version: 66.06
glider: 143
mission: 10
dive: 361
start: 12 23 109 0 5 25
data:
$ID,143
$MISSION,10
$DIVE,361
$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,-42835.875
$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,24
$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
$GPS1,234930,6712.685,-5726.351,44,1.4,44,-37.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-64.4
$GPS2,000508,6712.660,-5726.315,180,99.0,181,-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,160.8,32948,-16.9,-9.167
$D_GRID,657
$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,16,-0.73,-146.0,0.0,0.0,0,114,0.00,0.00,-95.15,0.000,2,0.000,0.000,130,2464,3020,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.2,-4.0,19,148,11.48,2.20,-11.52,0.000,4,0.299,0.107,2445,856,3398,0,0,0,0,0,0
$GC,374,-0.65,-146.0,40.8,-13.8,65,380,0.12,2.05,0.00,0.000,6,0.225,0.074,2473,2456,3401,0,0,0,0,0,0
$GC,719,-0.74,-146.0,75.6,-9.6,126,725,0.00,2.12,0.00,0.000,4,0.000,0.094,2472,857,3401,0,0,0,0,0,0
$GC,979,-0.83,-146.0,100.1,-8.9,172,984,0.15,2.08,0.00,0.000,6,0.120,0.076,2425,2462,3401,0,0,0,0,0,0
$GC,1309,-0.83,-146.0,132.8,-10.1,203,1314,0.00,3.58,0.00,0.000,4,0.000,0.095,2425,3918,3401,0,0,4,0,0,0
$GC,1510,-0.83,-146.0,153.3,-10.2,220,1516,0.00,3.42,0.00,0.000,6,0.000,0.073,2425,2461,3401,0,0,4,0,0,0
$GC,1835,-0.83,-146.0,185.7,-9.2,251,1839,0.00,2.12,0.00,0.000,4,0.000,0.094,2425,848,3400,0,0,0,0,0,0
$GC,2092,-0.83,-146.0,213.2,-10.8,273,2098,0.00,2.10,0.00,0.000,6,0.000,0.076,2425,2456,3400,0,0,0,0,0,0
$GC,2417,-0.83,-146.0,243.5,-8.9,304,2422,0.00,3.58,0.00,0.000,4,0.000,0.094,2425,3918,3400,0,0,4,0,0,0
$GC,2651,-0.83,-146.0,263.6,-7.9,324,2658,0.00,3.42,0.00,0.000,6,0.000,0.071,2425,2455,3399,0,0,4,0,0,0
$GC,2976,-0.83,-146.0,289.5,-7.9,355,2980,0.00,2.10,0.00,0.000,4,0.000,0.092,2425,849,3399,0,0,0,0,0,0
$GC,3233,-0.83,-146.0,312.1,-9.3,377,3240,0.00,2.10,0.00,0.000,6,0.000,0.073,2425,2463,3400,0,0,0,0,0,0
$GC,3559,-0.83,-146.0,338.9,-8.5,408,3564,0.00,3.50,0.00,0.000,4,0.000,0.091,2424,3915,3400,0,0,6,0,0,0
$GC,3767,-0.83,-146.0,357.2,-9.0,426,3773,0.00,3.40,0.00,0.000,6,0.000,0.069,2425,2458,3400,0,0,4,0,0,0
$GC,4092,-0.83,-146.0,385.9,-8.8,456,4096,0.00,2.12,0.00,0.000,4,0.000,0.089,2425,842,3401,0,0,0,0,0,0
$GC,4349,-0.83,-146.0,410.8,-10.1,479,4353,0.00,2.05,0.00,0.000,6,0.000,0.071,2425,2461,3402,0,0,0,0,0,0
$GC,4680,-0.83,-146.0,438.7,-8.4,510,4685,0.00,3.50,0.00,0.000,4,0.000,0.089,2425,3921,3402,0,0,6,0,0,0
$GC,4837,-0.83,-146.0,452.5,-8.5,523,4843,0.00,3.40,0.00,0.000,6,0.000,0.067,2425,2457,3402,0,0,4,0,0,0
$GC,5162,-0.87,-146.0,479.9,-8.2,554,5167,0.00,3.55,0.00,0.000,4,0.000,0.087,2425,3928,3403,0,0,5,0,0,0
$GC,5172,-0.87,-146.0,480.8,-8.1,554,5178,0.00,3.42,0.00,0.000,6,0.000,0.066,2425,2459,3403,0,0,3,0,0,0
$GC,5497,-0.87,-146.0,507.4,-8.4,585,5501,0.00,2.10,0.00,0.000,4,0.000,0.088,2425,846,3403,0,0,0,0,0,0
