version: 66.06
glider: 143
mission: 10
dive: 310
start: 12 14 109 22 59 1
data:
$ID,143
$MISSION,10
$DIVE,310
$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,-41837.816
$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,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
$GPS1,225030,6707.541,-5704.569,36,1.1,41,-37.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-65.8
$GPS2,225843,6707.650,-5704.525,9,0.9,14,-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,163.5,14717,-16.9,-9.167
$D_GRID,534
$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,-146.0,0.0,0.0,0,144,0.00,0.00,-124.15,0.000,2,0.000,0.000,129,2459,3188,0,0,0,0,0,0
$GC,147,-0.73,-146.0,3.3,-5.6,25,174,11.50,3.28,-5.50,0.000,4,0.301,0.100,2444,3911,3398,0,0,3,0,0,0
$GC,207,-0.73,-146.0,15.3,-12.0,36,213,0.00,3.10,0.00,0.000,6,0.000,0.063,2444,2465,3400,0,0,1,0,0,0
$GC,551,-0.73,-146.0,54.7,-11.2,97,556,0.00,3.22,0.00,0.000,4,0.000,0.087,2444,3918,3401,0,0,2,0,0,0
$GC,787,-0.73,-146.0,82.7,-11.7,139,792,0.00,3.03,0.00,0.000,6,0.000,0.064,2445,2497,3401,0,0,2,0,0,0
$GC,1120,-0.73,-146.0,114.7,-7.8,184,1125,0.00,3.15,0.00,0.000,4,0.000,0.088,2445,3912,3401,0,0,2,0,0,0
$GC,1378,-0.79,-146.0,131.4,-5.2,206,1384,0.00,2.97,0.00,0.000,6,0.000,0.064,2445,2526,3399,0,0,1,0,0,0
$GC,1703,-0.88,-146.0,148.4,-5.9,237,1709,0.12,3.12,0.00,0.000,4,0.120,0.087,2399,3925,3398,0,0,2,0,0,0
$GC,1912,-0.82,-146.0,166.1,-9.2,255,1917,0.00,2.90,0.00,0.000,6,0.000,0.063,2400,2565,3398,0,0,1,0,0,0
$GC,2236,-0.77,-146.0,196.5,-10.2,285,2242,0.17,3.03,0.00,0.000,4,0.206,0.083,2429,3913,3398,0,0,1,0,0,0
$GC,2438,-0.82,-146.0,215.4,-10.0,302,2444,0.00,2.83,0.00,0.000,6,0.000,0.060,2430,2582,3398,0,0,1,0,0,0
$GC,2763,-0.82,-146.0,245.9,-8.9,333,2768,0.00,2.95,0.00,0.000,4,0.000,0.084,2429,3915,3399,0,0,2,0,0,0
$GC,2930,-0.87,-146.0,261.2,-9.5,347,2936,0.00,2.83,0.00,0.000,6,0.000,0.059,2429,2594,3399,0,0,0,0,0,0
$GC,3256,-0.92,-146.0,287.9,-8.5,378,3261,0.12,2.95,0.00,0.000,4,0.113,0.080,2368,3928,3400,0,0,2,0,0,0
$GC,3435,-0.76,-146.0,308.4,-11.4,393,3442,0.30,2.72,0.00,0.000,6,0.206,0.058,2439,2618,3400,0,0,1,0,0,0
$GC,3760,-0.86,-146.0,333.6,-6.9,424,3765,0.00,2.90,0.00,0.000,4,0.000,0.083,2440,3918,3401,0,0,2,0,0,0
$GC,3957,-0.98,-146.0,346.6,-5.8,441,3962,0.20,2.72,0.00,0.000,6,0.101,0.058,2370,2647,3400,0,0,1,0,0,0
$GC,4282,-0.85,-146.0,374.7,-8.5,471,4288,0.17,2.88,0.00,0.000,4,0.206,0.083,2411,3922,3401,0,0,3,0,0,0
$GC,4417,-0.85,-146.0,384.9,-7.5,482,4423,0.00,2.72,0.00,0.000,6,0.000,0.058,2411,2655,3400,0,0,1,0,0,0
$GC,4742,-0.85,-146.0,408.1,-7.1,513,4746,0.00,2.85,0.00,0.000,4,0.000,0.082,2411,3915,3401,0,0,1,0,0,0
$GC,4864,-0.85,-146.0,418.0,-8.5,523,4870,0.00,2.67,0.00,0.000,6,0.000,0.058,2411,2680,3401,0,0,1,0,0,0
$GC,5189,-0.85,-146.0,443.2,-7.8,554,5193,0.00,2.83,0.00,0.000,4,0.000,0.081,2411,3926,3401,0,0,1,0,0,0
