version: 66.06
glider: 143
mission: 10
dive: 301
start: 12 13 109 16 58 21
data:
$ID,143
$MISSION,10
$DIVE,301
$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,-41687.25
$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,24
$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
$GPS1,164431,6706.584,-5701.152,38,1.7,38,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-65.9
$GPS2,165802,6706.627,-5701.264,13,1.7,13,-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,162.7,11699,-16.9,-9.167
$D_GRID,532
$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,-125.25,0.000,2,0.000,0.000,127,2463,3145,0,0,0,0,0,0
$GC,147,-0.73,-146.0,3.0,-5.2,25,174,11.07,3.22,-6.90,0.000,4,0.289,0.098,2445,3898,3399,0,0,2,0,0,0
$GC,220,-0.73,-146.0,15.6,-10.5,38,226,0.00,3.05,0.00,0.000,6,0.000,0.064,2446,2458,3400,0,0,1,0,0,0
$GC,563,-0.73,-146.0,51.4,-10.1,99,569,0.00,3.17,0.00,0.000,4,0.000,0.087,2445,3907,3401,0,0,1,0,0,0
$GC,754,-0.73,-146.0,71.2,-10.2,133,760,0.00,3.00,0.00,0.000,6,0.000,0.065,2445,2487,3401,0,0,1,0,0,0
$GC,1101,-0.73,-146.0,104.6,-8.6,190,1106,0.00,3.12,0.00,0.000,4,0.000,0.087,2445,3912,3401,0,0,1,0,0,0
$GC,1359,-0.81,-146.0,126.6,-8.8,212,1365,0.00,2.90,0.00,0.000,6,0.000,0.065,2446,2534,3399,0,0,1,0,0,0
$GC,1685,-0.88,-146.0,150.2,-8.1,243,1691,0.12,3.03,0.00,0.000,4,0.123,0.085,2399,3908,3398,0,0,1,0,0,0
$GC,1849,-0.82,-146.0,168.5,-10.6,257,1853,0.00,2.85,0.00,0.000,6,0.000,0.063,2399,2546,3398,0,0,1,0,0,0
$GC,2173,-0.75,-146.0,199.4,-9.1,287,2179,0.17,3.00,0.00,0.000,4,0.203,0.082,2429,3920,3398,0,0,1,0,0,0
$GC,2371,-0.80,-146.0,215.7,-8.1,304,2376,0.00,2.83,0.00,0.000,6,0.000,0.060,2430,2560,3398,0,0,1,0,0,0
$GC,2695,-0.80,-146.0,241.1,-7.4,334,2700,0.00,2.95,0.00,0.000,4,0.000,0.083,2429,3919,3399,0,0,1,0,0,0
$GC,2886,-0.85,-146.0,254.9,-7.2,350,2891,0.00,2.80,0.00,0.000,6,0.000,0.059,2429,2573,3399,0,0,1,0,0,0
$GC,3212,-0.90,-146.0,278.3,-7.5,381,3217,0.00,2.90,0.00,0.000,4,0.000,0.081,2429,3916,3400,0,0,2,0,0,0
$GC,3354,-0.96,-146.0,289.6,-8.4,393,3359,0.15,2.75,0.00,0.000,6,0.105,0.058,2375,2602,3400,0,0,1,0,0,0
$GC,3678,-0.83,-146.0,323.8,-11.3,423,3684,0.17,2.88,0.00,0.000,4,0.202,0.080,2413,3914,3400,0,0,2,0,0,0
$GC,3854,-0.83,-146.0,341.4,-10.6,438,3859,0.00,2.72,0.00,0.000,6,0.000,0.058,2413,2612,3401,0,0,1,0,0,0
$GC,4178,-0.83,-146.0,371.7,-9.2,468,4183,0.00,2.83,0.00,0.000,4,0.000,0.081,2413,3909,3402,0,0,2,0,0,0
