version: 66.06
glider: 143
mission: 10
dive: 300
start: 12 13 109 13 41 26
data:
$ID,143
$MISSION,10
$DIVE,300
$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,-41671.223
$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,16
$R_STBD_OVSHOOT,27
$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
$GPS1,133037,6706.795,-5659.945,24,1.5,24,-37.7
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-66.9
$GPS2,134108,6706.839,-5700.037,14,1.7,14,-37.7
$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,167.0,11230,-16.9,-9.167
$D_GRID,497
$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,14,-0.73,-146.0,0.0,0.0,0,144,0.00,0.00,-125.28,0.000,2,0.000,0.000,126,2460,3193,0,0,0,0,0,0
$GC,147,-0.73,-146.0,3.4,-7.0,25,173,11.15,3.20,-5.18,0.000,4,0.292,0.097,2446,3910,3397,0,0,1,0,0,0
$GC,225,-0.77,-146.0,17.8,-11.6,39,231,0.00,3.05,0.00,0.000,6,0.000,0.063,2446,2460,3399,0,0,1,0,0,0
$GC,568,-0.77,-146.0,53.1,-10.0,100,574,0.00,3.15,0.00,0.000,4,0.000,0.087,2446,3903,3400,0,0,1,0,0,0
$GC,826,-0.77,-146.0,79.0,-9.7,146,832,0.00,2.95,0.00,0.000,6,0.000,0.065,2446,2499,3400,0,0,1,0,0,0
$GC,1170,-0.84,-146.0,107.6,-7.9,199,1175,0.00,3.05,0.00,0.000,4,0.000,0.088,2446,3903,3399,0,0,2,0,0,0
$GC,1428,-0.92,-146.0,129.7,-8.4,221,1435,0.17,2.88,0.00,0.000,6,0.114,0.064,2390,2533,3397,0,0,1,0,0,0
$GC,1753,-0.82,-146.0,163.8,-10.7,252,1758,0.15,3.03,0.00,0.000,4,0.206,0.087,2423,3909,3397,0,0,1,0,0,0
$GC,1965,-0.82,-146.0,184.5,-9.3,270,1972,0.00,2.83,0.00,0.000,6,0.000,0.063,2423,2556,3397,0,0,1,0,0,0
$GC,2290,-0.82,-146.0,216.8,-10.0,301,2295,0.00,2.95,0.00,0.000,4,0.000,0.084,2423,3916,3397,0,0,1,0,0,0
$GC,2435,-0.82,-146.0,231.0,-9.2,313,2441,0.00,2.78,0.00,0.000,6,0.000,0.061,2423,2584,3397,0,0,1,0,0,0
$GC,2760,-0.82,-146.0,258.3,-8.2,344,2765,0.00,2.88,0.00,0.000,4,0.000,0.082,2423,3914,3398,0,0,2,0,0,0
$GC,2901,-0.82,-146.0,270.3,-8.1,356,2906,0.00,2.75,0.00,0.000,6,0.000,0.059,2423,2595,3398,0,0,1,0,0,0
$GC,3225,-0.82,-146.0,296.9,-7.8,386,3230,0.00,2.85,0.00,0.000,4,0.000,0.082,2423,3910,3399,0,0,2,0,0,0
$GC,3377,-0.87,-146.0,309.5,-8.1,399,3381,0.00,2.72,0.00,0.000,6,0.000,0.058,2423,2606,3399,0,0,1,0,0,0
$GC,3702,-0.92,-146.0,335.1,-7.9,429,3706,0.00,2.85,0.00,0.000,4,0.000,0.081,2423,3913,3400,0,0,1,0,0,0
$GC,3848,-0.96,-146.0,347.3,-8.2,441,3855,0.15,2.67,0.00,0.000,6,0.105,0.058,2370,2636,3400,0,0,1,0,0,0
$GC,4173,-0.83,-146.0,379.6,-10.1,472,4179,0.20,2.80,0.00,0.000,4,0.199,0.078,2413,3906,3400,0,0,1,0,0,0
$GC,4326,-0.83,-146.0,393.0,-8.6,485,4330,0.00,2.65,0.00,0.000,6,0.000,0.058,2413,2645,3401,0,0,1,0,0,0
$GC,4650,-0.83,-146.0,420.6,-8.7,515,4655,0.00,2.78,0.00,0.000,4,0.000,0.080,2413,3907,3401,0,0,1,0,0,0
