version: 66.06
glider: 143
mission: 10
dive: 307
start: 12 14 109 12 31 48
data:
$ID,143
$MISSION,10
$DIVE,307
$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,-41788.035
$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,20
$R_STBD_OVSHOOT,18
$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
$GPS1,122606,6707.069,-5704.784,32,0.8,32,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-66.8
$GPS2,123131,6707.125,-5704.842,12,0.9,17,-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,159.8,14363,-16.9,-9.167
$D_GRID,551
$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,-125.65,0.000,2,0.000,0.000,129,2454,3200,0,0,0,0,0,0
$GC,148,-0.73,-146.0,3.2,-6.1,25,168,11.35,0.00,-5.07,0.000,6,0.297,0.000,2444,2454,3397,0,0,0,0,0,0
$GC,507,-0.73,-146.0,47.0,-11.0,89,513,0.00,3.22,0.00,0.000,4,0.000,0.089,2444,3913,3400,0,0,2,0,0,0
$GC,766,-0.73,-146.0,74.6,-10.6,135,771,0.00,3.08,0.00,0.000,6,0.000,0.064,2445,2460,3400,0,0,2,0,0,0
$GC,1110,-0.73,-146.0,107.8,-8.6,189,1115,0.00,3.22,0.00,0.000,4,0.000,0.088,2445,3923,3400,0,0,2,0,0,0
$GC,1368,-0.80,-146.0,130.9,-8.7,211,1374,0.00,3.05,0.00,0.000,6,0.000,0.064,2445,2486,3398,0,0,1,0,0,0
$GC,1693,-0.86,-146.0,155.3,-7.1,242,1698,0.00,3.17,0.00,0.000,4,0.000,0.087,2445,3916,3397,0,0,1,0,0,0
$GC,1951,-0.95,-146.0,173.6,-7.4,264,1957,0.20,2.95,0.00,0.000,6,0.107,0.064,2377,2535,3397,0,0,1,0,0,0
$GC,2275,-0.82,-146.0,206.5,-10.2,295,2281,0.20,3.08,0.00,0.000,4,0.203,0.084,2424,3915,3396,0,0,2,0,0,0
$GC,2488,-0.82,-146.0,225.2,-8.8,313,2495,0.00,2.85,0.00,0.000,6,0.000,0.061,2424,2570,3397,0,0,1,0,0,0
$GC,2814,-0.82,-146.0,253.1,-8.6,344,2819,0.00,2.97,0.00,0.000,4,0.000,0.084,2425,3916,3397,0,0,2,0,0,0
$GC,3049,-0.82,-146.0,274.0,-8.7,364,3055,0.00,2.80,0.00,0.000,6,0.000,0.061,2424,2599,3398,0,0,1,0,0,0
$GC,3374,-0.82,-146.0,301.4,-8.3,395,3378,0.00,2.92,0.00,0.000,4,0.000,0.084,2424,3919,3398,0,0,2,0,0,0
$GC,3582,-0.82,-146.0,318.7,-8.1,413,3586,0.00,2.78,0.00,0.000,6,0.000,0.060,2424,2620,3398,0,0,1,0,0,0
$GC,3906,-0.87,-146.0,345.4,-8.5,443,3911,0.00,2.90,0.00,0.000,4,0.000,0.084,2424,3926,3399,0,0,2,0,0,0
$GC,4026,-0.93,-146.0,355.5,-8.8,453,4031,0.00,2.75,0.00,0.000,6,0.000,0.059,2424,2637,3399,0,0,1,0,0,0
$GC,4351,-0.98,-146.0,381.6,-7.8,483,4356,0.15,2.90,0.00,0.000,4,0.112,0.081,2361,3927,3399,0,0,2,0,0,0
$GC,4414,-0.81,-146.0,387.8,-10.0,488,4419,0.25,2.75,0.00,0.000,6,0.203,0.058,2420,2638,3399,0,0,1,0,0,0
$GC,4739,-0.81,-146.0,412.5,-7.0,518,4743,0.00,2.88,0.00,0.000,4,0.000,0.083,2420,3920,3399,0,0,1,0,0,0
$GC,4869,-0.86,-146.0,422.5,-7.4,529,4873,0.00,2.70,0.00,0.000,6,0.000,0.058,2421,2659,3399,0,0,1,0,0,0
$GC,5194,-0.91,-146.0,447.3,-7.7,559,5198,0.00,2.85,0.00,0.000,4,0.000,0.082,2420,3926,3400,0,0,1,0,0,0
