version: 66.06
glider: 143
mission: 10
dive: 306
start: 12 14 109 9 14 24
data:
$ID,143
$MISSION,10
$DIVE,306
$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,-41767.949
$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,21
$R_STBD_OVSHOOT,19
$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
$GPS1,090530,6706.225,-5701.933,38,1.1,43,-37.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-63.7
$GPS2,091407,6706.291,-5702.054,9,1.2,14,-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,158.7,11838,-16.9,-9.167
$D_GRID,537
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,145,0.00,0.00,-125.62,0.000,2,0.000,0.000,125,2453,3157,0,0,0,0,0,0
$GC,148,-0.73,-146.0,3.1,-5.9,25,169,11.32,0.00,-6.28,0.000,6,0.296,0.000,2446,2453,3398,0,0,0,0,0,0
$GC,507,-0.73,-146.0,46.3,-10.9,89,513,0.00,3.22,0.00,0.000,4,0.000,0.090,2446,3917,3402,0,0,2,0,0,0
$GC,744,-0.73,-146.0,72.3,-10.7,131,749,0.00,3.08,0.00,0.000,6,0.000,0.064,2447,2462,3401,0,0,1,0,0,0
$GC,1084,-0.73,-146.0,104.8,-8.7,187,1089,0.00,3.20,0.00,0.000,4,0.000,0.088,2446,3914,3401,0,0,2,0,0,0
$GC,1342,-0.80,-146.0,128.5,-9.2,209,1348,0.00,3.00,0.00,0.000,6,0.000,0.064,2447,2502,3400,0,0,1,0,0,0
$GC,1667,-0.88,-146.0,156.7,-8.3,240,1673,0.12,3.12,0.00,0.000,4,0.125,0.087,2400,3912,3399,0,0,2,0,0,0
$GC,1870,-0.82,-146.0,178.1,-10.9,257,1875,0.00,2.92,0.00,0.000,6,0.000,0.063,2399,2535,3399,0,0,1,0,0,0
$GC,2194,-0.78,-146.0,211.5,-9.5,288,2200,0.15,3.08,0.00,0.000,4,0.206,0.084,2428,3926,3399,0,0,2,0,0,0
$GC,2430,-0.82,-146.0,230.7,-8.2,308,2436,0.00,2.88,0.00,0.000,6,0.000,0.060,2428,2559,3399,0,0,1,0,0,0
$GC,2756,-0.82,-146.0,258.4,-9.2,339,2761,0.00,2.97,0.00,0.000,4,0.000,0.084,2428,3913,3399,0,0,2,0,0,0
$GC,2952,-0.82,-146.0,278.0,-10.0,356,2956,0.00,2.83,0.00,0.000,6,0.000,0.060,2428,2576,3400,0,0,1,0,0,0
$GC,3276,-0.87,-146.0,307.2,-8.3,386,3281,0.00,2.95,0.00,0.000,4,0.000,0.084,2428,3918,3400,0,0,2,0,0,0
$GC,3423,-0.93,-146.0,319.8,-8.4,398,3429,0.12,2.80,0.00,0.000,6,0.110,0.059,2384,2602,3400,0,0,1,0,0,0
$GC,3748,-0.85,-146.0,351.9,-9.3,429,3753,0.12,2.92,0.00,0.000,4,0.206,0.083,2411,3915,3400,0,0,2,0,0,0
$GC,3945,-0.85,-146.0,369.4,-9.0,446,3949,0.00,2.75,0.00,0.000,6,0.000,0.059,2411,2630,3400,0,0,1,0,0,0
$GC,4269,-0.85,-146.0,398.4,-9.2,476,4274,0.00,2.88,0.00,0.000,4,0.000,0.082,2411,3915,3400,0,0,1,0,0,0
$GC,4403,-0.85,-146.0,410.8,-9.3,487,4409,0.00,2.72,0.00,0.000,6,0.000,0.058,2412,2640,3400,0,0,1,0,0,0
$GC,4728,-0.85,-146.0,439.5,-8.8,518,4732,0.00,2.88,0.00,0.000,4,0.000,0.082,2411,3922,3401,0,0,1,0,0,0
