version: 66.06
glider: 143
mission: 10
dive: 357
start: 12 22 109 7 17 50
data:
$ID,143
$MISSION,10
$DIVE,357
$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,-42586.867
$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,13
$R_STBD_OVSHOOT,27
$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
$GPS1,070507,6710.714,-5721.844,30,1.0,30,-37.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-69.8
$GPS2,071731,6710.756,-5721.990,13,0.9,13,-37.9
$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,158.2,28440,-16.9,-9.167
$D_GRID,667
$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,-146.0,0.0,0.0,0,113,0.00,0.00,-95.45,0.000,2,0.000,0.000,130,2465,2985,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.1,-4.2,19,148,11.62,2.17,-12.75,0.000,4,0.301,0.109,2450,857,3397,0,0,0,0,0,0
$GC,379,-0.73,-146.0,35.2,-10.7,66,385,0.00,2.08,0.00,0.000,6,0.000,0.076,2450,2454,3401,0,0,0,0,0,0
$GC,722,-0.73,-146.0,72.1,-11.1,127,727,0.00,2.15,0.00,0.000,4,0.000,0.094,2450,841,3401,0,0,0,0,0,0
$GC,980,-0.73,-146.0,98.7,-9.9,173,986,0.00,2.10,0.00,0.000,6,0.000,0.077,2450,2461,3401,0,0,0,0,0,0
$GC,1306,-0.78,-146.0,127.4,-9.5,205,1312,0.00,3.53,0.00,0.000,4,0.000,0.096,2450,3921,3400,0,0,6,0,0,0
$GC,1565,-0.85,-146.0,152.1,-9.8,227,1570,0.00,3.38,0.00,0.000,6,0.000,0.073,2450,2458,3400,0,0,4,0,0,0
$GC,1889,-0.93,-146.0,183.0,-9.3,258,1899,0.20,3.50,0.00,0.000,4,0.110,0.092,2373,3925,3399,0,0,6,0,0,0
$GC,2151,-0.74,-146.0,215.8,-12.4,281,2158,0.30,3.38,0.00,0.000,6,0.212,0.071,2443,2459,3399,0,0,3,0,0,0
$GC,2476,-0.81,-146.0,242.9,-7.9,312,2482,0.00,3.47,0.00,0.000,4,0.000,0.093,2443,3917,3399,0,0,6,0,0,0
$GC,2734,-0.89,-146.0,265.0,-8.3,334,2741,0.15,3.35,0.00,0.000,6,0.121,0.071,2394,2459,3399,0,0,4,0,0,0
$GC,3059,-0.82,-146.0,298.0,-10.0,365,3063,0.12,2.17,0.00,0.000,4,0.208,0.093,2423,859,3399,0,0,0,0,0,0
$GC,3315,-0.82,-146.0,323.2,-9.6,387,3321,0.00,2.12,0.00,0.000,6,0.000,0.074,2423,2455,3399,0,0,0,0,0,0
$GC,3640,-0.82,-146.0,351.7,-8.7,418,3646,0.00,3.50,0.00,0.000,4,0.000,0.092,2423,3924,3399,0,0,5,0,0,0
$GC,3837,-0.82,-146.0,369.4,-8.5,435,3843,0.00,3.35,0.00,0.000,6,0.000,0.070,2423,2458,3398,0,0,4,0,0,0
$GC,4162,-0.82,-146.0,397.9,-8.8,465,4167,0.00,3.50,0.00,0.000,4,0.000,0.091,2423,3926,3399,0,0,6,0,0,0
$GC,4419,-0.82,-146.0,421.1,-9.2,487,4425,0.00,3.35,0.00,0.000,6,0.000,0.068,2423,2457,3400,0,0,4,0,0,0
$GC,4746,-0.82,-146.0,448.4,-8.2,518,4752,0.00,3.47,0.00,0.000,4,0.000,0.089,2423,3918,3400,0,0,5,0,0,0
$GC,5003,-0.82,-146.0,469.8,-8.0,540,5009,0.00,3.33,0.00,0.000,6,0.000,0.068,2423,2460,3401,0,0,4,0,0,0
$GC,5328,-0.86,-146.0,494.4,-7.6,571,5333,0.00,3.50,0.00,0.000,4,0.000,0.089,2423,3929,3401,0,0,4,0,0,0
$GC,5585,-0.86,-146.0,514.1,-7.8,593,5591,0.00,3.35,0.00,0.000,6,0.000,0.068,2423,2459,3401,0,0,4,0,0,0
$GC,5910,-0.86,-146.0,539.0,-8.0,624,5914,0.00,2.17,0.00,0.000,4,0.000,0.090,2423,860,3401,0,0,0,0,0,0
$GC,6169,-0.86,-146.0,561.6,-9.0,647,6173,0.00,2.08,0.00,0.000,6,0.000,0.072,2423,2462,3402,0,0,0,0,0,0