$GC,5670,-0.87,-146.0,522.8,-8.7,600,5676,0.00,2.08,0.00,0.000,6,0.000,0.071,2425,2461,3403,0,0,0,0,0,0
$GC,5996,-0.92,-146.0,548.7,-8.1,631,6001,0.00,3.53,0.00,0.000,4,0.000,0.088,2425,3922,3404,0,0,5,0,0,0
$GC,6006,-0.97,-146.0,549.6,-8.3,631,6014,0.15,3.35,0.00,0.000,6,0.116,0.066,2372,2460,3404,0,0,3,0,0,0
$GC,6331,-0.85,-146.0,581.6,-10.1,662,6336,0.17,2.12,0.00,0.000,4,0.206,0.088,2413,850,3404,0,0,0,0,0,0
$GC,6516,-0.85,-146.0,598.4,-9.5,678,6520,0.00,2.05,0.00,0.000,6,0.000,0.071,2413,2465,3404,0,0,0,0,0,0
$GC,6844,-0.85,-146.0,625.6,-8.3,690,6848,0.00,2.12,0.00,0.000,4,0.000,0.088,2413,849,3404,0,0,0,0,0,0
$GC,7104,-0.85,-146.0,648.1,-8.4,697,7108,0.00,2.05,0.00,0.000,6,0.000,0.070,2413,2466,3404,0,0,0,0,0,0
$STATE,7236,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7236,begin apogee
$GC,7241,-0.16,0.0,658.5,7.7,702,7371,0.80,0.00,126.00,1.168,6,0.184,0.000,2628,1937,2800,0,0,0,0,0,0
$STATE,7371,end apogee,CONTROL_FINISHED_OK
$STATE,7372,begin climb
$GC,7373,0.73,146.0,661.6,0.0,706,7511,0.98,0.00,130.70,1.114,6,0.132,0.000,2913,1936,2203,0,0,0,0,0,0
$GC,7801,0.67,146.0,617.8,11.7,720,7809,0.00,3.85,0.00,0.000,4,0.000,0.081,2912,3537,2197,0,0,7,0,0,0
$GC,7963,0.55,146.0,597.8,12.1,724,7970,0.25,3.75,0.00,0.000,6,0.206,0.074,2873,1949,2194,0,0,5,0,0,0
$GC,8288,0.63,146.0,568.5,9.2,755,8298,0.00,3.75,0.00,0.000,4,0.000,0.081,2872,3546,2194,0,0,5,0,0,0
$GC,8438,0.63,146.0,553.4,10.1,768,8444,0.00,3.72,0.00,0.000,6,0.000,0.075,2887,1949,2193,0,0,4,0,0,0
$GC,8763,0.68,146.0,521.9,9.7,799,8768,0.00,3.70,0.00,0.000,4,0.000,0.081,2887,3537,2193,0,0,5,0,0,0
$GC,8920,0.68,146.0,505.1,10.2,812,8926,0.00,3.70,0.00,0.000,6,0.000,0.076,2903,1944,2193,0,0,4,0,0,0
$GC,9244,0.68,146.0,472.6,10.4,843,9253,0.00,3.72,0.00,0.000,4,0.000,0.081,2903,3540,2193,0,0,5,0,0,0
$GC,9394,0.59,146.0,454.9,11.6,856,9401,0.15,3.70,0.00,0.000,6,0.209,0.075,2888,1951,2192,0,0,4,0,0,0
$GC,9718,0.65,146.0,423.6,9.5,887,9724,0.00,3.70,0.00,0.000,4,0.000,0.081,2887,3537,2192,0,0,5,0,0,0
$GC,9883,0.65,146.0,405.2,11.9,901,9889,0.00,3.70,0.00,0.000,6,0.000,0.075,2902,1945,2191,0,0,4,0,0,0
$GC,10207,0.65,146.0,370.0,10.9,931,10216,0.00,3.72,0.00,0.000,4,0.000,0.081,2902,3538,2191,0,0,5,0,0,0
$GC,10358,0.57,146.0,351.9,12.7,944,10364,0.17,3.70,0.00,0.000,6,0.206,0.075,2879,1943,2192,0,0,4,0,0,0
$GC,10682,0.67,159.6,322.2,8.6,975,10703,0.00,3.70,10.88,0.890,4,0.000,0.079,2880,3537,2148,0,0,5,0,0,0
$GC,10850,0.67,159.6,305.5,10.7,990,10855,0.00,3.70,0.00,0.000,6,0.000,0.074,2894,1946,2146,0,0,4,0,0,0
$GC,11174,0.72,159.6,275.1,9.4,1020,11183,0.00,3.72,0.00,0.000,4,0.000,0.080,2893,3544,2146,0,0,5,0,0,0
$GC,11352,0.72,159.6,255.6,11.2,1036,11358,0.00,3.72,0.00,0.000,6,0.000,0.074,2910,1950,2146,0,0,3,0,0,0
$GC,11676,0.72,159.6,220.9,10.1,1066,11681,0.00,3.70,0.00,0.000,4,0.000,0.079,2910,3538,2146,0,0,5,0,0,0
$GC,11840,0.64,159.6,202.9,10.3,1080,11846,0.00,3.70,0.00,0.000,6,0.000,0.074,2926,1949,2146,0,0,4,0,0,0