$GC,4827,-0.85,-146.0,448.3,-8.8,526,4833,0.00,2.72,0.00,0.000,6,0.000,0.058,2411,2647,3402,0,0,1,0,0,0
$GC,5152,-0.85,-146.0,475.2,-8.3,557,5157,0.00,2.85,0.00,0.000,4,0.000,0.081,2411,3914,3402,0,0,1,0,0,0
$GC,5293,-0.85,-146.0,486.8,-8.0,569,5298,0.00,2.67,0.00,0.000,6,0.000,0.058,2411,2668,3402,0,0,1,0,0,0
$GC,5618,-0.85,-146.0,513.5,-8.2,599,5622,0.00,2.83,0.00,0.000,4,0.000,0.081,2412,3921,3403,0,0,1,0,0,0
$GC,5672,-0.85,-146.0,518.2,-8.5,603,5678,0.00,2.70,0.00,0.000,6,0.000,0.057,2411,2673,3403,0,0,0,0,0,0
$STATE,5910,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5910,begin apogee
$GC,5917,-0.16,0.0,537.3,7.3,626,6043,0.77,0.00,121.00,1.066,6,0.178,0.000,2628,1945,2800,0,0,0,0,0,0
$STATE,6044,end apogee,CONTROL_FINISHED_OK
$STATE,6044,begin climb
$GC,6046,0.73,146.0,539.6,0.0,639,6180,0.95,2.20,124.07,1.022,4,0.127,0.084,2925,350,2201,0,0,0,0,0,0
$GC,6230,0.66,146.0,522.2,12.9,656,6236,0.00,2.12,0.00,0.000,6,0.000,0.056,2925,1960,2198,0,0,0,0,0,0
$GC,6555,0.59,146.0,482.1,12.8,687,6561,0.17,3.38,0.00,0.000,4,0.199,0.074,2880,3531,2194,0,0,3,0,0,0
$GC,6640,0.59,146.0,472.2,11.3,694,6645,0.00,3.38,0.00,0.000,6,0.000,0.067,2893,1950,2193,0,0,2,0,0,0
$GC,6964,0.59,146.0,438.4,9.7,724,6969,0.00,3.38,0.00,0.000,4,0.000,0.076,2893,3534,2193,0,0,3,0,0,0
$GC,7082,0.59,146.0,425.9,11.0,734,7087,0.00,3.35,0.00,0.000,6,0.000,0.068,2908,1958,2192,0,0,2,0,0,0
$GC,7406,0.59,146.0,391.9,11.3,764,7411,0.00,3.35,0.00,0.000,4,0.000,0.076,2908,3528,2192,0,0,2,0,0,0
$GC,7491,0.51,146.0,381.5,12.7,771,7497,0.25,3.30,0.00,0.000,6,0.197,0.068,2862,1971,2191,0,0,2,0,0,0
$GC,7816,0.64,146.0,351.4,9.3,801,7821,0.10,3.33,0.00,0.000,4,0.130,0.076,2897,3528,2191,0,0,2,0,0,0
$GC,7928,0.64,146.0,337.8,12.2,810,7934,0.00,3.25,0.00,0.000,6,0.000,0.067,2911,2002,2191,0,0,1,0,0,0
$GC,8252,0.64,146.0,301.3,10.8,841,8257,0.00,3.30,0.00,0.000,4,0.000,0.076,2911,3528,2191,0,0,1,0,0,0
$GC,8337,0.57,146.0,291.3,12.5,848,8343,0.20,3.28,0.00,0.000,6,0.194,0.067,2877,2006,2191,0,0,0,0,0,0
$GC,8662,0.69,158.7,262.7,8.6,878,8679,0.10,3.30,9.90,0.811,4,0.132,0.075,2912,3533,2152,0,0,1,0,0,0
$GC,8782,0.63,158.7,249.5,11.3,888,8788,0.12,3.25,0.00,0.000,6,0.201,0.067,2899,2022,2151,0,0,1,0,0,0
$GC,9107,0.68,161.8,219.6,9.0,918,9118,0.00,3.28,4.03,0.601,4,0.000,0.075,2898,3529,2140,0,0,1,0,0,0
$GC,9231,0.68,161.8,207.0,10.7,929,9236,0.00,3.22,0.00,0.000,6,0.000,0.067,2911,2045,2139,0,0,0,0,0,0
$GC,9557,0.68,161.8,175.2,9.9,959,9562,0.00,3.22,0.00,0.000,4,0.000,0.076,2910,3529,2139,0,0,2,0,0,0
