version: 66.06
glider: 143
mission: 10
dive: 320
start: 12 16 109 8 50 59
data:
$ID,143
$MISSION,10
$DIVE,320
$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,-42055.746
$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,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
$GPS1,083331,6708.574,-5708.428,35,1.6,35,-37.7
$_CALLS,3
$_XMS_NAKs,12
$_XMS_TOUTs,2
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-60.0
$GPS2,085042,6708.618,-5708.295,41,1.5,53,-37.8
$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,163.2,17974,-16.9,-9.167
$D_GRID,550
$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,16,-0.73,-146.0,0.0,0.0,0,139,0.00,0.00,-118.32,0.000,2,0.000,0.000,127,2457,3091,0,0,0,0,0,0
$GC,142,-0.73,-146.0,3.4,-5.6,24,169,11.18,3.40,-8.30,0.000,4,0.291,0.100,2443,3928,3398,0,0,2,0,0,0
$GC,303,-0.73,-146.0,26.6,-11.3,53,309,0.00,3.20,0.00,0.000,6,0.000,0.066,2444,2462,3400,0,0,3,0,0,0
$GC,647,-0.73,-146.0,58.4,-12.2,114,653,0.00,3.30,0.00,0.000,4,0.000,0.087,2444,3915,3401,0,0,3,0,0,0
$GC,861,-0.73,-146.0,79.8,-7.3,152,867,0.00,3.12,0.00,0.000,6,0.000,0.066,2444,2480,3401,0,0,3,0,0,0
$GC,1198,-0.73,-146.0,108.8,-8.9,203,1202,0.00,2.25,0.00,0.000,4,0.000,0.088,2444,862,3401,0,0,0,0,0,0
$GC,1456,-0.73,-146.0,137.1,-10.7,226,1460,0.00,2.33,0.00,0.000,6,0.000,0.072,2444,2545,3400,0,0,0,0,0,0
$GC,1781,-0.80,-146.0,169.1,-8.9,256,1783,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2544,3398,0,0,0,0,0,0
$GC,2101,-0.88,-146.0,191.1,-5.8,286,2106,0.12,3.12,0.00,0.000,4,0.117,0.087,2400,3918,3399,0,0,4,0,0,0
$GC,2343,-0.82,-146.0,209.5,-7.6,307,2348,0.00,2.97,0.00,0.000,6,0.000,0.064,2399,2548,3398,0,0,3,0,0,0
$GC,2668,-0.76,-146.0,232.2,-7.5,337,2674,0.17,3.12,0.00,0.000,4,0.203,0.083,2430,3920,3399,0,0,3,0,0,0
$GC,2889,-0.76,-146.0,249.2,-8.0,356,2893,0.00,2.90,0.00,0.000,6,0.000,0.061,2430,2586,3399,0,0,2,0,0,0
$GC,3213,-0.81,-146.0,277.7,-9.5,386,3218,0.00,3.05,0.00,0.000,4,0.000,0.084,2429,3918,3400,0,0,2,0,0,0
$GC,3376,-0.86,-146.0,293.4,-10.0,400,3381,0.00,2.85,0.00,0.000,6,0.000,0.060,2429,2608,3401,0,0,2,0,0,0
$GC,3701,-0.92,-146.0,322.7,-8.4,430,3706,0.10,2.97,0.00,0.000,4,0.126,0.081,2374,3917,3401,0,0,3,0,0,0
$GC,3846,-0.79,-146.0,337.8,-10.5,442,3853,0.22,2.83,0.00,0.000,6,0.203,0.058,2427,2615,3402,0,0,2,0,0,0
$GC,4172,-0.84,-146.0,360.7,-6.7,473,4177,0.00,2.95,0.00,0.000,4,0.000,0.082,2427,3917,3403,0,0,3,0,0,0
$GC,4362,-0.90,-146.0,374.0,-6.9,489,4368,0.00,2.80,0.00,0.000,6,0.000,0.058,2427,2631,3402,0,0,2,0,0,0
$GC,4687,-0.95,-146.0,395.0,-6.4,520,4693,0.15,2.95,0.00,0.000,4,0.112,0.080,2362,3929,3403,0,0,3,0,0,0
$GC,4856,-0.78,-146.0,410.7,-9.6,534,4862,0.30,2.78,0.00,0.000,6,0.203,0.058,2434,2667,3403,0,0,2,0,0,0