$GC,5335,-0.91,-146.0,458.7,-8.0,571,5339,0.00,2.70,0.00,0.000,6,0.000,0.058,2421,2665,3399,0,0,1,0,0,0
$GC,5661,-0.96,-146.0,483.8,-8.3,601,5666,0.12,2.85,0.00,0.000,4,0.122,0.079,2365,3928,3400,0,0,1,0,0,0
$GC,5797,-0.82,-146.0,498.3,-11.1,612,5803,0.22,2.67,0.00,0.000,6,0.200,0.057,2418,2686,3400,0,0,1,0,0,0
$GC,6122,-0.82,-146.0,525.6,-7.8,643,6127,0.00,2.78,0.00,0.000,4,0.000,0.081,2418,3915,3401,0,0,2,0,0,0
$GC,6233,-0.82,-146.0,534.4,-8.3,652,6239,0.00,2.62,0.00,0.000,6,0.000,0.058,2418,2702,3401,0,0,1,0,0,0
$STATE,6470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6470,begin apogee
$GC,6477,-0.16,0.0,551.1,7.0,675,6603,0.73,0.00,120.68,1.075,6,0.174,0.000,2626,1943,2800,0,0,0,0,0,0
$STATE,6604,end apogee,CONTROL_FINISHED_OK
$STATE,6604,begin climb
$GC,6606,0.73,146.0,554.3,0.0,688,6740,0.95,2.17,124.30,1.030,4,0.126,0.084,2923,372,2203,0,0,0,0,0,0
$GC,6855,0.67,146.0,532.7,12.3,711,6859,0.00,2.08,0.00,0.000,6,0.000,0.057,2923,1966,2198,0,0,0,0,0,0
$GC,7187,0.60,146.0,493.2,12.1,742,7193,0.15,3.35,0.00,0.000,4,0.202,0.074,2881,3528,2195,0,0,2,0,0,0
$GC,7332,0.60,146.0,477.1,10.3,754,7339,0.00,3.35,0.00,0.000,6,0.000,0.067,2893,1959,2193,0,0,1,0,0,0
$GC,7657,0.60,146.0,444.6,9.9,785,7663,0.00,3.35,0.00,0.000,4,0.000,0.075,2893,3530,2194,0,0,2,0,0,0
$GC,7775,0.60,146.0,430.9,11.8,795,7780,0.00,3.33,0.00,0.000,6,0.000,0.068,2908,1965,2193,0,0,1,0,0,0
$GC,8099,0.60,146.0,395.7,10.4,825,8104,0.00,3.33,0.00,0.000,4,0.000,0.075,2908,3528,2193,0,0,2,0,0,0
$GC,8206,0.53,146.0,383.8,11.9,834,8212,0.25,3.28,0.00,0.000,6,0.194,0.068,2861,1985,2192,0,0,2,0,0,0
$GC,8530,0.70,185.9,358.3,7.5,864,8572,0.17,3.42,31.80,0.934,4,0.104,0.075,2923,3531,2041,0,0,1,0,0,0
$GC,8679,0.64,185.9,340.8,12.2,877,8685,0.17,3.30,0.00,0.000,6,0.199,0.067,2898,2003,2037,0,0,1,0,0,0
$GC,9004,0.70,185.9,307.9,9.9,908,9009,0.00,3.33,0.00,0.000,4,0.000,0.075,2898,3528,2036,0,0,2,0,0,0
$GC,9110,0.70,185.9,296.9,10.1,917,9116,0.00,3.25,0.00,0.000,6,0.000,0.067,2909,2017,2036,0,0,1,0,0,0
$GC,9434,0.70,185.9,265.2,9.4,947,9440,0.00,3.28,0.00,0.000,4,0.000,0.076,2910,3528,2036,0,0,1,0,0,0
$GC,9512,0.70,185.9,256.9,10.7,953,9518,0.00,3.22,0.00,0.000,6,0.000,0.067,2924,2041,2035,0,0,0,0,0,0
$GC,9836,0.70,185.9,223.0,10.9,984,9842,0.00,3.25,0.00,0.000,4,0.000,0.076,2924,3529,2036,0,0,2,0,0,0
$GC,9899,0.64,185.9,215.5,12.3,989,9905,0.17,3.20,0.00,0.000,6,0.196,0.068,2897,2049,2035,0,0,1,0,0,0
$GC,10223,0.71,185.9,184.1,9.3,1019,10228,0.00,3.22,0.00,0.000,4,0.000,0.075,2897,3534,2035,0,0,2,0,0,0
$GC,10312,0.71,185.9,175.0,10.3,1026,10318,0.00,3.20,0.00,0.000,6,0.000,0.067,2908,2052,2033,0,0,1,0,0,0
$GC,10638,0.78,185.9,144.5,9.6,1057,10643,0.00,3.22,0.00,0.000,4,0.000,0.076,2909,3537,2033,0,0,2,0,0,0
