version: 66.06
glider: 143
mission: 10
dive: 303
start: 12 13 109 23 27 1
data:
$ID,143
$MISSION,10
$DIVE,303
$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,-41719.105
$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,21
$R_STBD_OVSHOOT,22
$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
$GPS1,232137,6706.924,-5700.185,26,1.5,26,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-65.4
$GPS2,232643,6706.958,-5700.178,10,1.6,15,-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,167.5,11449,-16.9,-9.167
$D_GRID,484
$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,-125.10,0.000,2,0.000,0.000,130,2465,3250,0,0,0,0,0,0
$GC,146,-0.73,-146.0,3.7,-8.1,25,168,11.00,2.35,-3.62,0.000,4,0.287,0.096,2447,853,3399,0,0,0,0,0,0
$GC,230,-0.73,-146.0,19.1,-10.5,40,236,0.00,2.25,0.00,0.000,6,0.000,0.067,2447,2455,3401,0,0,0,0,0,0
$GC,574,-0.73,-146.0,53.9,-9.8,101,579,0.00,3.17,0.00,0.000,4,0.000,0.087,2447,3916,3401,0,0,1,0,0,0
$GC,816,-0.73,-146.0,76.1,-8.6,144,822,0.00,2.97,0.00,0.000,6,0.000,0.063,2448,2497,3401,0,0,1,0,0,0
$GC,1165,-0.79,-146.0,103.0,-8.4,203,1169,0.00,2.35,0.00,0.000,4,0.000,0.084,2448,857,3400,0,0,0,0,0,0
$GC,1422,-0.84,-146.0,127.6,-9.3,225,1428,0.00,2.38,0.00,0.000,6,0.000,0.070,2448,2534,3398,0,0,0,0,0,0
$GC,1747,-0.93,-146.0,155.0,-8.0,256,1753,0.17,3.00,0.00,0.000,4,0.102,0.083,2371,3917,3398,0,0,1,0,0,0
$GC,1837,-0.77,-146.0,165.5,-11.4,263,1843,0.28,2.85,0.00,0.000,6,0.208,0.061,2435,2544,3397,0,0,1,0,0,0
$GC,2162,-0.83,-146.0,194.0,-7.9,294,2167,0.00,3.00,0.00,0.000,4,0.000,0.084,2435,3924,3397,0,0,1,0,0,0
$GC,2397,-0.91,-146.0,212.2,-7.1,314,2403,0.12,2.80,0.00,0.000,6,0.122,0.060,2395,2575,3397,0,0,1,0,0,0
$GC,2722,-0.85,-146.0,238.4,-8.2,345,2727,0.00,2.90,0.00,0.000,4,0.000,0.082,2395,3916,3397,0,0,2,0,0,0
$GC,2901,-0.80,-146.0,254.4,-9.0,360,2908,0.15,2.75,0.00,0.000,6,0.200,0.059,2429,2596,3398,0,0,1,0,0,0
$GC,3226,-0.85,-146.0,281.2,-8.4,391,3231,0.00,2.88,0.00,0.000,4,0.000,0.081,2429,3923,3399,0,0,2,0,0,0
$GC,3427,-0.90,-146.0,298.7,-8.0,408,3433,0.00,2.72,0.00,0.000,6,0.000,0.058,2429,2617,3399,0,0,1,0,0,0
$GC,3752,-0.97,-146.0,325.8,-8.1,439,3758,0.15,2.85,0.00,0.000,4,0.108,0.077,2364,3918,3400,0,0,1,0,0,0
$GC,3897,-0.80,-146.0,341.5,-11.1,451,3904,0.25,2.65,0.00,0.000,6,0.201,0.056,2423,2648,3400,0,0,1,0,0,0
$GC,4222,-0.85,-146.0,368.0,-8.1,482,4227,0.00,2.80,0.00,0.000,4,0.000,0.080,2423,3922,3401,0,0,1,0,0,0
$GC,4319,-0.90,-146.0,375.9,-8.5,490,4323,0.00,2.65,0.00,0.000,6,0.000,0.057,2423,2661,3401,0,0,1,0,0,0
$GC,4643,-0.95,-146.0,399.9,-7.0,520,4653,0.12,2.78,0.00,0.000,4,0.117,0.082,2373,3918,3401,0,0,1,0,0,0