$GC,5181,-0.86,-146.0,432.2,-6.7,565,5186,0.00,2.90,0.00,0.000,4,0.000,0.082,2435,3925,3404,0,0,2,0,0,0
$GC,5312,-0.94,-146.0,441.5,-7.1,576,5317,0.15,2.75,0.00,0.000,6,0.112,0.058,2385,2678,3405,0,0,2,0,0,0
$GC,5636,-0.87,-146.0,470.9,-9.5,606,5641,0.00,2.88,0.00,0.000,4,0.000,0.082,2385,3923,3404,0,0,2,0,0,0
$GC,5743,-0.79,-146.0,481.4,-10.3,615,5748,0.20,2.70,0.00,0.000,6,0.195,0.058,2433,2690,3405,0,0,3,0,0,0
$GC,6067,-0.88,-146.0,506.6,-8.1,645,6072,0.00,2.85,0.00,0.000,4,0.000,0.082,2432,3917,3405,0,0,2,0,0,0
$GC,6236,-0.97,-146.0,520.1,-7.9,659,6242,0.17,2.67,0.00,0.000,6,0.107,0.058,2373,2714,3405,0,0,2,0,0,0
$STATE,6526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6526,begin apogee
$GC,6532,-0.16,0.0,550.2,10.9,687,6659,0.95,0.00,121.95,1.085,6,0.189,0.000,2628,1934,2799,0,0,0,0,0,0
$STATE,6660,end apogee,CONTROL_FINISHED_OK
$STATE,6660,begin climb
$GC,6662,0.73,146.0,554.0,0.0,700,6796,0.95,2.12,124.90,1.038,4,0.129,0.087,2922,354,2201,0,0,0,0,0,0
$GC,6842,0.65,146.0,541.0,11.1,717,6846,0.00,2.08,0.00,0.000,6,0.000,0.057,2921,1971,2198,0,0,0,0,0,0
$GC,7172,0.59,146.0,506.4,10.6,748,7178,0.17,3.47,0.00,0.000,4,0.199,0.074,2877,3530,2194,0,0,2,0,0,0
$GC,7262,0.59,146.0,497.6,9.9,755,7268,0.00,3.45,0.00,0.000,6,0.000,0.068,2891,1948,2193,0,0,3,0,0,0
$GC,7587,0.59,146.1,467.7,9.2,786,7592,0.00,3.47,0.00,0.000,4,0.000,0.077,2891,3527,2193,0,0,2,0,0,0
$GC,7733,0.59,146.1,452.7,10.5,798,7739,0.00,3.42,0.00,0.000,6,0.000,0.069,2906,1980,2192,0,0,0,0,0,0
$GC,8058,0.59,146.1,420.7,10.1,829,8063,0.00,3.38,0.00,0.000,4,0.000,0.077,2906,3527,2192,0,0,4,0,0,0
$GC,8169,0.51,146.1,407.9,11.3,838,8176,0.25,3.38,0.00,0.000,6,0.196,0.069,2861,1992,2192,0,0,1,0,0,0
$GC,8494,0.67,164.8,380.1,8.4,869,8517,0.15,3.38,15.07,0.928,4,0.110,0.075,2913,3530,2126,0,0,3,0,0,0
$GC,8629,0.61,164.8,363.6,12.4,881,8635,0.17,3.35,0.00,0.000,6,0.199,0.069,2887,1997,2124,0,0,1,0,0,0
$GC,8954,0.70,191.5,334.5,8.0,911,8986,0.00,3.42,22.92,0.929,4,0.000,0.076,2887,3526,2017,0,0,2,0,0,0
$GC,9109,0.70,191.5,319.5,10.4,925,9114,0.00,3.33,0.00,0.000,6,0.000,0.069,2899,2027,2015,0,0,0,0,0,0
$GC,9434,0.75,191.5,285.3,11.3,955,9439,0.10,3.35,0.00,0.000,4,0.124,0.077,2937,3534,2014,0,0,1,0,0,0
$GC,9513,0.65,191.5,273.4,15.8,961,9519,0.20,3.28,0.00,0.000,6,0.201,0.069,2903,2042,2014,0,0,1,0,0,0
$GC,9839,0.71,191.5,234.4,11.2,992,9844,0.00,3.30,0.00,0.000,4,0.000,0.076,2903,3532,2014,0,0,1,0,0,0
$GC,9928,0.71,191.5,224.0,10.3,999,9934,0.00,3.25,0.00,0.000,6,0.000,0.068,2915,2052,2014,0,0,1,0,0,0
$GC,10253,0.71,191.5,192.1,9.8,1030,10259,0.00,3.25,0.00,0.000,4,0.000,0.077,2915,3525,2013,0,0,2,0,0,0
$GC,10327,0.71,191.5,184.0,11.4,1036,10332,0.00,3.22,0.00,0.000,6,0.000,0.068,2930,2061,2012,0,0,1,0,0,0