$GC,5319,-0.85,-146.0,453.2,-8.0,565,5324,0.00,2.65,0.00,0.000,6,0.000,0.057,2411,2699,3402,0,0,1,0,0,0
$GC,5646,-0.85,-146.0,476.3,-7.3,595,5651,0.00,2.75,0.00,0.000,4,0.000,0.081,2411,3915,3402,0,0,2,0,0,0
$GC,5702,-0.85,-146.0,480.5,-7.3,599,5707,0.00,2.62,0.00,0.000,6,0.000,0.057,2411,2707,3402,0,0,1,0,0,0
$GC,6026,-0.85,-146.0,506.6,-8.5,630,6031,0.00,2.75,0.00,0.000,4,0.000,0.081,2411,3920,3403,0,0,2,0,0,0
$GC,6129,-0.85,-146.0,515.8,-9.7,638,6134,0.00,2.60,0.00,0.000,6,0.000,0.057,2411,2721,3403,0,0,1,0,0,0
$STATE,6281,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6281,begin apogee
$GC,6287,-0.16,0.0,528.8,8.3,653,6414,0.77,0.00,120.93,1.058,6,0.184,0.000,2626,1935,2800,0,0,0,0,0,0
$STATE,6414,end apogee,CONTROL_FINISHED_OK
$STATE,6414,begin climb
$GC,6417,0.73,146.0,530.7,0.0,666,6550,0.95,0.00,123.80,1.013,6,0.133,0.000,2912,1936,2203,0,0,0,0,0,0
$GC,6868,0.73,146.0,484.9,11.1,709,6874,0.00,3.47,0.00,0.000,4,0.000,0.073,2913,3537,2194,0,0,2,0,0,0
$GC,6982,0.63,146.0,470.7,12.0,718,6989,0.15,3.40,0.00,0.000,6,0.208,0.066,2896,1955,2193,0,0,1,0,0,0
$GC,7306,0.63,146.0,435.6,10.7,749,7312,0.00,3.40,0.00,0.000,4,0.000,0.074,2896,3544,2194,0,0,2,0,0,0
$GC,7402,0.63,146.0,424.4,12.1,757,7408,0.00,3.35,0.00,0.000,6,0.000,0.067,2909,1973,2193,0,0,1,0,0,0
$GC,7726,0.63,146.0,387.9,11.3,787,7731,0.00,3.38,0.00,0.000,4,0.000,0.075,2909,3537,2192,0,0,1,0,0,0
$GC,7838,0.56,146.0,373.8,12.8,796,7844,0.20,3.35,0.00,0.000,6,0.199,0.067,2876,1973,2191,0,0,0,0,0,0
$GC,8163,0.65,146.0,342.4,9.8,827,8168,0.00,3.35,0.00,0.000,4,0.000,0.074,2876,3548,2191,0,0,2,0,0,0
$GC,8252,0.65,146.0,333.0,11.0,834,8258,0.00,3.30,0.00,0.000,6,0.000,0.067,2889,1990,2191,0,0,2,0,0,0
$GC,8576,0.70,146.0,301.3,9.8,865,8582,0.00,3.35,0.00,0.000,4,0.000,0.074,2888,3546,2191,0,0,1,0,0,0
$GC,8683,0.70,146.0,289.4,11.7,874,8688,0.00,3.30,0.00,0.000,6,0.000,0.067,2903,2002,2191,0,0,1,0,0,0
$GC,9007,0.70,146.0,255.1,9.9,904,9012,0.00,3.33,0.00,0.000,4,0.000,0.075,2903,3539,2191,0,0,1,0,0,0
$GC,9130,0.70,146.0,241.9,10.2,914,9136,0.00,3.25,0.00,0.000,6,0.000,0.066,2918,2031,2191,0,0,1,0,0,0
$GC,9454,0.70,146.0,208.9,10.2,945,9459,0.00,3.28,0.00,0.000,4,0.000,0.074,2917,3539,2192,0,0,2,0,0,0
$GC,9539,0.62,146.0,199.0,12.1,952,9545,0.17,3.22,0.00,0.000,6,0.201,0.067,2892,2030,2191,0,0,2,0,0,0
$GC,9865,0.69,154.9,169.1,8.8,982,9879,0.00,3.33,6.62,0.709,4,0.000,0.074,2892,3542,2168,0,0,2,0,0,0
$GC,9987,0.69,154.9,156.4,10.9,993,9992,0.00,3.22,0.00,0.000,6,0.000,0.066,2904,2051,2167,0,0,1,0,0,0
$GC,10312,0.75,161.7,127.3,8.9,1023,10326,0.00,3.30,7.20,0.705,4,0.000,0.074,2904,3541,2140,0,0,1,0,0,0
$GC,10429,0.75,161.7,115.3,11.6,1033,10435,0.00,3.20,0.00,0.000,6,0.000,0.065,2918,2058,2139,0,0,2,0,0,0
$GC,10764,0.84,183.7,84.6,8.2,1079,10791,0.12,3.25,19.27,0.760,4,0.108,0.074,2964,3539,2050,0,0,2,0,0,0
