version: 66.06
glider: 143
mission: 10
dive: 309
start: 12 14 109 19 34 20
data:
$ID,143
$MISSION,10
$DIVE,309
$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,-41821.043
$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,23
$R_STBD_OVSHOOT,16
$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
$GPS1,192837,6707.042,-5706.213,28,1.1,28,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-63.6
$GPS2,193402,6707.076,-5706.169,12,1.4,12,-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,157.6,15137,-16.9,-9.167
$D_GRID,564
$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,-146.0,0.0,0.0,0,138,0.00,0.00,-120.00,0.000,2,0.000,0.000,124,2457,3102,0,0,0,0,0,0
$GC,141,-0.73,-146.0,3.0,-5.2,24,168,11.20,3.28,-8.05,0.000,4,0.292,0.098,2445,3925,3399,0,0,2,0,0,0
$GC,421,-0.73,-146.0,39.6,-12.0,74,427,0.00,3.10,0.00,0.000,6,0.000,0.064,2445,2460,3401,0,0,2,0,0,0
$GC,765,-0.73,-146.0,74.3,-8.9,135,770,0.00,3.22,0.00,0.000,4,0.000,0.087,2445,3915,3401,0,0,2,0,0,0
$GC,1023,-0.73,-146.0,98.4,-9.6,181,1029,0.00,3.03,0.00,0.000,6,0.000,0.065,2445,2497,3402,0,0,1,0,0,0
$GC,1349,-0.79,-146.0,129.0,-10.1,213,1354,0.00,3.15,0.00,0.000,4,0.000,0.089,2446,3920,3400,0,0,2,0,0,0
$GC,1610,-0.88,-146.0,153.0,-8.6,235,1616,0.12,2.95,0.00,0.000,6,0.129,0.064,2407,2536,3399,0,0,1,0,0,0
$GC,1934,-0.88,-146.0,187.3,-10.3,266,1939,0.00,3.08,0.00,0.000,4,0.000,0.087,2406,3924,3399,0,0,2,0,0,0
$GC,2107,-0.88,-146.0,206.2,-10.0,281,2112,0.00,2.90,0.00,0.000,6,0.000,0.064,2406,2553,3399,0,0,2,0,0,0
$GC,2432,-0.88,-146.0,238.4,-8.6,311,2437,0.00,3.05,0.00,0.000,4,0.000,0.086,2406,3925,3399,0,0,1,0,0,0
$GC,2643,-0.88,-146.0,257.2,-9.0,329,2649,0.00,2.85,0.00,0.000,6,0.000,0.061,2406,2582,3399,0,0,1,0,0,0
$GC,2968,-0.88,-146.0,281.9,-8.0,360,2973,0.00,2.97,0.00,0.000,4,0.000,0.085,2406,3927,3399,0,0,2,0,0,0
$GC,3142,-0.88,-146.0,296.4,-8.9,375,3147,0.00,2.83,0.00,0.000,6,0.000,0.061,2406,2603,3399,0,0,1,0,0,0
$GC,3466,-0.88,-146.0,324.3,-8.7,405,3471,0.00,2.92,0.00,0.000,4,0.000,0.085,2406,3921,3399,0,0,3,0,0,0
$GC,3677,-0.88,-146.0,345.0,-10.6,423,3684,0.00,2.75,0.00,0.000,6,0.000,0.060,2406,2632,3400,0,0,2,0,0,0
$GC,4002,-0.88,-146.0,377.6,-9.5,454,4008,0.00,2.85,0.00,0.000,4,0.000,0.084,2406,3917,3400,0,0,2,0,0,0
$GC,4197,-0.88,-146.0,395.4,-9.0,471,4203,0.00,2.72,0.00,0.000,6,0.000,0.059,2407,2657,3400,0,0,0,0,0,0
$GC,4522,-0.88,-146.0,425.3,-9.3,502,4527,0.00,2.85,0.00,0.000,4,0.000,0.083,2406,3922,3400,0,0,1,0,0,0
$GC,4662,-0.88,-146.0,439.0,-9.7,514,4667,0.00,2.67,0.00,0.000,6,0.000,0.059,2406,2671,3400,0,0,2,0,0,0
$GC,4987,-0.88,-146.0,468.7,-8.5,544,4992,0.00,2.83,0.00,0.000,4,0.000,0.082,2406,3923,3401,0,0,1,0,0,0
$GC,5132,-0.88,-146.0,481.6,-8.6,556,5138,0.00,2.65,0.00,0.000,6,0.000,0.058,2406,2697,3401,0,0,1,0,0,0
