version: 66.06
glider: 143
mission: 10
dive: 299
start: 12 13 109 10 26 58
data:
$ID,143
$MISSION,10
$DIVE,299
$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,-41654.949
$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,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
$GPS1,100837,6705.838,-5657.399,26,1.7,26,-37.6
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-67.7
$GPS2,102642,6706.057,-5657.431,13,1.8,24,-37.6
$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,167.3,8857,-16.9,-9.167
$D_GRID,492
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.73,-146.0,0.0,0.0,0,152,0.00,0.00,-130.65,0.000,2,0.000,0.000,126,2478,3221,0,0,0,0,0,0
$GC,154,-0.73,-146.0,3.5,-6.9,26,176,11.20,2.40,-4.35,0.000,4,0.293,0.097,2448,859,3398,0,0,0,0,0,0
$GC,205,-0.58,-146.0,15.8,-14.9,35,211,0.20,2.30,0.00,0.000,6,0.202,0.072,2498,2457,3400,0,0,0,0,0,0
$GC,548,-0.77,-146.0,42.9,-10.2,96,555,0.17,3.15,0.00,0.000,4,0.100,0.087,2425,3913,3401,0,0,1,0,0,0
$GC,786,-0.77,-146.0,70.8,-11.6,138,792,0.00,2.95,0.00,0.000,6,0.000,0.067,2425,2504,3401,0,0,1,0,0,0
$GC,1134,-0.77,-146.0,104.6,-9.3,196,1139,0.00,3.08,0.00,0.000,4,0.000,0.090,2425,3918,3399,0,0,1,0,0,0
$GC,1391,-0.77,-146.0,127.9,-9.7,218,1397,0.00,2.88,0.00,0.000,6,0.000,0.066,2426,2529,3399,0,0,1,0,0,0
$GC,1716,-0.77,-146.0,156.7,-8.2,249,1721,0.00,3.00,0.00,0.000,4,0.000,0.088,2425,3916,3399,0,0,1,0,0,0
$GC,1923,-0.77,-146.0,173.8,-8.4,267,1928,0.00,2.83,0.00,0.000,6,0.000,0.064,2425,2557,3398,0,0,1,0,0,0
$GC,2248,-0.77,-146.0,200.9,-8.7,297,2253,0.00,2.95,0.00,0.000,4,0.000,0.086,2425,3923,3398,0,0,1,0,0,0
$GC,2444,-0.77,-146.0,219.0,-9.1,314,2449,0.00,2.78,0.00,0.000,6,0.000,0.062,2426,2584,3399,0,0,1,0,0,0
$GC,2769,-0.77,-146.0,248.0,-8.4,344,2774,0.00,2.90,0.00,0.000,4,0.000,0.084,2425,3925,3399,0,0,1,0,0,0
$GC,2947,-0.77,-146.0,263.2,-8.3,359,2953,0.00,2.78,0.00,0.000,6,0.000,0.061,2425,2596,3400,0,0,0,0,0,0
$GC,3274,-0.77,-146.0,290.1,-8.3,390,3278,0.00,2.88,0.00,0.000,4,0.000,0.084,2425,3923,3401,0,0,1,0,0,0
$GC,3385,-0.77,-146.0,299.8,-8.5,399,3394,0.00,2.70,0.00,0.000,6,0.000,0.060,2426,2617,3401,0,0,1,0,0,0
$GC,3709,-0.77,-146.0,326.1,-8.1,430,3713,0.00,2.83,0.00,0.000,4,0.000,0.082,2425,3915,3402,0,0,1,0,0,0
$GC,3883,-0.81,-146.0,339.9,-7.4,445,3887,0.00,2.65,0.00,0.000,6,0.000,0.059,2425,2644,3402,0,0,1,0,0,0
$GC,4207,-0.81,-146.0,363.2,-6.9,475,4212,0.00,2.80,0.00,0.000,4,0.000,0.081,2425,3924,3403,0,0,1,0,0,0
$GC,4320,-0.86,-146.0,371.4,-7.1,484,4326,0.00,2.65,0.00,0.000,6,0.000,0.058,2426,2656,3403,0,0,1,0,0,0
$GC,4645,-0.90,-146.0,394.2,-7.4,515,4650,0.00,2.78,0.00,0.000,4,0.000,0.081,2425,3923,3404,0,0,1,0,0,0