$GC,6499,-0.92,-146.0,588.9,-8.2,678,6505,0.00,3.47,0.00,0.000,4,0.000,0.089,2423,3918,3402,0,0,4,0,0,0
$GC,6668,-0.98,-146.0,603.5,-8.7,690,6674,0.15,3.35,0.00,0.000,6,0.117,0.067,2373,2458,3402,0,0,3,0,0,0
$GC,6998,-0.88,-146.0,636.6,-9.8,701,7004,0.12,3.53,0.00,0.000,4,0.207,0.086,2387,3926,3402,0,0,3,0,0,0
$GC,7250,-0.81,-146.0,660.4,-9.4,708,7256,0.17,3.35,0.00,0.000,6,0.203,0.066,2425,2460,3402,0,0,3,0,0,0
$STATE,7346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7346,begin apogee
$GC,7352,-0.16,0.0,667.8,7.6,711,7481,0.75,0.00,125.82,1.180,6,0.185,0.000,2628,1934,2800,0,0,0,0,0,0
$STATE,7482,end apogee,CONTROL_FINISHED_OK
$STATE,7482,begin climb
$GC,7485,0.73,146.0,669.9,0.0,715,7625,0.98,2.17,131.07,1.122,4,0.136,0.093,2920,343,2202,0,0,0,0,0,0
$GC,7681,0.64,146.0,651.9,12.5,721,7686,0.00,1.98,0.00,0.000,6,0.000,0.062,2920,1963,2199,0,0,0,0,0,0
$GC,8010,0.55,146.0,613.0,11.8,732,8019,0.22,3.75,0.00,0.000,4,0.196,0.078,2852,3539,2195,0,0,4,0,0,0
$GC,8133,0.61,148.5,601.3,9.1,735,8139,0.00,3.75,0.00,0.000,6,0.000,0.072,2867,1941,2194,0,0,2,0,0,0
$GC,8458,0.73,163.2,573.2,8.5,763,8480,0.17,3.72,14.38,1.029,4,0.111,0.081,2926,3531,2134,0,0,4,0,0,0
$GC,8638,0.59,163.2,550.4,13.5,779,8648,0.25,3.70,0.00,0.000,6,0.203,0.074,2884,1945,2132,0,0,3,0,0,0
$GC,8966,0.65,164.6,519.8,9.1,810,8972,0.00,3.67,0.00,0.000,4,0.000,0.081,2884,3535,2132,0,0,5,0,0,0
$GC,9108,0.65,164.6,504.9,11.3,822,9113,0.00,3.70,0.00,0.000,6,0.000,0.074,2898,1943,2132,0,0,2,0,0,0
$GC,9432,0.65,164.6,472.5,10.2,852,9437,0.00,3.67,0.00,0.000,4,0.000,0.082,2898,3535,2132,0,0,5,0,0,0
$GC,9589,0.59,164.6,454.5,11.5,865,9596,0.12,3.70,0.00,0.000,6,0.206,0.074,2888,1939,2131,0,0,2,0,0,0
$GC,9914,0.65,164.6,423.4,9.3,896,9919,0.00,3.67,0.00,0.000,4,0.000,0.081,2887,3535,2131,0,0,5,0,0,0
$GC,10072,0.65,164.6,406.8,10.7,909,10078,0.00,3.70,0.00,0.000,6,0.000,0.074,2902,1944,2131,0,0,2,0,0,0
$GC,10396,0.65,164.6,374.8,9.9,940,10401,0.00,3.67,0.00,0.000,4,0.000,0.081,2902,3534,2131,0,0,5,0,0,0
$GC,10538,0.59,164.6,359.4,10.8,952,10548,0.15,3.65,0.00,0.000,6,0.203,0.074,2886,1949,2130,0,0,4,0,0,0
$GC,10867,0.68,169.7,328.9,8.9,983,10881,0.00,3.65,6.28,0.816,4,0.000,0.080,2886,3534,2109,0,0,5,0,0,0
$GC,11027,0.68,169.7,312.8,10.0,997,11034,0.00,3.65,0.00,0.000,6,0.000,0.074,2899,1950,2109,0,0,4,0,0,0
$GC,11352,0.74,169.7,282.1,9.5,1028,11358,0.00,3.67,0.00,0.000,4,0.000,0.081,2899,3535,2109,0,0,5,0,0,0
$GC,11487,0.74,169.7,267.2,11.1,1039,11493,0.00,3.67,0.00,0.000,6,0.000,0.074,2916,1941,2108,0,0,4,0,0,0
$GC,11811,0.74,171.4,235.3,9.1,1070,11817,0.00,3.70,0.00,0.000,4,0.000,0.081,2916,3531,2109,0,0,4,0,0,0
$GC,11958,0.67,171.4,220.1,10.6,1082,11964,0.00,3.67,0.00,0.000,6,0.000,0.075,2932,1938,2109,0,0,4,0,0,0
$GC,12282,0.67,171.4,185.7,10.3,1113,12287,0.00,3.70,0.00,0.000,4,0.000,0.081,2932,3532,2109,0,0,4,0,0,0
$GC,12418,0.55,171.4,171.0,10.8,1124,12424,0.30,3.67,0.00,0.000,6,0.198,0.075,2875,1936,2108,0,0,4,0,0,0