$GC,4728,-0.83,-146.0,408.0,-9.9,527,4734,0.20,2.62,0.00,0.000,6,0.201,0.056,2419,2670,3401,0,0,1,0,0,0
$GC,5053,-0.83,-146.0,433.0,-7.5,557,5057,0.00,2.75,0.00,0.000,4,0.000,0.080,2420,3923,3402,0,0,2,0,0,0
$GC,5108,-0.87,-146.0,437.6,-8.4,561,5114,0.00,2.62,0.00,0.000,6,0.000,0.055,2420,2675,3402,0,0,1,0,0,0
$GC,5433,-0.87,-146.0,463.0,-8.0,592,5437,0.00,2.72,0.00,0.000,4,0.000,0.080,2420,3917,3402,0,0,2,0,0,0
$GC,5494,-0.87,-146.0,467.1,-6.0,597,5499,0.00,2.60,0.00,0.000,6,0.000,0.054,2420,2681,3402,0,0,1,0,0,0
$STATE,5721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5721,begin apogee
$GC,5727,-0.16,0.0,484.1,7.7,618,5854,0.73,0.00,119.32,1.025,6,0.172,0.000,2628,1943,2799,0,0,0,0,0,0
$STATE,5855,end apogee,CONTROL_FINISHED_OK
$STATE,5855,begin climb
$GC,5857,0.73,146.0,485.1,0.0,631,5991,0.95,2.30,121.55,0.981,4,0.127,0.083,2926,359,2202,0,0,0,0,0,0
$GC,6037,0.65,146.0,469.0,12.8,648,6041,0.00,2.12,0.00,0.000,6,0.000,0.055,2926,1961,2199,0,0,0,0,0,0
$GC,6367,0.58,146.0,428.0,12.5,679,6373,0.20,3.35,0.00,0.000,4,0.193,0.072,2877,3529,2195,0,0,2,0,0,0
$GC,6508,0.58,146.0,411.9,11.8,691,6513,0.00,3.35,0.00,0.000,6,0.000,0.066,2890,1957,2195,0,0,0,0,0,0
$GC,6832,0.58,146.0,376.9,10.8,721,6838,0.00,3.33,0.00,0.000,4,0.000,0.073,2890,3532,2195,0,0,2,0,0,0
$GC,6927,0.58,146.0,365.8,12.3,729,6933,0.00,3.30,0.00,0.000,6,0.000,0.067,2905,1980,2193,0,0,0,0,0,0
$GC,7252,0.58,146.0,329.3,11.4,759,7257,0.00,3.30,0.00,0.000,4,0.000,0.073,2905,3532,2193,0,0,1,0,0,0
$GC,7348,0.52,146.0,317.6,12.0,767,7353,0.22,3.28,0.00,0.000,6,0.191,0.067,2865,1990,2193,0,0,0,0,0,0
$GC,7672,0.65,146.0,287.6,9.3,797,7678,0.12,3.28,0.00,0.000,4,0.118,0.074,2908,3529,2192,0,0,1,0,0,0
$GC,7785,0.59,146.0,274.3,12.5,806,7792,0.17,3.25,0.00,0.000,6,0.193,0.066,2880,2001,2193,0,0,0,0,0,0
$GC,8110,0.67,146.0,240.1,10.3,837,8115,0.00,3.25,0.00,0.000,4,0.000,0.073,2880,3528,2192,0,0,1,0,0,0
$GC,8209,0.67,146.0,228.8,11.4,845,8216,0.00,3.20,0.00,0.000,6,0.000,0.065,2892,2021,2193,0,0,1,0,0,0
$GC,8535,0.72,146.0,195.8,9.8,876,8540,0.00,3.22,0.00,0.000,4,0.000,0.073,2892,3528,2193,0,0,1,0,0,0
$GC,8612,0.72,146.0,187.7,10.8,882,8618,0.00,3.17,0.00,0.000,6,0.000,0.065,2906,2026,2192,0,0,1,0,0,0
$GC,8937,0.74,164.5,158.2,8.4,913,8958,0.00,3.22,14.48,0.779,4,0.000,0.074,2906,3531,2129,0,0,1,0,0,0
$GC,9062,0.74,164.5,146.1,10.3,924,9067,0.00,3.20,0.00,0.000,6,0.000,0.065,2920,2038,2127,0,0,0,0,0,0
$GC,9387,0.76,177.4,115.0,8.6,954,9408,0.00,3.25,11.95,0.749,4,0.000,0.073,2919,3526,2074,0,0,1,0,0,0
$GC,9520,0.76,177.4,102.8,9.8,966,9525,0.00,3.17,0.00,0.000,6,0.000,0.065,2934,2050,2073,0,0,0,0,0,0
$GC,9862,0.82,177.4,69.8,9.7,1023,9868,0.00,3.20,0.00,0.000,4,0.000,0.073,2933,3528,2073,0,0,0,0,0,0