$GC,9641,0.68,161.8,166.0,10.9,966,9646,0.00,3.20,0.00,0.000,6,0.000,0.067,2924,2056,2139,0,0,0,0,0,0
$GC,9965,0.68,161.8,132.3,10.9,996,9970,0.00,3.20,0.00,0.000,4,0.000,0.076,2925,3528,2139,0,0,2,0,0,0
$GC,10108,0.62,161.8,115.7,11.8,1008,10114,0.20,3.15,0.00,0.000,6,0.196,0.067,2891,2073,2139,0,0,1,0,0,0
$GC,10440,0.84,219.9,92.0,6.7,1049,10497,0.20,3.30,47.92,0.782,4,0.099,0.075,2962,3527,1902,0,0,1,0,0,0
$GC,10565,0.77,219.9,77.9,13.6,1072,10572,0.15,3.17,0.00,0.000,6,0.199,0.067,2943,2079,1899,0,0,2,0,0,0
$GC,10910,0.84,219.9,41.1,10.1,1133,10916,0.00,3.22,0.00,0.000,4,0.000,0.076,2943,3533,1896,0,0,1,0,0,0
$GC,11024,0.84,219.9,28.4,10.3,1153,11030,0.00,3.15,0.00,0.000,6,0.000,0.068,2955,2089,1896,0,0,2,0,0,0
$FREEZE,8.56,0.107,-1.832,0,1,0
$FREEZE,7.89,0.108,-1.831,0,1,0
$FREEZE,7.33,0.107,-1.831,0,1,0
$FREEZE,6.65,0.107,-1.830,0,1,0
$FREEZE,6.11,0.107,-1.830,0,1,0
$FREEZE,5.44,0.107,-1.829,0,1,0
$FREEZE,4.92,0.107,-1.829,0,1,0
$FREEZE,4.32,0.107,-1.828,0,1,0
$FREEZE,3.66,0.107,-1.828,0,1,0
$FREEZE,3.12,0.107,-1.828,0,1,0
$FREEZE,2.53,0.107,-1.827,0,1,0
$FREEZE,1.86,0.107,-1.827,0,1,0
$STATE,11276,end climb,SURFACE_DEPTH_REACHED
$STATE,11276,begin surface coast
$FREEZE,1.20,0.107,-1.826,0,1,0
$FREEZE,0.52,0.108,-1.826,0,1,0
$FREEZE,0.14,0.110,-0.933,0,1,0
$FINISH,0.1,1.013794
$STATE,11294,end surface coast,CONTROL_FINISHED_OK
$STATE,11294,begin surface
$SM_CCo,11310,112.38,0.719,0,0,1066,425.10
$SM_GC,0.97,0.00,0.00,112.38,0.000,0.000,0.719,129,2454,1066,-8.00,-0.17,425.10
$RAFOS_CLK,716
$RAFOS,1,1260792543,12.166667,12.150833,60,60,54,0,0,0,183,201,122,0,0,0
$RAFOS,0,1260792066,12.033333,12.018333,59,57,54,0,0,0,178,211,161,0,0,0
$RAFOS_FIX,6706.608398,-5704.352539,141209,040400,2,82,0.34
$IRIDIUM_FIX,6636.54,-5707.59,100399,090906
$TT8_MAMPS,0.029146
$HUMID,47.48
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,20.0,19.5
$ALTIM_BOTTOM_PING,450.7,114.7
$24V_AH,22.7,59.383
$10V_AH,10.1,31.276
$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,23.350,142.075,306.925,112.375,0.000,56.844,68.860,201.796,2.500,0.000,17.280,2021.672,6658.709,581.087,2132.051,536.981,0.000,1673.187,0.000,2092.976,1080.000,15.752,0.000
$DEVICE_MAMPS,296.062,89.739,1066.130,718.679,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,883.026,819.120,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152500
$DATA_FILE_SIZE,47330,1201
$CAP_FILE_SIZE,138635,0
$CFSIZE,260165632,226168832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,60,0,0
$SOUNDSPEED,1466.3
$GPS,141209,122606,6707.069,-5704.784,32,0.8,32,-37.7