version: 66.06
glider: 143
mission: 10
dive: 305
start: 12 14 109 5 46 2
data:
$ID,143
$MISSION,10
$DIVE,305
$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,-41750.039
$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,22
$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
$GPS1,054037,6706.577,-5701.259,26,1.5,26,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-68.7
$GPS2,054544,6706.579,-5701.278,11,1.5,11,-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,162.4,11657,-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,15,-0.73,-146.0,0.0,0.0,0,144,0.00,0.00,-124.97,0.000,2,0.000,0.000,124,2469,3222,0,0,0,0,0,0
$GC,147,-0.73,-146.0,3.5,-7.8,25,169,11.23,2.33,-4.38,0.000,4,0.294,0.094,2445,864,3397,0,0,0,0,0,0
$GC,225,-0.73,-146.0,18.0,-12.1,39,231,0.00,2.22,0.00,0.000,6,0.000,0.068,2445,2452,3400,0,0,0,0,0,0
$GC,569,-0.73,-146.0,53.2,-9.8,100,574,0.00,3.20,0.00,0.000,4,0.000,0.087,2445,3921,3400,0,0,1,0,0,0
$GC,817,-0.73,-146.0,78.3,-10.0,144,822,0.00,2.95,0.00,0.000,6,0.000,0.064,2445,2507,3400,0,0,2,0,0,0
$GC,1155,-0.77,-146.0,109.8,-8.8,195,1160,0.00,3.08,0.00,0.000,4,0.000,0.087,2445,3913,3399,0,0,2,0,0,0
$GC,1413,-0.85,-146.0,134.3,-8.7,217,1418,0.00,2.90,0.00,0.000,6,0.000,0.064,2445,2533,3398,0,0,1,0,0,0
$GC,1738,-0.94,-146.0,161.9,-7.6,248,1743,0.17,3.05,0.00,0.000,4,0.108,0.083,2372,3926,3397,0,0,1,0,0,0
$GC,1851,-0.78,-146.0,174.2,-10.9,257,1857,0.25,2.88,0.00,0.000,6,0.206,0.061,2432,2545,3397,0,0,1,0,0,0
$GC,2177,-0.83,-146.0,200.2,-7.9,288,2182,0.00,3.00,0.00,0.000,4,0.000,0.085,2432,3921,3397,0,0,1,0,0,0
$GC,2385,-0.89,-146.0,216.9,-8.2,306,2390,0.00,2.83,0.00,0.000,6,0.000,0.061,2432,2567,3397,0,0,1,0,0,0
$GC,2710,-0.95,-146.0,241.6,-8.2,336,2716,0.15,2.95,0.00,0.000,4,0.117,0.081,2372,3917,3396,0,0,1,0,0,0
$GC,2867,-0.80,-146.0,258.3,-10.9,349,2874,0.22,2.80,0.00,0.000,6,0.199,0.058,2426,2583,3398,0,0,0,0,0,0
$GC,3192,-0.80,-146.0,286.1,-8.4,380,3197,0.00,2.90,0.00,0.000,4,0.000,0.082,2426,3920,3398,0,0,2,0,0,0
$GC,3322,-0.80,-146.0,297.0,-8.0,391,3326,0.00,2.78,0.00,0.000,6,0.000,0.058,2426,2591,3398,0,0,1,0,0,0
$GC,3647,-0.86,-146.0,321.7,-7.4,421,3651,0.00,2.90,0.00,0.000,4,0.000,0.082,2426,3924,3399,0,0,2,0,0,0
$GC,3771,-0.91,-146.0,330.5,-7.3,431,3777,0.00,2.78,0.00,0.000,6,0.000,0.058,2426,2598,3399,0,0,1,0,0,0
$GC,4096,-0.97,-146.0,353.3,-7.7,462,4101,0.15,2.90,0.00,0.000,4,0.108,0.080,2361,3914,3399,0,0,1,0,0,0
$GC,4275,-0.81,-146.0,373.1,-11.9,477,4282,0.25,2.70,0.00,0.000,6,0.202,0.057,2421,2625,3399,0,0,1,0,0,0
$GC,4602,-0.86,-146.0,400.1,-7.6,508,4606,0.00,2.85,0.00,0.000,4,0.000,0.081,2421,3920,3399,0,0,1,0,0,0
$GC,4780,-0.86,-146.0,413.4,-6.5,523,4786,0.00,2.70,0.00,0.000,6,0.000,0.057,2421,2647,3399,0,0,0,0,0,0