$GC,4819,-0.96,-146.0,407.7,-8.1,530,4824,0.12,2.60,0.00,0.000,6,0.114,0.058,2381,2682,3404,0,0,1,0,0,0
$GC,5143,-0.87,-146.0,438.1,-9.6,560,5148,0.00,2.72,0.00,0.000,4,0.000,0.081,2381,3925,3404,0,0,1,0,0,0
$GC,5198,-0.78,-146.0,443.6,-9.7,564,5204,0.22,2.58,0.00,0.000,6,0.196,0.058,2435,2690,3404,0,0,1,0,0,0
$GC,5523,-0.86,-146.0,466.7,-7.4,595,5528,0.00,2.70,0.00,0.000,4,0.000,0.081,2435,3917,3405,0,0,1,0,0,0
$GC,5567,-0.95,-146.0,470.2,-7.6,598,5573,0.17,2.55,0.00,0.000,6,0.105,0.057,2376,2693,3405,0,0,1,0,0,0
$STATE,5795,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5795,begin apogee
$GC,5801,-0.16,0.0,492.2,8.3,620,5927,0.90,0.00,120.47,1.029,6,0.178,0.000,2627,1940,2800,0,0,0,0,0,0
$STATE,5928,end apogee,CONTROL_FINISHED_OK
$STATE,5928,begin climb
$GC,5931,0.73,146.0,496.5,0.0,633,6063,0.95,2.33,122.45,0.984,4,0.124,0.084,2926,366,2202,0,0,0,0,0,0
$GC,6120,0.66,146.0,478.0,13.1,651,6126,0.00,2.15,0.00,0.000,6,0.000,0.055,2926,1966,2199,0,0,0,0,0,0
$GC,6450,0.59,146.0,437.7,12.5,682,6456,0.17,3.30,0.00,0.000,4,0.193,0.072,2881,3530,2195,0,0,1,0,0,0
$GC,6575,0.59,146.0,423.8,10.9,692,6580,0.00,3.30,0.00,0.000,6,0.000,0.067,2892,1964,2193,0,0,0,0,0,0
$GC,6899,0.59,146.0,390.0,10.1,723,6904,0.00,3.30,0.00,0.000,4,0.000,0.074,2893,3536,2194,0,0,1,0,0,0
$GC,6987,0.59,146.0,380.0,11.2,730,6994,0.00,3.25,0.00,0.000,6,0.000,0.067,2907,1975,2193,0,0,1,0,0,0
$GC,7312,0.59,146.0,345.5,11.0,761,7317,0.00,3.28,0.00,0.000,4,0.000,0.075,2907,3533,2193,0,0,1,0,0,0
$GC,7396,0.53,146.0,335.4,12.5,768,7402,0.25,3.25,0.00,0.000,6,0.191,0.067,2860,1983,2192,0,0,0,0,0,0
$GC,7721,0.67,155.4,307.0,8.8,798,7736,0.15,3.28,7.57,0.779,4,0.108,0.074,2913,3526,2166,0,0,1,0,0,0
$GC,7848,0.60,155.4,291.6,12.3,809,7854,0.17,3.20,0.00,0.000,6,0.193,0.067,2887,2002,2164,0,0,1,0,0,0
$GC,8173,0.67,155.4,258.9,10.1,840,8178,0.00,3.22,0.00,0.000,4,0.000,0.074,2887,3536,2165,0,0,1,0,0,0
$GC,8250,0.67,155.4,250.3,10.1,846,8256,0.00,3.20,0.00,0.000,6,0.000,0.066,2898,2006,2164,0,0,1,0,0,0
$GC,8574,0.67,155.4,217.8,9.7,877,8580,0.00,3.22,0.00,0.000,4,0.000,0.074,2898,3536,2164,0,0,1,0,0,0
$GC,8651,0.67,155.4,209.4,11.0,883,8658,0.00,3.17,0.00,0.000,6,0.000,0.066,2913,2017,2164,0,0,1,0,0,0
$GC,8976,0.67,155.4,175.2,10.7,914,8981,0.00,3.20,0.00,0.000,4,0.000,0.074,2913,3535,2164,0,0,1,0,0,0
$GC,9049,0.61,155.4,166.5,12.2,920,9055,0.15,3.15,0.00,0.000,6,0.196,0.067,2893,2030,2164,0,0,1,0,0,0
$GC,9374,0.69,155.4,135.1,9.3,950,9379,0.00,3.20,0.00,0.000,4,0.000,0.073,2893,3536,2164,0,0,0,0,0,0
$GC,9470,0.69,155.4,125.2,10.4,958,9475,0.00,3.17,0.00,0.000,6,0.000,0.066,2904,2028,2164,0,0,0,0,0,0