$GC,12742,0.80,228.6,148.6,6.8,1155,12804,0.22,3.80,50.50,0.863,4,0.104,0.081,2951,3535,1866,0,0,4,0,0,0
$GC,12967,0.71,228.6,121.2,12.2,1175,12974,0.20,3.75,0.00,0.000,6,0.197,0.076,2922,1948,1861,0,0,3,0,0,0
$GC,13298,0.85,265.6,92.9,7.6,1213,13340,0.12,3.80,31.62,0.821,4,0.130,0.083,2961,3534,1715,0,0,5,0,0,0
$GC,13503,0.79,265.6,69.1,12.5,1250,13509,0.15,3.75,0.00,0.000,6,0.200,0.076,2945,1941,1712,0,0,3,0,0,0
$GC,13849,0.88,265.6,34.9,10.2,1311,13855,0.00,3.75,0.00,0.000,4,0.000,0.083,2945,3536,1708,0,0,4,0,0,0
$GC,14001,0.88,265.6,17.3,11.8,1338,14007,0.00,3.72,0.00,0.000,6,0.000,0.078,2960,1942,1708,0,0,4,0,0,0
$FREEZE,8.46,-1.701,-1.818,0,1,0
$FREEZE,7.85,-1.702,-1.818,0,1,0
$FREEZE,7.20,-1.693,-1.817,0,1,0
$FREEZE,6.58,-1.698,-1.817,0,1,0
$FREEZE,5.88,-1.698,-1.816,0,1,0
$FREEZE,5.20,-1.695,-1.816,0,1,0
$FREEZE,4.42,-1.698,-1.815,0,1,0
$FREEZE,3.94,-1.700,-1.815,0,1,0
$FREEZE,3.39,-1.700,-1.814,0,1,0
$FREEZE,2.81,-1.703,-1.814,0,1,0
$FREEZE,2.16,-1.701,-1.813,0,1,0
$FREEZE,1.55,-1.701,-1.813,0,1,0
$STATE,14140,end climb,SURFACE_DEPTH_REACHED
$STATE,14140,begin surface coast
$FREEZE,1.01,-1.704,-1.813,0,1,0
$FREEZE,0.50,-1.616,-1.807,0,1,0
$FREEZE,0.63,-1.858,-1.823,0,1,0
$FREEZE,0.61,-1.720,-1.813,0,1,0
$FINISH,0.6,1.026626
$STATE,14164,end surface coast,CONTROL_FINISHED_OK
$STATE,14164,begin surface
$SM_CCo,14182,48.70,0.765,1,0,1475,325.02
$SM_GC,1.46,0.00,0.00,48.70,0.000,0.000,0.765,130,2454,1475,-8.00,-0.17,325.02
$RAFOS_CLK,945
$RAFOS,6,1261471746,8.833333,8.818334,123,57,54,0,0,0,729,214,161,0,0,0
$RAFOS,5,1261471266,8.700000,8.685000,131,62,58,0,0,0,597,180,218,0,0,0
$RAFOS,4,1261470789,8.566667,8.552500,62,59,59,0,0,0,216,166,138,0,0,0
$RAFOS,3,1261470302,8.433333,8.417222,60,56,55,0,0,0,173,155,113,0,0,0
$RAFOS,2,1261469823,8.300000,8.284166,66,61,57,0,0,0,221,187,147,0,0,0
$RAFOS,1,1261469343,8.166667,8.150833,69,64,59,0,0,0,166,191,221,0,0,0
$RAFOS,0,1261468862,8.033334,8.017222,62,58,57,0,0,0,139,193,118,0,0,0
$RAFOS_FIX,6709.488281,-5730.500488,221209,080856,2,127,1.22
$IRIDIUM_FIX,6647.44,-5732.58,180399,070703
$TT8_MAMPS,0.027612
$HUMID,48.74
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.50
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.9,19.5
$ALTIM_BOTTOM_PING,650.5,60.0
$24V_AH,22.1,66.095
$10V_AH,10.1,35.246
$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,24.950,180.925,359.675,48.700,0.000,78.710,112.140,279.851,4.500,0.000,15.027,2404.522,8567.360,599.020,2672.594,733.445,0.000,1931.156,0.000,2609.247,2520.000,26.504,0.000
$DEVICE_MAMPS,301.431,108.914,1180.413,764.699,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,999.752,954.389,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152476
$DATA_FILE_SIZE,53575,1367
$CAP_FILE_SIZE,169331,0
$CFSIZE,260165632,222171136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,178,1,0
$SOUNDSPEED,1457.2
$GPS,221209,111654,6710.824,-5722.740,34,1.4,52,-37.9