version: 66.06
glider: 143
mission: 10
dive: 355
start: 12 21 109 22 36 19
data:
$ID,143
$MISSION,10
$DIVE,355
$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,325
$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,-42554.793
$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,15
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,223024,6709.610,-5722.928,24,0.9,42,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-68.6
$GPS2,223602,6709.631,-5722.885,7,2.0,7,-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,153.8,28026,-16.9,-9.167
$D_GRID,708
$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,-146.0,0.0,0.0,0,113,0.00,0.00,-94.30,0.000,2,0.000,0.000,130,2465,3085,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.4,-5.4,19,142,11.75,2.17,-8.73,0.000,4,0.304,0.101,2450,859,3398,0,0,0,0,0,0
$GC,395,-0.73,-146.0,38.2,-10.0,69,401,0.00,2.08,0.00,0.000,6,0.000,0.072,2450,2453,3401,0,0,0,0,0,0
$GC,739,-0.73,-146.0,71.3,-8.2,130,744,0.00,3.50,0.00,0.000,4,0.000,0.092,2450,3923,3400,0,0,5,0,0,0
$GC,997,-0.78,-146.0,94.6,-9.0,176,1003,0.00,3.35,0.00,0.000,6,0.000,0.069,2451,2457,3400,0,0,4,0,0,0
$GC,1326,-0.85,-146.0,124.3,-8.8,212,1332,0.00,3.50,0.00,0.000,4,0.000,0.091,2451,3929,3399,0,0,5,0,0,0
$GC,1585,-0.92,-146.0,145.9,-7.7,234,1592,0.17,3.35,0.00,0.000,6,0.111,0.068,2392,2455,3397,0,0,4,0,0,0
$GC,1909,-0.83,-146.0,179.0,-10.1,265,1916,0.12,3.47,0.00,0.000,4,0.201,0.087,2413,3918,3397,0,0,5,0,0,0
$GC,2168,-0.83,-146.0,202.9,-8.6,287,2174,0.00,3.33,0.00,0.000,6,0.000,0.066,2413,2458,3397,0,0,3,0,0,0
$GC,2492,-0.83,-146.0,231.6,-9.4,318,2496,0.00,2.15,0.00,0.000,4,0.000,0.087,2413,859,3398,0,0,0,0,0,0
$GC,2750,-0.76,-146.0,257.8,-10.0,340,2756,0.12,2.10,0.00,0.000,6,0.217,0.068,2439,2458,3399,0,0,0,0,0,0
$GC,3075,-0.83,-146.0,285.0,-8.5,371,3080,0.00,3.42,0.00,0.000,4,0.000,0.087,2439,3917,3400,0,0,5,0,0,0
$GC,3229,-0.90,-146.0,297.6,-8.2,384,3235,0.12,3.33,0.00,0.000,6,0.121,0.065,2397,2454,3400,0,0,3,0,0,0
$GC,3554,-0.84,-146.0,326.5,-8.9,414,3559,0.00,3.45,0.00,0.000,4,0.000,0.086,2397,3918,3400,0,0,4,0,0,0
$GC,3812,-0.77,-146.0,351.0,-9.9,436,3818,0.17,3.33,0.00,0.000,6,0.202,0.065,2437,2458,3400,0,0,3,0,0,0
$GC,4138,-0.83,-146.0,377.0,-8.0,467,4144,0.00,3.45,0.00,0.000,4,0.000,0.087,2437,3915,3400,0,0,4,0,0,0