$GC,9925,0.82,177.4,63.3,10.4,1034,9931,0.00,3.15,0.00,0.000,6,0.000,0.065,2948,2055,2073,0,0,0,0,0,0
$GC,10269,0.82,177.4,31.8,9.2,1095,10275,0.00,3.20,0.00,0.000,4,0.000,0.074,2948,3537,2074,0,0,0,0,0,0
$GC,10343,0.74,177.4,24.4,10.1,1108,10349,0.12,3.15,0.00,0.000,6,0.203,0.067,2935,2066,2073,0,0,0,0,0,0
$FREEZE,8.57,-0.179,-1.831,0,1,0
$FREEZE,8.14,-0.180,-1.830,0,1,0
$FREEZE,7.54,-0.180,-1.830,0,1,0
$FREEZE,7.10,-0.179,-1.830,0,1,0
$FREEZE,6.54,-0.179,-1.829,0,1,0
$FREEZE,6.02,-0.179,-1.829,0,1,0
$FREEZE,5.49,-0.179,-1.828,0,1,0
$FREEZE,4.99,-0.182,-1.828,0,1,0
$FREEZE,4.42,-0.182,-1.828,0,1,0
$FREEZE,4.00,-0.182,-1.827,0,1,0
$FREEZE,3.46,-0.184,-1.827,0,1,0
$FREEZE,3.00,-0.184,-1.827,0,1,0
$FREEZE,2.61,-0.184,-1.826,0,1,0
$FREEZE,2.00,-0.182,-1.826,0,1,0
$STATE,10589,end climb,SURFACE_DEPTH_REACHED
$STATE,10589,begin surface coast
$FREEZE,1.43,-0.181,-1.825,0,1,0
$FREEZE,0.92,-0.184,-1.825,0,1,0
$FREEZE,0.29,-0.187,-1.825,0,1,0
$FREEZE,0.22,-0.181,-1.093,0,1,0
$FINISH,0.2,1.016150
$STATE,10613,end surface coast,CONTROL_FINISHED_OK
$STATE,10613,begin surface
$SM_CCo,10631,132.85,0.713,0,0,1067,425.10
$SM_GC,0.89,0.00,0.00,132.85,0.000,0.000,0.713,127,2466,1067,-8.01,0.17,425.10
$RAFOS_CLK,653
$RAFOS,6,1260751744,0.833333,0.817778,75,61,54,0,0,0,807,181,170,0,0,0
$RAFOS,5,1260751270,0.700000,0.686111,75,58,57,0,0,0,604,189,213,0,0,0
$RAFOS,4,1260750786,0.566667,0.551667,89,67,58,0,0,0,852,213,197,0,0,0
$RAFOS,3,1260750305,0.433333,0.418056,58,55,54,0,0,0,184,166,149,0,0,0
$RAFOS,2,1260749821,0.300000,0.283611,59,56,54,0,0,0,200,174,185,0,0,0
$RAFOS,1,1260749349,0.166667,0.152500,64,57,52,0,0,0,218,191,201,0,0,0
$RAFOS,0,1260748863,0.033333,0.017500,66,61,58,0,0,0,196,155,184,0,0,0
$RAFOS_FIX,6706.616211,-5706.177246,141209,000022,3,80,0.95
$IRIDIUM_FIX,6636.54,-5707.59,090399,202043
$TT8_MAMPS,0.027612
$HUMID,46.22
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,19.3
$ALTIM_BOTTOM_PING,400.3,110.3
$24V_AH,22.9,59.015
$10V_AH,10.1,31.061
$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,23.175,136.575,267.300,132.850,0.000,22.291,29.372,133.563,1.750,0.000,17.376,1971.297,6133.309,574.863,2018.985,375.389,0.000,1612.766,0.000,1982.814,2520.000,10.902,0.000
$DEVICE_MAMPS,286.858,95.875,1025.479,713.310,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,847.358,786.927,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152472
$DATA_FILE_SIZE,44213,1156
$CAP_FILE_SIZE,133410,0
$CFSIZE,260165632,226390016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,36,0,0
$SOUNDSPEED,1468.0
$GPS,141209,022801,6707.262,-5700.963,38,1.7,38,-37.7