,9.6,1277,13183,0.15,2.97,0.00,0.000,4,0.107,0.079,2983,3538,1883,0,0,0,0,0,0
$GC,13258,0.75,223.5,37.9,15.8,1291,13264,0.25,2.90,0.00,0.000,6,0.203,0.070,2937,2145,1883,0,0,0,0,0,0
$FREEZE,8.96,-0.076,-1.829,0,38,0
$FREEZE,8.01,-0.071,-1.828,0,38,0
$FREEZE,7.29,-0.072,-1.828,0,38,0
$FREEZE,6.44,-0.110,-1.827,0,38,0
$FREEZE,5.68,-0.109,-1.827,0,38,0
$FREEZE,4.93,-0.112,-1.826,0,38,0
$FREEZE,4.13,-0.106,-1.825,0,38,0
$FREEZE,3.69,-0.127,-1.825,0,38,0
$FREEZE,3.46,-0.125,-1.825,0,38,0
$FREEZE,2.53,-0.116,-1.824,0,38,0
$FREEZE,1.97,-0.126,-1.824,0,38,0
$STATE,13566,end climb,SURFACE_DEPTH_REACHED
$STATE,13567,begin surface coast
$FREEZE,1.51,-0.136,-1.824,0,38,0
$FREEZE,0.66,-0.135,-1.823,0,38,0
$FREEZE,0.87,-0.137,-1.823,0,38,0
$FINISH,0.9,1.026700
$STATE,13584,end surface coast,CONTROL_FINISHED_OK
$STATE,13584,begin surface
$SM_CCo,13601,160.45,0.737,0,0,1066,425.10
$SM_GC,1.22,0.00,0.00,160.45,0.000,0.000,0.737,126,2466,1066,-8.01,0.17,425.10
$RAFOS_CLK,898
$RAFOS,6,1260434950,8.833333,8.819445,83,63,57,0,0,0,805,158,141,0,0,0
$RAFOS,5,1260434463,8.700000,8.684167,75,65,58,0,0,0,647,208,223,0,0,0
$RAFOS,4,1260433985,8.566667,8.551389,63,60,59,0,0,0,185,212,203,0,0,0
$RAFOS,3,1260433506,8.433333,8.418333,59,57,55,0,0,0,209,161,196,0,0,0
$RAFOS,2,1260433024,8.300000,8.284445,62,56,54,0,0,0,204,153,174,0,0,0
$RAFOS,1,1260432542,8.166667,8.150556,61,61,59,0,0,0,126,219,201,0,0,0
$RAFOS,0,1260432068,8.033334,8.018888,60,59,59,0,0,0,189,148,119,0,0,0
$RAFOS_FIX,6701.185059,-5701.106934,101209,080856,2,79,0.54
$IRIDIUM_FIX,6631.12,-5639.92,060399,050503
$TT8_MAMPS,0.027612
$HUMID,46.85
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.00
$XPDR_PINGS,6
$ALTIM_TOP_PING,20.0,19.0
$ALTIM_BOTTOM_PING,500.9,145.7
$24V_AH,22.6,54.699
$10V_AH,10.1,28.990
$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,24.775,167.575,316.475,160.450,0.000,79.578,174.091,225.777,3.500,0.000,183.215,2354.813,8324.329,673.324,2580.228,748.586,0.000,1891.548,0.000,2367.912,2520.000,19.181,0.000
$DEVICE_MAMPS,295.295,92.040,1151.267,737.087,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,988.565,938.398,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152288
$DATA_FILE_SIZE,53634,1349
$CAP_FILE_SIZE,163492,0
$CFSIZE,260165632,226856960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,0,0
$SOUNDSPEED,1464.4
$GPS,101209,091437,6700.808,-5652.553,48,0.9,48,-37.5