$GC,4739,-0.83,-146.0,428.1,-8.6,522,4745,0.00,2.62,0.00,0.000,6,0.000,0.057,2413,2670,3401,0,0,0,0,0,0
$GC,5064,-0.83,-146.0,453.4,-7.8,553,5068,0.00,2.72,0.00,0.000,4,0.000,0.080,2413,3908,3402,0,0,2,0,0,0
$GC,5186,-0.83,-146.0,463.4,-8.2,563,5192,0.00,2.60,0.00,0.000,6,0.000,0.055,2413,2678,3402,0,0,1,0,0,0
$GC,5510,-0.83,-146.0,491.0,-9.5,594,5515,0.00,2.72,0.00,0.000,4,0.000,0.080,2413,3917,3403,0,0,2,0,0,0
$STATE,5581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5581,begin apogee
$GC,5590,-0.16,0.0,497.3,7.7,600,5716,0.77,0.00,119.82,1.036,6,0.180,0.000,2628,1942,2799,0,0,0,0,0,0
$STATE,5717,end apogee,CONTROL_FINISHED_OK
$STATE,5717,begin climb
$GC,5719,0.73,146.0,498.3,0.0,613,5853,0.95,2.33,122.18,0.988,4,0.132,0.084,2923,357,2201,0,0,0,0,0,0
$GC,5910,0.68,146.0,481.1,9.7,631,5914,0.00,2.12,0.00,0.000,6,0.000,0.055,2923,1953,2198,0,0,0,0,0,0
$GC,6235,0.59,146.0,445.0,12.0,661,6241,0.17,3.33,0.00,0.000,4,0.199,0.073,2881,3530,2194,0,0,2,0,0,0
$GC,6370,0.59,146.0,431.6,10.3,672,6375,0.00,3.33,0.00,0.000,6,0.000,0.067,2894,1965,2193,0,0,0,0,0,0
$GC,6694,0.59,148.5,403.1,9.1,703,6699,0.00,3.30,0.00,0.000,4,0.000,0.074,2894,3529,2193,0,0,1,0,0,0
$GC,6794,0.59,148.5,392.6,10.8,711,6800,0.00,3.25,0.00,0.000,6,0.000,0.067,2908,1983,2192,0,0,1,0,0,0
$GC,7119,0.59,148.5,359.9,9.6,742,7124,0.00,3.28,0.00,0.000,4,0.000,0.074,2908,3532,2192,0,0,1,0,0,0
$GC,7207,0.52,148.5,350.0,11.5,749,7214,0.25,3.22,0.00,0.000,6,0.191,0.066,2860,2000,2192,0,0,1,0,0,0
$GC,7532,0.67,165.2,323.4,8.5,780,7555,0.15,3.25,15.30,0.872,4,0.108,0.073,2914,3531,2125,0,0,1,0,0,0
$GC,7668,0.61,165.2,307.0,12.8,792,7674,0.17,3.25,0.00,0.000,6,0.193,0.067,2887,2004,2123,0,0,0,0,0,0
$GC,7992,0.68,165.2,274.8,9.4,822,7997,0.00,3.25,0.00,0.000,4,0.000,0.073,2887,3532,2123,0,0,1,0,0,0
$GC,8088,0.68,165.2,265.0,11.2,830,8093,0.00,3.20,0.00,0.000,6,0.000,0.065,2898,2028,2122,0,0,0,0,0,0
$GC,8413,0.73,165.2,231.7,10.0,860,8418,0.00,3.20,0.00,0.000,4,0.000,0.073,2899,3530,2122,0,0,1,0,0,0
$GC,8490,0.73,165.2,223.1,11.1,866,8496,0.00,3.17,0.00,0.000,6,0.000,0.066,2912,2025,2122,0,0,1,0,0,0
$GC,8814,0.73,165.2,188.9,10.1,897,8820,0.00,3.20,0.00,0.000,4,0.000,0.073,2913,3529,2122,0,0,1,0,0,0
$GC,8876,0.73,165.2,182.1,11.5,902,8881,0.00,3.17,0.00,0.000,6,0.000,0.066,2927,2040,2122,0,0,0,0,0,0
$GC,9200,0.73,165.2,147.3,10.1,932,9205,0.00,3.20,0.00,0.000,4,0.000,0.072,2927,3535,2122,0,0,1,0,0,0
$GC,9289,0.66,165.2,137.9,10.5,939,9296,0.15,3.17,0.00,0.000,6,0.196,0.066,2907,2050,2122,0,0,0,0,0,0
$GC,9614,0.71,165.2,107.0,10.3,970,9619,0.00,3.20,0.00,0.000,4,0.000,0.073,2907,3535,2122,0,0,0,0,0,0