$GC,12164,0.64,159.6,168.5,10.8,1110,12170,0.00,3.70,0.00,0.000,4,0.000,0.079,2926,3538,2146,0,0,5,0,0,0
$GC,12327,0.55,159.6,150.2,11.7,1124,12337,0.30,3.70,0.00,0.000,6,0.199,0.074,2870,1939,2145,0,0,4,0,0,0
$GC,12656,0.81,211.8,125.5,7.0,1155,12709,0.25,3.80,44.35,0.818,4,0.100,0.080,2963,3540,1935,0,0,4,0,0,0
$GC,12849,0.69,211.8,100.3,13.4,1172,12856,0.28,3.75,0.00,0.000,6,0.197,0.073,2915,1939,1930,0,0,4,0,0,0
$GC,13195,0.82,214.3,70.1,9.1,1233,13201,0.12,3.78,0.00,0.000,4,0.128,0.080,2955,3544,1928,0,0,5,0,0,0
$GC,13364,0.76,214.3,50.1,12.0,1263,13371,0.15,3.72,0.00,0.000,6,0.203,0.075,2938,1949,1928,0,0,4,0,0,0
$GC,13708,0.81,214.3,17.1,9.5,1324,13714,0.00,3.72,0.00,0.000,4,0.000,0.081,2938,3537,1927,0,0,5,0,0,0
$FREEZE,8.58,-1.017,-1.826,0,3,0
$FREEZE,7.98,-1.012,-1.825,0,3,0
$FREEZE,7.24,-1.012,-1.825,0,3,0
$FREEZE,6.68,-1.018,-1.824,0,3,0
$FREEZE,6.23,-1.018,-1.824,0,3,0
$FREEZE,5.54,-1.015,-1.824,0,3,0
$FREEZE,4.98,-1.015,-1.823,0,3,0
$FREEZE,4.37,-1.013,-1.823,0,3,0
$FREEZE,3.62,-1.016,-1.822,0,3,0
$GC,13844,0.81,214.3,3.6,10.9,1348,13850,0.00,3.72,0.00,0.000,6,0.000,0.076,2952,1942,1926,0,0,4,0,0,0
$FREEZE,2.34,-1.011,-1.821,0,3,0
$FREEZE,1.81,-1.011,-1.821,0,3,0
$STATE,13860,end climb,SURFACE_DEPTH_REACHED
$STATE,13860,begin surface coast
$FREEZE,1.36,-1.012,-1.820,0,3,0
$FREEZE,0.86,-1.018,-1.820,0,3,0
$FREEZE,0.57,-1.058,-1.822,0,3,0
$FINISH,0.6,1.026726
$STATE,13878,end surface coast,CONTROL_FINISHED_OK
$STATE,13878,begin surface
$SM_CCo,13895,79.00,0.754,1,0,1475,325.02
$SM_GC,1.41,0.00,0.00,79.00,0.000,0.000,0.754,130,2469,1475,-8.00,0.25,325.02
$RAFOS_CLK,930
$RAFOS,6,1261529342,0.833333,0.817222,72,67,61,0,0,0,750,173,212,0,0,0
$RAFOS,5,1261528863,0.700000,0.684167,91,59,58,0,0,0,620,152,210,0,0,0
$RAFOS,4,1261528388,0.566667,0.552222,62,57,54,0,0,0,217,151,203,0,0,0
$RAFOS,3,1261527904,0.433333,0.417778,65,63,62,0,0,0,201,147,131,0,0,0
$RAFOS,2,1261527424,0.300000,0.284444,61,60,57,0,0,0,207,191,148,0,0,0
$RAFOS,1,1261526945,0.166667,0.151389,73,64,52,0,0,0,188,209,199,0,0,0
$RAFOS_FIX,6711.009277,-5730.888672,231209,000056,2,82,1.79
$IRIDIUM_FIX,6641.98,-5723.22,190399,000017
$TT8_MAMPS,0.027612
$HUMID,47.83
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.60
$XPDR_PINGS,4
$ALTIM_TOP_PING,20.0,19.0
$ALTIM_BOTTOM_PING,600.4,82.9
$24V_AH,22.1,66.655
$10V_AH,10.0,35.596
$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,23.925,173.825,311.925,79.000,0.000,100.227,200.116,208.823,3.250,0.000,183.398,2383.299,8426.287,592.692,2742.128,767.472,0.000,1881.057,0.000,2522.082,2160.000,17.861,0.000
$DEVICE_MAMPS,299.130,107.380,1168.141,753.961,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,996.394,938.556,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152512
$DATA_FILE_SIZE,53575,1354
$CAP_FILE_SIZE,160684,0
$CFSIZE,260165632,221798400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,170,1,0
$SOUNDSPEED,1459.7
$GPS,231209,040027,6713.127,-5725.374,48,2.8,67,-37.9