$GC,10651,0.71,191.5,139.2,16.1,1066,10656,0.00,3.25,0.00,0.000,4,0.000,0.076,2929,3526,2012,0,0,1,0,0,0
$GC,10713,0.65,191.5,129.5,15.7,1071,10719,0.17,3.22,0.00,0.000,6,0.201,0.067,2903,2071,2012,0,0,0,0,0,0
$GC,11043,0.76,191.5,89.9,10.0,1109,11049,0.00,3.22,0.00,0.000,4,0.000,0.074,2904,3531,2012,0,0,2,0,0,0
$GC,11101,0.83,191.5,84.4,9.4,1119,11107,0.12,3.20,0.00,0.000,6,0.114,0.066,2958,2089,2012,0,0,0,0,0,0
$GC,11445,0.83,191.5,52.1,10.6,1180,11451,0.00,3.22,0.00,0.000,4,0.000,0.074,2958,3534,2013,0,0,1,0,0,0
$GC,11496,0.73,191.5,46.1,11.7,1189,11503,0.20,3.20,0.00,0.000,6,0.194,0.067,2926,2088,2013,0,0,1,0,0,0
$GC,11841,0.82,198.9,14.3,8.9,1250,11857,0.00,3.25,6.85,0.668,4,0.000,0.077,2926,3522,1989,0,0,1,0,0,0
$FREEZE,8.79,-0.232,-1.831,0,2,0
$FREEZE,8.25,-0.234,-1.831,0,2,0
$FREEZE,7.80,-0.236,-1.830,0,2,0
$FREEZE,7.29,-0.235,-1.830,0,2,0
$FREEZE,6.87,-0.235,-1.830,0,2,0
$FREEZE,6.27,-0.236,-1.829,0,2,0
$FREEZE,5.82,-0.236,-1.829,0,2,0
$FREEZE,5.39,-0.229,-1.829,0,2,0
$FREEZE,4.77,-0.230,-1.828,0,2,0
$FREEZE,3.97,-0.227,-1.827,0,2,0
$GC,11953,0.83,207.1,5.4,8.8,1270,11970,0.00,3.17,8.05,0.687,6,0.000,0.068,2938,2106,1954,0,0,0,0,0,0
$FREEZE,2.91,-0.230,-1.827,0,2,0
$FREEZE,2.49,-0.233,-1.826,0,2,0
$FREEZE,1.80,-0.229,-1.826,0,2,0
$STATE,11986,end climb,SURFACE_DEPTH_REACHED
$STATE,11987,begin surface coast
$FREEZE,1.18,-0.227,-1.825,0,2,0
$FREEZE,0.55,-0.229,-1.825,0,2,0
$FREEZE,0.50,-0.265,-1.736,0,2,0
$FREEZE,0.50,-0.544,-0.173,0,2,0
$FINISH,0.5,1.002370
$STATE,12013,end surface coast,CONTROL_FINISHED_OK
$STATE,12013,begin surface
$SM_CCo,12030,123.72,0.723,0,0,1066,425.10
$SM_GC,1.34,0.00,0.00,123.72,0.000,0.000,0.723,126,2454,1066,-8.01,-0.17,425.10
$RAFOS_CLK,784
$RAFOS,0,1260964862,12.033333,12.017222,66,64,57,0,0,0,199,118,174,0,0,0
$RAFOS,3,1260951905,8.433333,8.418056,64,55,51,0,0,0,213,147,174,0,0,0
$RAFOS_FIX,6708.132324,-5713.788574,151209,202012,3,79,0.64
$IRIDIUM_FIX,6636.54,-5709.24,120399,080844
$TT8_MAMPS,0.029913
$HUMID,46.22
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,19.8
$ALTIM_BOTTOM_PING,450.4,140.2
$24V_AH,22.6,61.172
$10V_AH,10.1,32.306
$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,24.450,155.200,299.750,123.725,0.000,83.021,114.903,515.926,2.000,0.000,54.930,2168.205,7148.066,595.963,2299.303,964.047,0.000,1747.254,0.000,2216.505,720.000,15.793,0.000
$DEVICE_MAMPS,291.460,99.710,1085.305,722.514,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,937.472,874.185,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152516
$DATA_FILE_SIZE,50360,1280
$CAP_FILE_SIZE,159292,0
$CFSIZE,260165632,225103872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,86,0,0
$SOUNDSPEED,1465.9
$GPS,161209,121500,6708.678,-5709.454,36,1.4,41,-37.8