$GC,10703,0.78,185.9,137.6,10.3,1062,10710,0.00,3.17,0.00,0.000,6,0.000,0.066,2923,2069,2033,0,0,1,0,0,0
$GC,11029,0.78,185.9,104.6,9.8,1093,11034,0.00,3.20,0.00,0.000,4,0.000,0.076,2923,3527,2034,0,0,1,0,0,0
$GC,11152,0.78,185.9,91.9,10.5,1110,11158,0.00,3.12,0.00,0.000,6,0.000,0.067,2936,2093,2034,0,0,1,0,0,0
$GC,11497,0.83,185.9,60.4,9.2,1171,11503,0.00,3.20,0.00,0.000,4,0.000,0.076,2936,3534,2034,0,0,0,0,0,0
$GC,11612,0.83,185.9,49.0,9.9,1191,11617,0.00,3.12,0.00,0.000,6,0.000,0.067,2950,2105,2033,0,0,1,0,0,0
$GC,11956,0.83,185.9,16.4,9.6,1252,11962,0.00,3.17,0.00,0.000,4,0.000,0.077,2950,3528,2034,0,0,0,0,0,0
$FREEZE,8.60,0.107,-1.832,0,1,0
$FREEZE,7.95,0.108,-1.831,0,1,0
$FREEZE,7.46,0.108,-1.831,0,1,0
$GC,12042,0.77,185.9,7.5,10.2,1267,12048,0.00,3.12,0.00,0.000,6,0.000,0.069,2964,2107,2034,0,0,1,0,0,0
$FREEZE,5.98,0.108,-1.830,0,1,0
$FREEZE,5.42,0.107,-1.829,0,1,0
$FREEZE,4.78,0.104,-1.829,0,1,0
$FREEZE,4.35,0.103,-1.829,0,1,0
$FREEZE,3.81,0.103,-1.828,0,1,0
$FREEZE,3.29,0.102,-1.828,0,1,0
$FREEZE,2.66,0.099,-1.827,0,1,0
$FREEZE,2.07,0.099,-1.827,0,1,0
$FREEZE,1.34,0.097,-1.826,0,1,0
$STATE,12097,end climb,SURFACE_DEPTH_REACHED
$STATE,12097,begin surface coast
$FREEZE,0.96,0.094,-1.826,0,1,0
$FREEZE,0.39,0.093,-1.826,0,1,0
$FREEZE,0.19,0.045,-1.828,0,1,0
$FINISH,0.2,1.026774
$STATE,12117,end surface coast,CONTROL_FINISHED_OK
$STATE,12117,begin surface
$SM_CCo,12134,128.82,0.722,0,0,1066,425.10
$SM_GC,0.87,0.00,0.00,128.82,0.000,0.000,0.722,125,2457,1066,-8.02,-0.06,425.10
$RAFOS_CLK,754
$RAFOS,6,1260794941,12.833333,12.816944,62,59,58,0,0,0,192,798,222,0,0,0
$RAFOS,5,1260794464,12.700000,12.684444,75,62,60,0,0,0,632,211,148,0,0,0
$RAFOS,4,1260793983,12.566667,12.550834,61,59,57,0,0,0,152,863,162,0,0,0
$RAFOS,2,1260793023,12.300000,12.284166,58,57,56,0,0,0,213,156,188,0,0,0
$RAFOS_FIX,6706.608398,-5704.352539,141209,040400,2,82,0.34
$IRIDIUM_FIX,6636.54,-5702.96,100399,090921
$TT8_MAMPS,0.027612
$HUMID,47.20
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,19.0
$ALTIM_BOTTOM_PING,400.7,171.9
$24V_AH,22.7,59.504
$10V_AH,10.1,31.350
$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,23.450,153.575,276.775,128.825,0.000,29.155,35.763,133.918,1.500,0.000,19.457,2154.444,7137.612,582.277,2287.299,417.385,0.000,1743.691,0.000,2240.978,1080.000,11.048,0.000
$DEVICE_MAMPS,296.829,88.972,1074.567,721.747,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,938.880,873.829,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152468
$DATA_FILE_SIZE,50408,1280
$CAP_FILE_SIZE,146020,0
$CFSIZE,260165632,226086912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,62,0,0
$SOUNDSPEED,1467.0
$GPS,141209,155737,6707.601,-5707.337,40,1.0,40,-37.7