version: 66.06
glider: 143
mission: 10
dive: 321
start: 12 16 109 12 25 8
data:
$ID,143
$MISSION,10
$DIVE,321
$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,-42072.414
$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,20
$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
$GPS1,121500,6708.678,-5709.454,36,1.4,41,-37.8
$_CALLS,1
$_XMS_NAKs,33
$_XMS_TOUTs,2
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-60.6
$GPS2,122449,6708.760,-5709.604,9,1.3,14,-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,162.2,18899,-16.9,-9.167
$D_GRID,574
$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,-146.0,0.0,0.0,0,135,0.00,0.00,-115.50,0.000,2,0.000,0.000,126,2456,3073,0,0,0,0,0,0
$GC,137,-0.73,-146.0,3.1,-4.6,23,164,11.12,3.33,-9.20,0.000,4,0.290,0.097,2448,3920,3397,0,0,1,0,0,0
$GC,250,-0.73,-146.0,18.4,-9.9,43,255,0.00,3.15,0.00,0.000,6,0.000,0.065,2448,2464,3400,0,0,1,0,0,0
$GC,592,-0.73,-146.0,55.5,-9.7,104,598,0.00,3.25,0.00,0.000,4,0.000,0.087,2448,3912,3400,0,0,2,0,0,0
$GC,847,-0.78,-146.0,81.9,-12.0,149,852,0.00,3.05,0.00,0.000,6,0.000,0.065,2448,2505,3400,0,0,1,0,0,0
$GC,1181,-0.84,-146.0,116.1,-8.3,194,1186,0.00,3.17,0.00,0.000,4,0.000,0.088,2448,3921,3399,0,0,2,0,0,0
$GC,1349,-0.93,-146.0,130.1,-8.0,208,1356,0.17,3.05,0.00,0.000,6,0.114,0.064,2391,2493,3398,0,0,2,0,0,0
$GC,1674,-0.85,-146.0,166.2,-11.9,239,1679,0.00,3.20,0.00,0.000,4,0.000,0.087,2391,3922,3398,0,0,1,0,0,0
$GC,1931,-0.76,-146.0,196.4,-11.3,261,1937,0.22,2.95,0.00,0.000,6,0.199,0.063,2445,2545,3398,0,0,2,0,0,0
$GC,2256,-0.84,-146.0,224.9,-8.3,292,2261,0.00,3.10,0.00,0.000,4,0.000,0.085,2445,3924,3398,0,0,1,0,0,0
$GC,2457,-0.94,-146.0,241.2,-7.9,309,2464,0.17,2.88,0.00,0.000,6,0.109,0.061,2386,2572,3399,0,0,2,0,0,0
$GC,2782,-0.85,-146.0,270.1,-8.0,340,2788,0.12,3.05,0.00,0.000,4,0.204,0.083,2413,3921,3399,0,0,1,0,0,0
$GC,2951,-0.85,-146.0,282.7,-7.2,354,2956,0.00,2.85,0.00,0.000,6,0.000,0.060,2413,2586,3399,0,0,1,0,0,0
$GC,3275,-0.85,-146.0,305.3,-7.4,385,3280,0.00,2.97,0.00,0.000,4,0.000,0.083,2413,3913,3399,0,0,2,0,0,0
$GC,3449,-0.85,-146.0,318.5,-7.4,400,3454,0.00,2.83,0.00,0.000,6,0.000,0.059,2413,2595,3400,0,0,1,0,0,0
$GC,3773,-0.85,-146.0,342.5,-7.6,430,3778,0.00,2.95,0.00,0.000,4,0.000,0.083,2413,3916,3401,0,0,2,0,0,0
$GC,3981,-0.85,-146.0,359.7,-8.5,448,3985,0.00,2.78,0.00,0.000,6,0.000,0.058,2413,2631,3401,0,0,1,0,0,0
$GC,4305,-0.85,-146.0,385.6,-8.2,478,4310,0.00,2.90,0.00,0.000,4,0.000,0.082,2413,3914,3401,0,0,1,0,0,0
$GC,4440,-0.85,-146.0,396.4,-7.8,489,4446,0.00,2.75,0.00,0.000,6,0.000,0.058,2413,2642,3402,0,0,1,0,0,0
$GC,4764,-0.85,-146.0,420.7,-7.5,520,4769,0.00,2.90,0.00,0.000,4,0.000,0.083,2413,3920,3402,0,0,1,0,0,0
$GC,4949,-0.85,-146.0,435.6,-7.8,536,4954,0.00,2.70,0.00,0.000,6,0.000,0.058,2413,2671,3402,0,0,2,0,0,0
$GC,5274,-0.85,-146.0,462.3,-8.1,566,5279,0.00,2.85,0.00,0.000,4,0.000,0.083,2413,3919,3402,0,0,1,0,0,0