$GC,5105,-0.90,-146.0,433.9,-6.3,554,5110,0.00,2.83,0.00,0.000,4,0.000,0.081,2421,3926,3400,0,0,1,0,0,0
$GC,5218,-0.95,-146.0,441.5,-6.9,563,5224,0.12,2.67,0.00,0.000,6,0.123,0.057,2381,2659,3400,0,0,1,0,0,0
$GC,5542,-0.87,-146.0,468.4,-8.6,594,5547,0.00,2.80,0.00,0.000,4,0.000,0.081,2381,3918,3400,0,0,1,0,0,0
$GC,5701,-0.79,-146.0,482.8,-9.2,607,5708,0.20,2.62,0.00,0.000,6,0.199,0.058,2428,2684,3400,0,0,1,0,0,0
$GC,6026,-0.86,-146.0,505.0,-6.9,638,6031,0.00,2.75,0.00,0.000,4,0.000,0.081,2428,3923,3401,0,0,2,0,0,0
$GC,6157,-0.94,-146.0,514.4,-7.9,649,6162,0.12,2.60,0.00,0.000,6,0.118,0.057,2387,2696,3400,0,0,1,0,0,0
$STATE,6362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6363,begin apogee
$GC,6370,-0.16,0.0,532.3,8.8,668,6496,0.88,0.00,120.32,1.063,6,0.179,0.000,2630,1941,2799,0,0,0,0,0,0
$STATE,6497,end apogee,CONTROL_FINISHED_OK
$STATE,6497,begin climb
$GC,6499,0.73,146.0,535.2,0.0,681,6633,0.95,2.25,123.38,1.016,4,0.127,0.084,2926,369,2202,0,0,0,0,0,0
$GC,6661,0.64,146.0,521.5,12.8,696,6667,0.00,2.15,0.00,0.000,6,0.000,0.056,2927,1970,2200,0,0,0,0,0,0
$GC,6986,0.57,146.0,481.3,12.7,727,6992,0.20,3.35,0.00,0.000,4,0.193,0.073,2878,3526,2195,0,0,2,0,0,0
$GC,7087,0.57,146.0,469.6,11.7,735,7093,0.00,3.33,0.00,0.000,6,0.000,0.067,2890,1965,2194,0,0,1,0,0,0
$GC,7412,0.57,146.0,434.8,10.8,766,7417,0.00,3.33,0.00,0.000,4,0.000,0.076,2890,3527,2194,0,0,2,0,0,0
$GC,7529,0.57,146.0,421.3,11.3,776,7535,0.12,3.28,0.00,0.000,6,0.202,0.067,2878,1977,2193,0,0,1,0,0,0
$GC,7854,0.64,146.0,389.8,9.3,806,7859,0.00,3.33,0.00,0.000,4,0.000,0.075,2878,3535,2193,0,0,1,0,0,0
$GC,7971,0.64,146.0,377.8,9.9,816,7976,0.00,3.28,0.00,0.000,6,0.000,0.067,2891,1996,2193,0,0,0,0,0,0
$GC,8296,0.64,148.6,347.6,9.1,846,8301,0.00,3.30,0.00,0.000,4,0.000,0.076,2891,3536,2193,0,0,1,0,0,0
$GC,8418,0.64,148.6,335.3,9.9,856,8424,0.00,3.22,0.00,0.000,6,0.000,0.067,2905,2016,2193,0,0,1,0,0,0
$GC,8743,0.64,148.6,304.6,9.5,887,8748,0.00,3.25,0.00,0.000,4,0.000,0.076,2904,3527,2193,0,0,1,0,0,0
$GC,8832,0.59,148.6,294.7,11.5,894,8838,0.15,3.22,0.00,0.000,6,0.199,0.067,2886,2020,2193,0,0,0,0,0,0
$GC,9156,0.66,148.6,264.5,9.3,925,9161,0.00,3.22,0.00,0.000,4,0.000,0.075,2885,3532,2192,0,0,2,0,0,0
$GC,9302,0.66,148.6,249.5,10.6,937,9308,0.00,3.20,0.00,0.000,6,0.000,0.067,2898,2037,2192,0,0,0,0,0,0
$GC,9626,0.66,148.6,217.5,10.3,968,9631,0.00,3.22,0.00,0.000,4,0.000,0.074,2897,3535,2193,0,0,1,0,0,0
$GC,9745,0.66,148.6,204.3,11.4,978,9750,0.00,3.20,0.00,0.000,6,0.000,0.067,2911,2044,2193,0,0,0,0,0,0
$GC,10069,0.66,148.6,170.7,10.9,1008,10074,0.00,3.22,0.00,0.000,4,0.000,0.075,2911,3536,2193,0,0,1,0,0,0
$GC,10131,0.61,148.6,163.6,11.7,1013,10137,0.15,3.17,0.00,0.000,6,0.196,0.067,2891,2061,2192,0,0,0,0,0,0
$GC,10458,0.72,164.6,133.3,8.5,1043,10479,0.00,3.20,14.68,0.773,4,0.000,0.075,2891,3536,2127,0,0,1,0,0,0