$GC,9797,0.78,155.4,94.9,9.9,992,9804,0.10,3.20,0.00,0.000,4,0.120,0.074,2947,3532,2164,0,0,1,0,0,0
$GC,9907,0.64,155.4,82.1,12.1,1011,9913,0.25,3.15,0.00,0.000,6,0.193,0.066,2900,2042,2164,0,0,0,0,0,0
$GC,10253,0.82,209.0,55.8,6.9,1072,10305,0.17,3.22,43.75,0.747,4,0.104,0.074,2963,3532,1946,0,0,1,0,0,0
$GC,10407,0.74,209.0,38.2,12.4,1100,10413,0.20,3.17,0.00,0.000,6,0.189,0.067,2930,2061,1943,0,0,0,0,0,0
$FREEZE,8.80,-0.111,-1.831,0,1,0
$FREEZE,8.30,-0.108,-1.831,0,1,0
$FREEZE,7.81,-0.090,-1.830,0,1,0
$FREEZE,7.35,-0.096,-1.830,0,1,0
$FREEZE,6.81,-0.107,-1.830,0,1,0
$FREEZE,6.17,-0.120,-1.829,0,1,0
$GC,10752,0.82,216.1,6.8,8.9,1161,10764,0.00,3.17,6.93,0.644,4,0.000,0.074,2929,3537,1917,0,0,1,0,0,0
$FREEZE,5.13,-0.137,-1.829,0,1,0
$FREEZE,4.51,-0.114,-1.828,0,1,0
$FREEZE,3.96,-0.096,-1.827,0,1,0
$FREEZE,3.28,-0.122,-1.827,0,1,0
$FREEZE,2.75,-0.109,-1.827,0,1,0
$FREEZE,2.12,-0.124,-1.826,0,1,0
$FREEZE,1.30,-0.124,-1.826,0,1,0
$STATE,10804,end climb,SURFACE_DEPTH_REACHED
$STATE,10804,begin surface coast
$FREEZE,0.78,-0.124,-1.825,0,1,0
$FINISH,0.8,1.026733
$STATE,10811,end surface coast,CONTROL_FINISHED_OK
$STATE,10811,begin surface
$SM_CCo,10830,117.12,0.709,0,0,1066,425.10
$SM_GC,0.93,0.00,0.00,117.12,0.000,0.000,0.709,126,2464,1066,-8.01,0.11,425.10
$RAFOS_CLK,705
$RAFOS,6,1260708550,12.833333,12.819445,61,55,54,0,0,0,216,198,181,0,0,0
$RAFOS,5,1260708071,12.700000,12.686389,59,59,57,0,0,0,142,603,208,0,0,0
$RAFOS,4,1260707588,12.566667,12.552222,63,56,56,0,0,0,233,208,181,0,0,0
$RAFOS,3,1260707105,12.433333,12.418056,60,60,59,0,0,0,190,207,170,0,0,0
$RAFOS,2,1260706628,12.300000,12.285556,59,56,56,0,0,0,201,192,143,0,0,0
$RAFOS,1,1260706142,12.166667,12.150556,63,56,56,0,0,0,187,163,104,0,0,0
$RAFOS,0,1260705663,12.033333,12.017500,59,57,54,0,0,0,215,193,127,0,0,0
$RAFOS_FIX,6709.466309,-5706.293945,131209,040428,2,75,1.95
$IRIDIUM_FIX,6636.54,-5659.96,090399,101035
$TT8_MAMPS,0.027612
$HUMID,44.95
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,19.4
$ALTIM_BOTTOM_PING,400.2,112.6
$24V_AH,22.8,58.499
$10V_AH,10.1,30.778
$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,23.775,142.250,301.175,117.125,0.000,90.361,114.382,609.449,1.500,0.000,25.937,1961.642,6396.700,587.850,2049.980,1023.753,0.000,1642.605,0.000,2003.884,2520.000,10.900,0.000
$DEVICE_MAMPS,292.994,96.642,1029.314,709.475,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,859.077,796.473,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152392
$DATA_FILE_SIZE,44190,1171
$CAP_FILE_SIZE,148789,0
$CFSIZE,260165632,226521088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,37,0,0
$SOUNDSPEED,1468.8
$GPS,131209,133037,6706.795,-5659.945,24,1.5,24,-37.7