$GC,5437,-0.85,-146.0,476.4,-8.5,580,5441,0.00,2.65,0.00,0.000,6,0.000,0.058,2413,2708,3402,0,0,1,0,0,0
$GC,5761,-0.85,-146.0,503.4,-8.4,610,5766,0.00,2.78,0.00,0.000,4,0.000,0.082,2413,3913,3402,0,0,1,0,0,0
$GC,5879,-0.85,-146.0,513.5,-8.8,620,5883,0.00,2.62,0.00,0.000,6,0.000,0.058,2413,2717,3402,0,0,1,0,0,0
$GC,6203,-0.85,-146.0,541.1,-8.6,650,6207,0.00,2.75,0.00,0.000,4,0.000,0.084,2413,3913,3402,0,0,1,0,0,0
$GC,6291,-0.85,-146.0,549.0,-8.7,657,6297,0.00,2.58,0.00,0.000,6,0.000,0.058,2413,2728,3402,0,0,2,0,0,0
$STATE,6603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6603,begin apogee
$GC,6609,-0.16,0.0,574.1,8.8,687,6736,0.77,0.00,122.00,1.108,6,0.173,0.000,2631,1932,2800,0,0,0,0,0,0
$STATE,6737,end apogee,CONTROL_FINISHED_OK
$STATE,6737,begin climb
$GC,6740,0.73,146.0,577.3,0.0,700,6873,0.93,2.17,125.60,1.056,4,0.121,0.086,2923,352,2202,0,0,0,0,0,0
$GC,6901,0.64,146.0,563.8,12.0,715,6907,0.00,2.12,0.00,0.000,6,0.000,0.058,2923,1966,2199,0,0,0,0,0,0
$GC,7226,0.57,146.0,526.5,11.4,746,7232,0.20,3.50,0.00,0.000,4,0.199,0.075,2868,3531,2194,0,0,1,0,0,0
$GC,7304,0.57,146.0,518.5,9.8,752,7311,0.00,3.45,0.00,0.000,6,0.000,0.068,2881,1956,2193,0,0,2,0,0,0
$GC,7630,0.65,150.7,489.4,9.0,783,7635,0.00,3.45,0.00,0.000,4,0.000,0.077,2881,3524,2192,0,0,1,0,0,0
$GC,7771,0.65,150.7,475.0,10.5,795,7777,0.00,3.38,0.00,0.000,6,0.000,0.071,2896,1979,2192,0,0,2,0,0,0
$GC,8095,0.65,150.7,443.0,9.8,825,8101,0.00,3.40,0.00,0.000,4,0.000,0.078,2896,3526,2192,0,0,2,0,0,0
$GC,8226,0.60,150.7,428.6,11.7,836,8232,0.00,3.38,0.00,0.000,6,0.000,0.071,2911,1989,2191,0,0,1,0,0,0
$GC,8552,0.60,150.7,393.0,10.6,866,8557,0.00,3.38,0.00,0.000,4,0.000,0.078,2910,3531,2191,0,0,3,0,0,0
$GC,8659,0.50,150.7,380.5,11.6,875,8665,0.28,3.35,0.00,0.000,6,0.197,0.071,2858,2010,2190,0,0,1,0,0,0
$GC,8985,0.70,189.5,356.0,7.5,905,9027,0.17,3.42,34.58,0.958,4,0.108,0.078,2919,3533,2026,0,0,2,0,0,0
$GC,9128,0.62,189.5,339.0,12.6,918,9134,0.17,3.35,0.00,0.000,6,0.199,0.070,2894,2027,2023,0,0,2,0,0,0
$GC,9453,0.68,189.5,301.9,11.5,948,9458,0.00,3.38,0.00,0.000,4,0.000,0.077,2894,3535,2020,0,0,1,0,0,0
$GC,9552,0.68,189.5,289.5,12.7,956,9559,0.00,3.33,0.00,0.000,6,0.000,0.069,2906,2038,2019,0,0,1,0,0,0
$GC,9877,0.68,189.5,252.9,10.6,987,9883,0.00,3.35,0.00,0.000,4,0.000,0.077,2906,3534,2019,0,0,1,0,0,0
$GC,9978,0.68,189.5,241.4,11.6,995,9984,0.00,3.30,0.00,0.000,6,0.000,0.069,2920,2050,2019,0,0,1,0,0,0
$GC,10303,0.68,189.5,206.0,11.2,1026,10308,0.00,3.30,0.00,0.000,4,0.000,0.077,2921,3525,2020,0,0,2,0,0,0
$GC,10391,0.63,189.5,194.8,12.4,1033,10398,0.17,3.25,0.00,0.000,6,0.199,0.069,2895,2077,2019,0,0,1,0,0,0
$GC,10717,0.74,200.0,164.4,8.7,1064,10732,0.00,3.25,9.23,0.775,4,0.000,0.077,2895,3524,1984,0,0,2,0,0,0
$GC,10782,0.80,200.0,157.9,9.9,1069,10789,0.12,3.22,0.00,0.000,6,0.116,0.068,2949,2084,1983,0,0,1,0,0,0