$GC,4396,-0.91,-146.0,398.5,-8.4,489,4403,0.12,3.33,0.00,0.000,6,0.122,0.066,2396,2457,3400,0,0,3,0,0,0
$GC,4721,-0.85,-146.0,431.5,-10.2,520,4727,0.00,3.45,0.00,0.000,4,0.000,0.086,2396,3917,3400,0,0,4,0,0,0
$GC,4979,-0.80,-146.0,457.3,-10.4,542,4986,0.15,3.33,0.00,0.000,6,0.201,0.065,2429,2455,3400,0,0,3,0,0,0
$GC,5304,-0.85,-146.0,483.3,-7.8,573,5309,0.00,3.47,0.00,0.000,4,0.000,0.086,2429,3928,3400,0,0,4,0,0,0
$GC,5562,-0.91,-146.0,504.8,-8.3,595,5569,0.00,3.33,0.00,0.000,6,0.000,0.065,2429,2465,3400,0,0,3,0,0,0
$GC,5887,-0.97,-146.0,532.8,-8.6,626,5893,0.17,3.47,0.00,0.000,4,0.108,0.084,2361,3919,3400,0,0,3,0,0,0
$GC,6145,-0.80,-146.0,562.6,-11.2,648,6152,0.28,3.33,0.00,0.000,6,0.203,0.065,2426,2460,3400,0,0,3,0,0,0
$GC,6471,-0.86,-146.0,588.6,-7.7,679,6476,0.00,3.47,0.00,0.000,4,0.000,0.086,2426,3929,3400,0,0,4,0,0,0
$GC,6730,-0.92,-146.0,608.7,-7.5,695,6736,0.00,3.33,0.00,0.000,6,0.000,0.064,2426,2457,3400,0,0,4,0,0,0
$GC,7043,-0.99,-146.0,631.6,-7.5,706,7049,0.17,3.50,0.00,0.000,4,0.109,0.085,2362,3918,3400,0,0,3,0,0,0
$GC,7279,-0.83,-146.0,656.6,-10.8,713,7285,0.25,3.33,0.00,0.000,6,0.206,0.065,2419,2456,3400,0,0,3,0,0,0
$GC,7609,-0.83,-146.0,682.7,-7.5,724,7614,0.00,3.47,0.00,0.000,4,0.000,0.086,2419,3924,3400,0,0,4,0,0,0
$GC,7869,-0.89,-146.0,702.4,-7.8,731,7875,0.00,3.35,0.00,0.000,6,0.000,0.065,2419,2453,3400,0,0,3,0,0,0
$STATE,7966,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7966,begin apogee
$GC,7972,-0.16,0.0,709.6,7.5,735,8101,0.77,0.00,125.70,1.200,6,0.181,0.000,2630,1937,2800,0,0,0,0,0,0
$STATE,8102,end apogee,CONTROL_FINISHED_OK
$STATE,8102,begin climb
$GC,8104,0.73,146.0,711.3,0.0,739,8244,0.95,2.15,131.30,1.143,4,0.127,0.091,2919,351,2203,0,0,0,0,0,0
$GC,8283,0.62,146.0,696.4,12.4,744,8289,0.00,2.00,0.00,0.000,6,0.000,0.061,2919,1952,2199,0,0,0,0,0,0
$GC,8596,0.53,146.0,660.2,11.9,755,8604,0.22,3.75,0.00,0.000,4,0.202,0.077,2852,3534,2196,0,0,4,0,0,0
$GC,8730,0.59,146.0,647.2,9.9,759,8735,0.00,3.70,0.00,0.000,6,0.000,0.071,2867,1942,2194,0,0,3,0,0,0
$GC,9065,0.70,162.6,618.2,8.5,770,9087,0.15,3.75,14.15,1.051,4,0.111,0.080,2919,3538,2135,0,0,4,0,0,0
$GC,9228,0.57,162.6,598.2,13.7,775,9238,0.25,3.67,0.00,0.000,6,0.205,0.073,2876,1951,2133,0,0,3,0,0,0
$GC,9556,0.64,162.6,566.5,9.5,806,9562,0.00,3.62,0.00,0.000,4,0.000,0.079,2876,3533,2132,0,0,6,0,0,0