$GC,10855,0.71,183.7,75.2,11.9,1095,10861,0.25,3.22,0.00,0.000,6,0.195,0.066,2920,2066,2048,0,0,1,0,0,0
$GC,11202,0.82,195.4,42.0,8.7,1156,11223,0.12,3.22,11.23,0.714,4,0.120,0.073,2962,3539,2001,0,0,2,0,0,0
$GC,11342,0.73,195.4,23.4,11.9,1181,11349,0.20,3.22,0.00,0.000,6,0.194,0.070,2929,2088,1999,0,0,1,0,0,0
$FREEZE,8.61,-0.342,-1.829,0,1,0
$FREEZE,8.00,-0.346,-1.829,0,1,0
$FREEZE,7.33,-0.342,-1.828,0,1,0
$FREEZE,6.96,-0.337,-1.828,0,1,0
$FREEZE,6.56,-0.334,-1.828,0,1,0
$FREEZE,6.24,-0.333,-1.828,0,1,0
$FREEZE,6.09,-0.332,-1.827,0,1,0
$FREEZE,5.71,-0.332,-1.827,0,1,0
$FREEZE,5.42,-0.331,-1.827,0,1,0
$FREEZE,5.04,-0.332,-1.827,0,1,0
$FREEZE,4.62,-0.332,-1.826,0,1,0
$FREEZE,4.25,-0.333,-1.826,0,1,0
$FREEZE,4.01,-0.335,-1.826,0,1,0
$FREEZE,3.69,-0.331,-1.826,0,1,0
$FREEZE,3.27,-0.334,-1.825,0,1,0
$FREEZE,2.64,-0.336,-1.825,0,1,0
$FREEZE,1.99,-0.335,-1.824,0,1,0
$STATE,11618,end climb,SURFACE_DEPTH_REACHED
$STATE,11618,begin surface coast
$FREEZE,1.21,-0.332,-1.824,0,1,0
$FREEZE,0.52,-0.322,-1.823,0,1,0
$FREEZE,0.41,-0.331,-1.823,0,1,0
$FREEZE,0.37,-0.303,-1.802,0,1,0
$FREEZE,0.29,-0.333,-0.938,0,1,0
$FINISH,0.3,1.013863
$STATE,11649,end surface coast,CONTROL_FINISHED_OK
$STATE,11649,begin surface
$SM_CCo,11665,125.65,0.713,0,0,1066,425.10
$SM_GC,1.06,0.00,0.00,125.65,0.000,0.000,0.713,122,2462,1066,-8.02,0.06,425.10
$RAFOS_CLK,735
$RAFOS,6,1260838151,0.833333,0.819722,74,65,59,0,0,0,762,218,130,0,0,0
$RAFOS,5,1260837665,0.700000,0.684722,72,61,58,0,0,0,627,133,146,0,0,0
$RAFOS,4,1260837182,0.566667,0.550556,65,62,59,0,0,0,201,223,190,0,0,0
$RAFOS,3,1260836706,0.433333,0.418333,59,58,58,0,0,0,156,115,204,0,0,0
$RAFOS,2,1260836227,0.300000,0.285278,61,57,56,0,0,0,161,209,223,0,0,0
$RAFOS,1,1260835745,0.166667,0.151389,66,62,56,0,0,0,213,191,156,0,0,0
$RAFOS,0,1260835267,0.033333,0.018611,54,54,53,0,0,0,207,217,182,0,0,0
$RAFOS_FIX,6705.832031,-5708.091309,151209,000056,2,73,0.65
$IRIDIUM_FIX,6641.98,-5709.24,100399,191917
$TT8_MAMPS,0.026845
$HUMID,45.74
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.30
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.7,18.4
$ALTIM_BOTTOM_PING,350.4,192.9
$24V_AH,22.7,59.878
$10V_AH,10.2,31.571
$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,23.725,149.675,289.050,125.650,0.000,58.455,113.535,135.832,2.000,0.000,16.145,2099.712,6888.495,596.811,2176.660,523.468,0.000,1706.688,0.000,2139.036,2520.000,9.339,0.000
$DEVICE_MAMPS,301.431,100.477,1057.693,712.543,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,904.954,841.761,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152548
$DATA_FILE_SIZE,47369,1235
$CAP_FILE_SIZE,142845,0
$CFSIZE,260165632,225873920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,69,0,0
$SOUNDSPEED,1467.3
$GPS,151209,021707,6708.448,-5704.863,38,1.2,38,-37.7