$GC,11107,0.75,200.0,118.6,12.2,1100,11112,0.00,3.25,0.00,0.000,4,0.000,0.077,2949,3529,1983,0,0,2,0,0,0
$GC,11180,0.64,200.0,109.0,13.5,1106,11186,0.25,3.20,0.00,0.000,6,0.197,0.068,2903,2106,1982,0,0,1,0,0,0
$GC,11519,0.80,204.4,79.1,9.0,1158,11531,0.15,3.22,5.55,0.653,4,0.110,0.075,2957,3534,1965,0,0,1,0,0,0
$GC,11600,0.72,204.4,69.7,12.2,1172,11606,0.20,3.22,0.00,0.000,6,0.197,0.068,2924,2108,1964,0,0,0,0,0,0
$GC,11945,0.84,224.2,36.9,8.3,1233,11972,0.12,3.28,17.45,0.756,4,0.126,0.079,2965,3525,1885,0,0,2,0,0,0
$GC,12051,0.76,224.2,24.4,10.3,1252,12058,0.17,3.17,0.00,0.000,6,0.196,0.070,2939,2123,1882,0,0,2,0,0,0
$FREEZE,8.96,-0.464,-1.828,0,1,0
$FREEZE,8.32,-0.465,-1.827,0,1,0
$FREEZE,7.63,-0.464,-1.827,0,1,0
$FREEZE,6.92,-0.469,-1.826,0,1,0
$FREEZE,6.12,-0.463,-1.826,0,1,0
$FREEZE,5.78,-0.473,-1.826,0,1,0
$FREEZE,5.22,-0.482,-1.825,0,1,0
$FREEZE,4.65,-0.484,-1.825,0,1,0
$FREEZE,4.19,-0.492,-1.824,0,1,0
$FREEZE,3.80,-0.492,-1.824,0,1,0
$FREEZE,3.29,-0.497,-1.823,0,1,0
$FREEZE,2.77,-0.490,-1.823,0,1,0
$FREEZE,2.27,-0.492,-1.823,0,1,0
$FREEZE,1.66,-0.500,-1.822,0,1,0
$STATE,12287,end climb,SURFACE_DEPTH_REACHED
$STATE,12287,begin surface coast
$FREEZE,1.29,-0.503,-1.822,0,1,0
$FREEZE,0.67,-0.495,-1.822,0,1,0
$FREEZE,0.57,-0.667,-0.974,0,1,0
$FREEZE,0.54,-0.686,-0.974,0,1,0
$FINISH,0.5,1.014383
$STATE,12311,end surface coast,CONTROL_FINISHED_OK
$STATE,12311,begin surface
$SM_CCo,12327,121.75,0.729,0,0,1066,425.10
$SM_GC,1.19,0.00,0.00,121.75,0.000,0.000,0.729,127,2450,1066,-8.01,-0.28,425.10
$RAFOS_CLK,784
$RAFOS,6,1260967746,12.833333,12.818334,73,69,57,0,0,0,765,149,191,0,0,0
$RAFOS,5,1260967266,12.700000,12.685000,59,58,55,0,0,0,208,609,103,0,0,0
$RAFOS,4,1260966786,12.566667,12.551666,68,65,57,0,0,0,232,191,157,0,0,0
$RAFOS,3,1260966333,12.433333,12.425834,61,61,58,0,0,0,158,193,215,0,0,0
$RAFOS,1,1260965342,12.166667,12.150556,61,60,54,0,0,0,159,196,184,0,0,0
$RAFOS_FIX,6708.132324,-5713.788574,151209,202012,3,79,0.64
$IRIDIUM_FIX,6641.98,-5647.86,120399,080850
$TT8_MAMPS,0.027612
$HUMID,46.85
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.90
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.9,18.8
$ALTIM_BOTTOM_PING,500.7,118.1
$24V_AH,22.5,61.319
$10V_AH,10.1,32.385
$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,23.800,162.050,314.400,121.750,0.000,30.605,30.631,400.958,3.250,0.000,16.038,2184.564,7253.351,604.497,2308.138,680.081,0.000,1781.655,0.000,2264.201,1440.000,18.446,0.000
$DEVICE_MAMPS,289.926,97.409,1108.315,728.650,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,949.542,895.069,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152512
$DATA_FILE_SIZE,50385,1298
$CAP_FILE_SIZE,156452,0
$CFSIZE,260165632,225042432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,70,0,0
$SOUNDSPEED,1465.0
$GPS,161209,155421,6709.292,-5711.641,35,2.2,54,-37.8