$GC,9703,0.64,162.6,550.8,11.0,818,9709,0.00,3.65,0.00,0.000,6,0.000,0.074,2890,1940,2132,0,0,4,0,0,0
$GC,10027,0.64,162.6,517.4,10.4,849,10033,0.00,3.65,0.00,0.000,4,0.000,0.079,2890,3541,2132,0,0,6,0,0,0
$GC,10174,0.64,162.6,500.3,11.8,861,10180,0.00,3.70,0.00,0.000,6,0.000,0.074,2907,1940,2132,0,0,2,0,0,0
$GC,10498,0.64,162.6,465.3,10.4,892,10503,0.00,3.65,0.00,0.000,4,0.000,0.080,2907,3539,2132,0,0,6,0,0,0
$GC,10629,0.56,162.6,450.0,12.4,903,10639,0.20,3.67,0.00,0.000,6,0.203,0.074,2877,1946,2131,0,0,3,0,0,0
$GC,10958,0.66,164.2,418.6,9.1,934,10964,0.00,3.65,0.00,0.000,4,0.000,0.080,2876,3539,2131,0,0,6,0,0,0
$GC,11112,0.66,164.2,402.8,10.1,947,11118,0.00,3.67,0.00,0.000,6,0.000,0.074,2891,1939,2131,0,0,4,0,0,0
$GC,11436,0.72,164.2,370.6,9.9,977,11442,0.00,3.67,0.00,0.000,4,0.000,0.081,2890,3538,2131,0,0,5,0,0,0
$GC,11559,0.72,164.2,357.0,11.0,987,11566,0.00,3.65,0.00,0.000,6,0.000,0.074,2907,1946,2131,0,0,4,0,0,0
$GC,11884,0.72,164.2,322.7,10.7,1018,11889,0.00,3.65,0.00,0.000,4,0.000,0.080,2906,3538,2131,0,0,6,0,0,0
$GC,11991,0.66,164.2,310.7,11.7,1027,11997,0.00,3.67,0.00,0.000,6,0.000,0.074,2923,1944,2131,0,0,3,0,0,0
$GC,12315,0.66,164.2,276.0,10.8,1057,12320,0.00,3.67,0.00,0.000,4,0.000,0.081,2923,3537,2131,0,0,5,0,0,0
$GC,12469,0.55,164.2,258.3,11.9,1070,12479,0.28,3.65,0.00,0.000,6,0.198,0.074,2873,1950,2131,0,0,4,0,0,0
$GC,12798,0.74,188.6,231.1,8.1,1101,12829,0.17,3.72,22.38,0.897,4,0.114,0.081,2932,3538,2030,0,0,3,0,0,0
$GC,12987,0.63,188.6,206.5,14.3,1118,12998,0.22,3.72,0.00,0.000,6,0.201,0.074,2896,1951,2026,0,0,2,0,0,0
$GC,13316,0.72,188.6,174.9,9.2,1149,13322,0.00,3.70,0.00,0.000,4,0.000,0.081,2896,3533,2026,0,0,3,0,0,0
$GC,13462,0.72,188.6,160.1,9.9,1161,13468,0.00,3.70,0.00,0.000,6,0.000,0.074,2910,1937,2026,0,0,3,0,0,0
$GC,13786,0.78,188.6,127.4,9.2,1192,13792,0.00,3.70,0.00,0.000,4,0.000,0.081,2910,3533,2024,0,0,4,0,0,0
$GC,13916,0.78,188.6,113.9,11.0,1203,13922,0.00,3.67,0.00,0.000,6,0.000,0.075,2926,1937,2023,0,0,4,0,0,0
$GC,14251,0.83,188.6,83.5,9.4,1249,14257,0.00,3.70,0.00,0.000,4,0.000,0.081,2926,3533,2023,0,0,4,0,0,0
$GC,14370,0.83,188.6,71.2,11.0,1270,14376,0.00,3.65,0.00,0.000,6,0.000,0.074,2942,1950,2023,0,0,4,0,0,0
$GC,14715,0.83,188.6,36.9,9.7,1331,14721,0.00,3.67,0.00,0.000,4,0.000,0.081,2942,3536,2024,0,0,5,0,0,0
$GC,14880,0.78,188.6,19.8,10.6,1360,14885,0.00,3.67,0.00,0.000,6,0.000,0.074,2958,1951,2024,0,0,3,0,0,0