$GC,4334,-0.83,-146.0,386.4,-9.5,481,4340,0.00,2.65,0.00,0.000,6,0.000,0.057,2413,2640,3402,0,0,2,0,0,0
$GC,4659,-0.83,-146.0,414.1,-8.0,512,4663,0.00,2.80,0.00,0.000,4,0.000,0.080,2413,3912,3403,0,0,1,0,0,0
$GC,4788,-0.83,-146.0,424.6,-7.9,523,4793,0.00,2.62,0.00,0.000,6,0.000,0.057,2413,2660,3403,0,0,2,0,0,0
$GC,5113,-0.83,-146.0,448.5,-7.1,553,5117,0.00,2.78,0.00,0.000,4,0.000,0.080,2413,3918,3403,0,0,1,0,0,0
$GC,5208,-0.83,-146.0,455.4,-6.9,561,5213,0.00,2.65,0.00,0.000,6,0.000,0.056,2413,2662,3403,0,0,1,0,0,0
$GC,5533,-0.83,-146.0,479.0,-7.4,591,5537,0.00,2.78,0.00,0.000,4,0.000,0.080,2413,3912,3404,0,0,1,0,0,0
$GC,5745,-0.83,-146.0,495.6,-8.5,609,5751,0.00,2.60,0.00,0.000,6,0.000,0.055,2413,2694,3404,0,0,0,0,0,0
$STATE,6068,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6068,begin apogee
$GC,6075,-0.16,0.0,520.6,8.1,640,6201,0.77,0.00,120.53,1.046,6,0.176,0.000,2630,1944,2800,0,0,0,0,0,0
$STATE,6202,end apogee,CONTROL_FINISHED_OK
$STATE,6202,begin climb
$GC,6204,0.73,146.0,522.4,0.0,653,6338,0.95,2.28,122.70,1.000,4,0.129,0.084,2926,358,2202,0,0,0,0,0,0
$GC,6377,0.64,146.0,507.4,12.8,669,6383,0.00,2.12,0.00,0.000,6,0.000,0.054,2926,1954,2200,0,0,0,0,0,0
$GC,6702,0.56,146.0,466.6,13.4,700,6708,0.22,3.38,0.00,0.000,4,0.191,0.071,2868,3539,2195,0,0,2,0,0,0
$GC,6804,0.62,146.0,454.5,11.6,708,6810,0.00,3.38,0.00,0.000,6,0.000,0.065,2881,1951,2193,0,0,0,0,0,0
$GC,7128,0.69,146.0,421.4,9.7,739,7134,0.00,3.33,0.00,0.000,4,0.000,0.074,2881,3529,2193,0,0,2,0,0,0
$GC,7285,0.69,146.0,404.7,10.9,752,7291,0.00,3.30,0.00,0.000,6,0.000,0.066,2895,1972,2193,0,0,0,0,0,0
$GC,7609,0.69,146.0,372.6,9.6,783,7614,0.00,3.30,0.00,0.000,4,0.000,0.074,2895,3528,2193,0,0,1,0,0,0
$GC,7709,0.69,146.0,361.7,11.1,791,7715,0.00,3.25,0.00,0.000,6,0.000,0.067,2909,1989,2192,0,0,1,0,0,0
$GC,8034,0.69,146.0,328.2,10.6,822,8039,0.00,3.28,0.00,0.000,4,0.000,0.074,2909,3529,2192,0,0,1,0,0,0
$GC,8145,0.62,146.0,315.1,11.7,831,8152,0.12,3.22,0.00,0.000,6,0.206,0.067,2897,2006,2192,0,0,1,0,0,0
$GC,8469,0.62,146.0,281.6,10.2,862,8475,0.00,3.25,0.00,0.000,4,0.000,0.074,2898,3529,2192,0,0,1,0,0,0
$GC,8564,0.62,146.0,270.9,11.4,870,8570,0.00,3.22,0.00,0.000,6,0.000,0.065,2909,2014,2192,0,0,0,0,0,0
$GC,8888,0.62,146.0,234.6,11.2,900,8894,0.00,3.25,0.00,0.000,4,0.000,0.074,2909,3536,2192,0,0,1,0,0,0
$GC,9019,0.56,146.0,218.4,12.6,911,9025,0.20,3.20,0.00,0.000,6,0.192,0.065,2875,2037,2192,0,0,0,0,0,0
$GC,9344,0.73,188.2,189.4,7.4,941,9386,0.15,3.25,33.38,0.818,4,0.110,0.074,2928,3531,2031,0,0,1,0,0,0