$GC,9720,0.71,165.2,95.7,10.5,982,9726,0.00,3.15,0.00,0.000,6,0.000,0.065,2918,2063,2122,0,0,0,0,0,0
$GC,10064,0.80,165.2,62.2,9.8,1043,10070,0.00,3.17,0.00,0.000,4,0.000,0.073,2919,3530,2122,0,0,0,0,0,0
$GC,10149,0.80,165.2,53.5,10.1,1058,10154,0.00,3.12,0.00,0.000,6,0.000,0.066,2932,2074,2122,0,0,0,0,0,0
$GC,10492,0.84,199.7,24.3,7.7,1119,10529,0.00,3.17,28.73,0.738,4,0.000,0.074,2932,3530,1984,0,0,2,0,0,0
$GC,10601,0.84,199.7,14.5,9.6,1139,10607,0.00,3.15,0.00,0.000,6,0.000,0.067,2946,2084,1982,0,0,0,0,0,0
$FREEZE,8.46,-0.179,-1.830,0,1,0
$FREEZE,8.02,-0.179,-1.830,0,1,0
$FREEZE,7.57,-0.177,-1.830,0,1,0
$FREEZE,7.08,-0.177,-1.829,0,1,0
$FREEZE,6.58,-0.177,-1.829,0,1,0
$FREEZE,6.09,-0.173,-1.828,0,1,0
$FREEZE,5.61,-0.170,-1.828,0,1,0
$FREEZE,5.23,-0.163,-1.828,0,1,0
$FREEZE,4.67,-0.164,-1.827,0,1,0
$FREEZE,4.23,-0.166,-1.827,0,1,0
$FREEZE,3.85,-0.164,-1.827,0,1,0
$FREEZE,3.37,-0.160,-1.826,0,1,0
$FREEZE,2.64,-0.154,-1.826,0,1,0
$FREEZE,2.18,-0.162,-1.825,0,1,0
$FREEZE,1.49,-0.163,-1.825,0,1,0
$STATE,10740,end climb,SURFACE_DEPTH_REACHED
$STATE,10740,begin surface coast
$FREEZE,0.95,-0.150,-1.824,0,1,0
$FREEZE,0.29,-0.165,-1.824,0,1,0
$FREEZE,0.25,-0.165,-0.703,0,1,0
$FINISH,0.3,1.010360
$STATE,10758,end surface coast,CONTROL_FINISHED_OK
$STATE,10758,begin surface
$SM_CCo,10775,123.93,0.711,0,0,1065,425.10
$SM_GC,0.93,0.00,0.00,123.93,0.000,0.000,0.711,127,2461,1065,-8.01,0.03,425.10
$RAFOS_CLK,678
$RAFOS,4,1260721985,16.566668,16.551390,65,65,53,0,0,0,152,208,193,0,0,0
$RAFOS,3,1260721506,16.433332,16.418333,63,60,58,0,0,0,189,220,176,0,0,0
$RAFOS,2,1260721021,16.299999,16.283611,62,58,56,0,0,0,206,193,221,0,0,0
$RAFOS,1,1260720543,16.166666,16.150833,62,60,58,0,0,0,199,209,190,0,0,0
$RAFOS,0,1260720065,16.033333,16.018055,62,56,51,0,0,0,214,201,166,0,0,0
$RAFOS_FIX,6709.466309,-5706.293945,131209,040428,2,75,1.95
$IRIDIUM_FIX,6641.98,-5656.94,090399,101054
$TT8_MAMPS,0.026845
$HUMID,45.62
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,19.5
$ALTIM_BOTTOM_PING,350.9,168.8
$24V_AH,22.8,58.635
$10V_AH,10.1,30.849
$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,22.725,145.225,286.025,123.925,0.000,30.884,34.507,442.532,1.250,0.000,15.645,1945.910,6250.985,583.908,2041.937,700.261,0.000,1634.679,0.000,2008.663,1800.000,9.273,0.000
$DEVICE_MAMPS,292.227,96.642,1036.217,711.009,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,855.537,793.856,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152488
$DATA_FILE_SIZE,44204,1167
$CAP_FILE_SIZE,138886,0
$CFSIZE,260165632,226516992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,42,0,0
$SOUNDSPEED,1468.4
$GPS,131209,164431,6706.584,-5701.152,38,1.7,38,-37.7