$FREEZE,8.74,-1.684,-1.823,0,1,0
$FREEZE,8.11,-1.686,-1.822,0,1,0
$FREEZE,7.67,-1.686,-1.821,0,1,0
$FREEZE,6.99,-1.677,-1.820,0,1,0
$FREEZE,6.49,-1.678,-1.819,0,1,0
$FREEZE,5.86,-1.683,-1.818,0,1,0
$FREEZE,5.38,-1.687,-1.818,0,1,0
$FREEZE,4.80,-1.684,-1.817,0,1,0
$FREEZE,4.25,-1.692,-1.816,0,1,0
$FREEZE,3.62,-1.695,-1.816,0,1,0
$FREEZE,3.16,-1.693,-1.815,0,1,0
$FREEZE,2.70,-1.693,-1.815,0,1,0
$FREEZE,2.12,-1.696,-1.814,0,1,0
$FREEZE,1.71,-1.698,-1.814,0,1,0
$STATE,15064,end climb,SURFACE_DEPTH_REACHED
$STATE,15064,begin surface coast
$FREEZE,1.23,-1.702,-1.814,0,1,0
$FREEZE,0.65,-1.700,-1.813,0,1,0
$FREEZE,0.54,-1.721,-1.109,0,1,0
$FREEZE,0.56,-1.739,-1.347,0,1,0
$FINISH,0.6,1.019883
$STATE,15088,end surface coast,CONTROL_FINISHED_OK
$STATE,15088,begin surface
$SM_CCo,15106,82.53,0.751,0,0,1474,325.02
$SM_GC,1.46,0.00,0.00,82.53,0.000,0.000,0.751,128,2460,1474,-8.01,0.00,325.02
$RAFOS_CLK,967
$RAFOS,6,1261442943,0.833333,0.817500,72,64,60,0,0,0,192,207,225,0,0,0
$RAFOS,5,1261442463,0.700000,0.684167,129,65,64,0,0,0,609,178,208,0,0,0
$RAFOS,4,1261441988,0.566667,0.552222,81,70,63,0,0,0,788,158,207,0,0,0
$RAFOS,3,1261441504,0.433333,0.417778,69,62,62,0,0,0,199,171,212,0,0,0
$RAFOS,2,1261441022,0.300000,0.283889,59,56,54,0,0,0,115,201,175,0,0,0
$RAFOS,1,1261440545,0.166667,0.151389,62,59,58,0,0,0,171,218,203,0,0,0
$RAFOS,0,1261440068,0.033333,0.018889,63,61,61,0,0,0,187,153,211,0,0,0
$RAFOS_FIX,6708.865234,-5728.123047,221209,000028,2,105,0.54
$IRIDIUM_FIX,6641.98,-5726.21,170399,181843
$TT8_MAMPS,0.027612
$HUMID,47.16
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,19.1
$ALTIM_BOTTOM_PING,700.1,27.4
$24V_AH,22.1,65.812
$10V_AH,10.1,35.072
$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,25.250,199.000,293.525,82.525,0.000,30.731,29.375,152.690,3.500,0.000,9.209,2495.403,9195.795,590.912,2784.844,454.527,0.000,1971.466,0.000,2729.078,2520.000,21.252,0.000
$DEVICE_MAMPS,304.499,101.244,1199.588,750.893,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1022.527,975.343,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152544
$DATA_FILE_SIZE,56737,1397
$CAP_FILE_SIZE,173774,0
$CFSIZE,260165632,222334976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,202,0,0
$SOUNDSPEED,1461.0
$GPS,221209,025101,6709.638,-5720.689,37,1.4,37,-37.8