$GC,9521,0.68,188.2,169.2,11.7,957,9527,0.12,3.20,0.00,0.000,6,0.200,0.065,2916,2053,2027,0,0,0,0,0,0
$GC,9846,0.73,188.2,135.6,11.0,987,9851,0.00,3.22,0.00,0.000,4,0.000,0.072,2916,3540,2026,0,0,0,0,0,0
$GC,9908,0.73,188.2,128.0,12.7,992,9913,0.00,3.17,0.00,0.000,6,0.000,0.064,2928,2063,2026,0,0,0,0,0,0
$GC,10234,0.73,188.2,93.1,10.3,1027,10240,0.00,3.17,0.00,0.000,4,0.000,0.073,2928,3534,2026,0,0,1,0,0,0
$GC,10341,0.73,188.2,81.3,10.9,1046,10347,0.00,3.15,0.00,0.000,6,0.000,0.066,2942,2075,2026,0,0,0,0,0,0
$GC,10686,0.79,192.7,47.9,9.0,1107,10697,0.00,3.17,4.45,0.571,4,0.000,0.074,2942,3537,2013,0,0,1,0,0,0
$GC,10748,0.79,192.7,41.3,10.7,1118,10754,0.00,3.12,0.00,0.000,6,0.000,0.066,2955,2093,2013,0,0,0,0,0,0
$FREEZE,8.63,0.032,-1.831,0,1,0
$FREEZE,8.02,0.027,-1.830,0,1,0
$GC,11095,0.79,192.7,8.0,10.1,1179,11101,0.00,3.15,0.00,0.000,4,0.000,0.075,2956,3528,2013,0,0,0,0,0,0
$FREEZE,6.41,0.033,-1.829,0,1,0
$FREEZE,5.76,0.030,-1.829,0,1,0
$FREEZE,5.00,0.031,-1.828,0,1,0
$FREEZE,4.36,0.033,-1.828,0,1,0
$FREEZE,3.59,0.036,-1.827,0,1,0
$FREEZE,3.02,0.033,-1.827,0,1,0
$FREEZE,2.23,0.034,-1.826,0,1,0
$FREEZE,1.62,0.033,-1.826,0,1,0
$STATE,11145,end climb,SURFACE_DEPTH_REACHED
$STATE,11145,begin surface coast
$FREEZE,0.77,0.033,-1.825,0,1,0
$FINISH,0.8,1.026723
$STATE,11153,end surface coast,CONTROL_FINISHED_OK
$STATE,11153,begin surface
$SM_CCo,11172,128.90,0.716,0,0,1067,425.10
$SM_GC,1.08,0.00,0.00,128.90,0.000,0.000,0.716,127,2462,1067,-8.01,0.08,425.10
$RAFOS_CLK,703
$RAFOS_FIX,6709.466309,-5706.293945,131209,040428,2,75,1.95
$IRIDIUM_FIX,6641.98,-5704.59,090399,131316
$TT8_MAMPS,0.029146
$HUMID,45.82
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,20.0,19.6
$ALTIM_BOTTOM_PING,350.8,184.1
$24V_AH,22.8,58.784
$10V_AH,10.1,30.925
$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,22.475,145.000,281.050,128.900,0.000,27.865,33.518,631.835,1.250,0.000,15.400,1981.126,6538.890,582.018,2114.313,889.309,0.000,1662.323,0.000,2076.901,360.000,9.314,0.000
$DEVICE_MAMPS,289.159,98.176,1046.188,716.378,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,872.272,809.737,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152444
$DATA_FILE_SIZE,44198,1189
$CAP_FILE_SIZE,144546,0
$CFSIZE,260165632,226516992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,43,0,0
$SOUNDSPEED,1468.8
$GPS,131209,200806,6706.397,-5700.373,38,1.1,38,-37.7