$GC,5458,-0.88,-146.0,506.9,-7.8,587,5463,0.00,2.75,0.00,0.000,4,0.000,0.082,2406,3917,3402,0,0,2,0,0,0
$GC,5554,-0.88,-146.0,514.7,-8.4,595,5558,0.00,2.60,0.00,0.000,6,0.000,0.058,2406,2710,3402,0,0,1,0,0,0
$GC,5880,-0.88,-146.0,538.4,-7.7,625,5884,0.00,2.72,0.00,0.000,4,0.000,0.081,2406,3921,3402,0,0,2,0,0,0
$GC,5941,-0.88,-146.0,543.2,-8.4,630,5946,0.00,2.60,0.00,0.000,6,0.000,0.057,2406,2714,3402,0,0,1,0,0,0
$STATE,6147,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6147,begin apogee
$GC,6153,-0.16,0.0,559.4,7.7,649,6280,0.80,0.00,121.40,1.079,6,0.181,0.000,2627,1940,2800,0,0,0,0,0,0
$STATE,6281,end apogee,CONTROL_FINISHED_OK
$STATE,6281,begin climb
$GC,6283,0.73,146.0,561.6,0.0,662,6417,0.95,2.15,124.78,1.032,4,0.127,0.085,2924,353,2202,0,0,0,0,0,0
$GC,6452,0.65,146.0,545.8,12.9,678,6456,0.00,2.15,0.00,0.000,6,0.000,0.057,2924,1966,2200,0,0,0,0,0,0
$GC,6776,0.58,146.0,505.1,12.8,708,6782,0.20,3.38,0.00,0.000,4,0.193,0.073,2868,3529,2195,0,0,3,0,0,0
$GC,6866,0.58,146.0,494.7,11.6,715,6872,0.00,3.38,0.00,0.000,6,0.000,0.067,2881,1950,2194,0,0,2,0,0,0
$GC,7191,0.64,146.0,461.2,10.4,746,7196,0.00,3.38,0.00,0.000,4,0.000,0.074,2881,3530,2194,0,0,2,0,0,0
$GC,7291,0.64,146.0,449.4,11.6,754,7297,0.00,3.33,0.00,0.000,6,0.000,0.067,2896,1963,2193,0,0,2,0,0,0
$GC,7615,0.64,146.0,414.5,10.4,785,7620,0.00,3.35,0.00,0.000,4,0.000,0.075,2895,3532,2192,0,0,2,0,0,0
$GC,7738,0.64,146.0,400.4,11.6,795,7744,0.00,3.30,0.00,0.000,6,0.000,0.067,2910,1989,2192,0,0,1,0,0,0
$GC,8062,0.64,146.0,366.3,10.5,826,8068,0.00,3.35,0.00,0.000,4,0.000,0.075,2910,3533,2193,0,0,2,0,0,0
$GC,8147,0.55,146.0,356.4,11.7,833,8153,0.22,3.28,0.00,0.000,6,0.192,0.068,2870,2002,2192,0,0,2,0,0,0
$GC,8472,0.65,146.0,323.3,11.0,863,8477,0.00,3.30,0.00,0.000,4,0.000,0.074,2870,3530,2193,0,0,1,0,0,0
$GC,8579,0.70,146.0,310.2,12.7,872,8584,0.00,3.25,0.00,0.000,6,0.000,0.067,2882,2019,2193,0,0,1,0,0,0
$GC,8904,0.78,146.0,273.2,11.0,902,8910,0.17,3.30,0.00,0.000,4,0.093,0.075,2947,3541,2193,0,0,1,0,0,0
$GC,9035,0.61,146.0,253.8,16.0,913,9041,0.30,3.25,0.00,0.000,6,0.195,0.067,2887,2039,2193,0,0,0,0,0,0
$GC,9360,0.71,159.4,221.4,8.6,943,9380,0.00,3.22,10.62,0.794,4,0.000,0.074,2887,3533,2149,0,0,2,0,0,0
$GC,9489,0.72,172.8,210.4,8.6,954,9508,0.00,3.22,12.60,0.809,6,0.000,0.067,2899,2049,2094,0,0,0,0,0,0
$GC,9833,0.79,173.2,181.5,9.2,987,9839,0.12,3.25,0.00,0.000,4,0.107,0.074,2950,3531,2092,0,0,2,0,0,0
$GC,9931,0.64,173.2,169.1,13.3,995,9937,0.25,3.20,0.00,0.000,6,0.197,0.067,2902,2068,2091,0,0,0,0,0,0
$GC,10255,0.72,173.2,134.8,10.8,1025,10260,0.00,3.20,0.00,0.000,4,0.000,0.074,2902,3530,2091,0,0,1,0,0,0
$GC,10344,0.72,173.2,124.5,11.2,1032,10350,0.00,3.15,0.00,0.000,6,0.000,0.067,2914,2080,2090,0,0,1,0,0,0