$GC,10571,0.79,217.0,124.5,7.0,1053,10623,0.12,3.17,43.35,0.796,6,0.114,0.067,2945,2076,1914,0,0,0,0,0,0
$GC,10947,0.85,217.0,90.3,10.4,1097,10953,0.00,3.22,0.00,0.000,4,0.000,0.074,2945,3533,1906,0,0,0,0,0,0
$GC,11066,0.85,217.0,75.5,12.6,1118,11071,0.00,3.15,0.00,0.000,6,0.000,0.067,2959,2100,1905,0,0,0,0,0,0
$GC,11411,0.85,217.0,37.8,10.4,1179,11416,0.00,3.15,0.00,0.000,4,0.000,0.076,2959,3525,1905,0,0,1,0,0,0
$GC,11484,0.79,217.0,29.1,11.5,1192,11490,0.00,3.12,0.00,0.000,6,0.000,0.067,2973,2106,1905,0,0,0,0,0,0
$FREEZE,8.55,0.127,-1.832,0,1,0
$FREEZE,7.81,0.127,-1.831,0,1,0
$FREEZE,7.22,0.126,-1.831,0,1,0
$FREEZE,6.66,0.126,-1.831,0,1,0
$FREEZE,5.92,0.127,-1.830,0,1,0
$FREEZE,5.28,0.126,-1.830,0,1,0
$FREEZE,4.68,0.126,-1.829,0,1,0
$FREEZE,3.92,0.126,-1.828,0,1,0
$FREEZE,3.26,0.126,-1.828,0,1,0
$FREEZE,2.61,0.126,-1.828,0,1,0
$FREEZE,2.02,0.127,-1.827,0,1,0
$FREEZE,1.31,0.126,-1.827,0,1,0
$STATE,11726,end climb,SURFACE_DEPTH_REACHED
$STATE,11726,begin surface coast
$FREEZE,0.52,0.126,-1.826,0,1,0
$FREEZE,0.17,0.129,-1.811,0,1,0
$FREEZE,0.17,0.135,-1.391,0,1,0
$FINISH,0.2,1.020514
$STATE,11744,end surface coast,CONTROL_FINISHED_OK
$STATE,11745,begin surface
$SM_CCo,11761,115.15,0.723,0,0,1066,425.10
$SM_GC,0.89,0.00,0.00,115.15,0.000,0.000,0.723,126,2452,1066,-8.02,-0.23,425.10
$RAFOS_CLK,727
$RAFOS,6,1260780541,8.833333,8.816944,90,56,54,0,0,0,825,172,204,0,0,0
$RAFOS,5,1260780062,8.700000,8.683888,59,57,57,0,0,0,207,170,136,0,0,0
$RAFOS,4,1260779586,8.566667,8.551666,62,58,56,0,0,0,208,845,188,0,0,0
$RAFOS,3,1260779101,8.433333,8.416945,54,53,53,0,0,0,197,140,221,0,0,0
$RAFOS,2,1260778632,8.300000,8.286667,65,57,55,0,0,0,213,204,177,0,0,0
$RAFOS,1,1260778143,8.166667,8.150833,61,59,57,0,0,0,217,192,166,0,0,0
$RAFOS,0,1260777664,8.033334,8.017777,82,57,56,0,0,0,211,221,157,0,0,0
$RAFOS_FIX,6706.608398,-5704.352539,141209,040400,2,82,0.34
$IRIDIUM_FIX,6641.98,-5656.94,100399,020239
$TT8_MAMPS,0.027612
$HUMID,46.85
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,20.0,19.4
$ALTIM_BOTTOM_PING,450.4,102.5
$24V_AH,22.7,59.254
$10V_AH,10.1,31.204
$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,23.800,150.350,301.725,115.150,0.000,25.497,31.739,132.797,2.250,0.000,13.284,2110.062,6878.605,590.075,2199.092,400.219,0.000,1715.390,0.000,2161.264,2520.000,13.652,0.000
$DEVICE_MAMPS,293.761,93.574,1063.062,722.514,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,906.209,845.022,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152520
$DATA_FILE_SIZE,47332,1238
$CAP_FILE_SIZE,144555,0
$CFSIZE,260165632,226234368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,43,0,0
$SOUNDSPEED,1466.9
$GPS,141209,090530,6706.225,-5701.933,38,1.1,43,-37.7