$GC,10676,0.83,194.4,90.9,8.3,1072,10702,0.12,3.20,18.45,0.768,4,0.110,0.075,2966,3535,2006,0,0,2,0,0,0
$GC,10838,0.71,194.4,71.8,12.3,1101,10844,0.25,3.17,0.00,0.000,6,0.193,0.067,2919,2083,2004,0,0,1,0,0,0
$GC,11184,0.87,231.4,41.7,7.6,1162,11225,0.15,3.22,31.15,0.753,4,0.111,0.075,2971,3537,1854,0,0,2,0,0,0
$GC,11343,0.79,231.4,21.9,12.1,1191,11349,0.17,3.17,0.00,0.000,6,0.199,0.068,2945,2104,1851,0,0,1,0,0,0
$FREEZE,8.45,0.057,-1.832,0,1,0
$FREEZE,7.91,0.060,-1.831,0,1,0
$FREEZE,7.39,0.058,-1.831,0,1,0
$FREEZE,6.72,0.058,-1.831,0,1,0
$FREEZE,6.05,0.061,-1.830,0,1,0
$FREEZE,5.44,0.059,-1.830,0,1,0
$FREEZE,4.79,0.060,-1.829,0,1,0
$FREEZE,4.17,0.058,-1.829,0,1,0
$FREEZE,3.57,0.059,-1.828,0,1,0
$FREEZE,2.96,0.060,-1.828,0,1,0
$FREEZE,2.34,0.056,-1.827,0,1,0
$FREEZE,1.72,0.056,-1.827,0,1,0
$STATE,11535,end climb,SURFACE_DEPTH_REACHED
$STATE,11535,begin surface coast
$FREEZE,1.14,0.049,-1.826,0,1,0
$FREEZE,0.43,0.047,-1.826,0,1,0
$FREEZE,0.47,0.046,-1.826,0,1,0
$FINISH,0.5,1.026739
$STATE,11553,end surface coast,CONTROL_FINISHED_OK
$STATE,11554,begin surface
$SM_CCo,11570,111.18,0.716,0,0,1066,425.10
$SM_GC,1.00,0.00,0.00,111.18,0.000,0.000,0.716,129,2458,1066,-8.00,-0.06,425.10
$RAFOS_CLK,717
$RAFOS,6,1260823748,20.833334,20.818890,65,61,57,0,0,0,215,137,147,0,0,0
$RAFOS,5,1260823266,20.700001,20.684999,89,72,61,0,0,0,613,204,154,0,0,0
$RAFOS,4,1260822786,20.566668,20.551666,57,55,54,0,0,0,208,225,198,0,0,0
$RAFOS,3,1260822304,20.433332,20.417778,62,61,57,0,0,0,192,151,168,0,0,0
$RAFOS,2,1260821824,20.299999,20.284445,61,60,57,0,0,0,140,205,124,0,0,0
$RAFOS,1,1260821343,20.166666,20.150833,65,62,58,0,0,0,216,202,169,0,0,0
$RAFOS,0,1260820865,20.033333,20.018055,56,53,52,0,0,0,174,192,152,0,0,0
$RAFOS_FIX,6706.608398,-5704.352539,141209,040400,2,82,0.34
$IRIDIUM_FIX,6636.54,-5701.58,100399,161634
$TT8_MAMPS,0.027612
$HUMID,47.12
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.20
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.9,19.5
$ALTIM_BOTTOM_PING,400.8,173.3
$24V_AH,22.7,59.754
$10V_AH,10.1,31.496
$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,23.200,147.400,319.000,111.175,0.000,30.395,31.257,142.563,2.250,0.000,14.186,2036.863,6791.322,589.873,2165.240,415.077,0.000,1703.126,0.000,2130.396,2520.000,11.050,0.000
$DEVICE_MAMPS,292.227,98.176,1079.169,716.378,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,905.401,836.888,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152476
$DATA_FILE_SIZE,47335,1228
$CAP_FILE_SIZE,140175,0
$CFSIZE,260165632,225947648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,68,0,0
$SOUNDSPEED,1466.7
$GPS,141209,225030,6707.541,-5704.569,36,1.1,41,-37.7