version: 66.06
glider: 143
mission: 10
dive: 184
start: 11 23 109 10 48 24
data:
$ID,143
$MISSION,10
$DIVE,184
$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,-33400.453
$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,22
$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
$GPS1,103400,6701.982,-5658.623,40,0.9,40,-37.6
$_CALLS,3
$_XMS_NAKs,9
$_XMS_TOUTs,2
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-63.3
$GPS2,104806,6701.986,-5658.775,57,1.5,74,-37.6
$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,114.0,8005,-16.9,-9.167
$D_GRID,655
$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,-146.0,0.0,0.0,0,108,0.00,0.00,-90.40,0.000,2,0.000,0.000,119,2475,3045,0,0,0,0,0,0
$GC,110,-0.73,-146.0,3.1,-5.0,18,137,11.10,2.65,-9.70,0.000,4,0.294,0.092,2447,868,3397,0,0,0,0,0,0
$GC,289,-0.61,-146.0,31.4,-12.7,50,295,0.17,2.55,0.00,0.000,6,0.214,0.073,2489,2456,3400,0,0,0,0,0,0
$GC,633,-0.61,-146.0,70.2,-11.3,111,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2455,3400,0,0,0,0,0,0
$GC,976,-0.70,-146.0,96.7,-5.6,172,982,0.00,2.55,0.00,0.000,4,0.000,0.091,2489,3911,3400,0,0,0,0,0,0
$GC,1218,-0.81,-146.0,117.7,-10.2,198,1224,0.17,2.45,0.00,0.000,6,0.103,0.064,2428,2447,3399,0,0,0,0,0,0
$GC,1543,-0.72,-146.0,156.3,-10.4,229,1547,0.00,2.58,0.00,0.000,4,0.000,0.089,2428,3918,3400,0,0,0,0,0,0
$GC,1700,-0.66,-146.0,172.6,-10.0,242,1706,0.20,2.42,0.00,0.000,6,0.206,0.064,2476,2466,3399,0,0,0,0,0,0
$GC,2025,-0.74,-146.0,199.0,-8.3,273,2026,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2466,3399,0,0,0,0,0,0
$GC,2344,-0.84,-146.0,227.7,-9.2,303,2349,0.17,2.55,0.00,0.000,4,0.107,0.087,2413,3918,3399,0,0,0,0,0,0
$GC,2463,-0.72,-146.0,241.6,-11.4,313,2468,0.17,2.42,0.00,0.000,6,0.207,0.062,2453,2457,3399,0,0,0,0,0,0
$GC,2787,-0.72,-146.0,269.3,-7.7,343,2789,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2457,3399,0,0,0,0,0,0
$GC,3108,-0.72,-146.0,294.1,-7.2,373,3112,0.00,2.53,0.00,0.000,4,0.000,0.086,2454,3914,3400,0,0,0,0,0,0
$GC,3151,-0.72,-146.0,297.6,-7.2,376,3157,0.00,2.38,0.00,0.000,6,0.000,0.059,2454,2470,3401,0,0,0,0,0,0
$GC,3476,-0.77,-146.0,321.4,-7.5,407,3477,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2470,3400,0,0,0,0,0,0
$GC,3796,-0.82,-146.0,347.8,-8.6,437,3800,0.00,2.53,0.00,0.000,4,0.000,0.085,2454,3922,3401,0,0,0,0,0,0
$GC,3909,-0.88,-146.0,357.7,-8.5,447,3914,0.15,2.40,0.00,0.000,6,0.104,0.059,2403,2464,3401,0,0,0,0,0,0
$GC,4234,-0.77,-146.0,390.5,-10.0,477,4239,0.15,2.53,0.00,0.000,4,0.206,0.082,2427,3919,3401,0,0,0,0,0,0
$GC,4300,-0.77,-146.0,396.8,-9.0,482,4306,0.00,2.38,0.00,0.000,6,0.000,0.058,2427,2474,3401,0,0,0,0,0,0
$GC,4625,-0.77,-146.0,424.8,-8.3,513,4629,0.00,2.47,0.00,0.000,4,0.000,0.084,2427,3913,3401,0,0,0,0,0,0
$GC,4713,-0.77,-146.0,432.5,-8.6,520,4719,0.00,2.35,0.00,0.000,6,0.000,0.058,2427,2485,3402,0,0,0,0,0,0
$GC,5038,-0.77,-146.0,459.9,-8.7,551,5039,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2485,3402,0,0,0,0,0,0
$GC,5356,-0.77,-146.0,488.2,-9.2,581,5357,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2485,3403,0,0,0,0,0,0
$GC,5675,-0.77,-146.0,516.0,-8.7,611,5679,0.00,2.47,0.00,0.000,4,0.000,0.084,2427,3919,3403,0,0,0,0,0,0
$GC,5749,-0.77,-146.0,522.5,-9.1,617,5753,0.00,2.35,0.00,0.000,6,0.000,0.058,2427,2492,3402,0,0,0,0,0,0
$GC,6073,-0.77,-146.0,551.0,-8.9,647,6074,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2493,3403,0,0,0,0,0,0
$GC,6392,-0.77,-146.0,579.2,-8.9,677,6396,0.00,2.45,0.00,0.000,4,0.000,0.084,2426,3913,3403,0,0,0,0,0,0
$GC,6446,-0.77,-146.0,584.1,-9.2,681,6452,0.00,2.38,0.00,0.000,6,0.000,0.058,2426,2497,3402,0,0,0,0,0,0
$GC,6771,-0.77,-146.0,610.7,-8.4,704,6772,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2497,3403,0,0,0,0,0,0
$GC,7073,-0.77,-146.0,636.8,-8.3,714,7077,0.00,2.45,0.00,0.000,4,0.000,0.084,2426,3914,3402,0,0,0,0,0,0
$STATE,7105,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7105,begin apogee
$GC,7112,-0.16,0.0,639.4,7.8,715,7235,0.73,0.00,119.80,1.147,6,0.179,0.000,2632,1941,2800,0,0,0,0,0,0
$STATE,7236,end apogee,CONTROL_FINISHED_OK
$STATE,7236,begin climb
$GC,7239,0.73,146.0,641.9,0.0,719,7370,0.93,2.70,123.40,1.095,4,0.127,0.084,2923,365,2203,0,0,0,0,0,0
$GC,7409,0.68,146.0,628.3,11.5,724,7414,0.00,2.67,0.00,0.000,6,0.000,0.061,2923,1961,2199,0,0,0,0,0,0
$GC,7729,0.62,146.0,591.7,11.7,739,7731,0.15,0.00,0.00,0.000,6,0.196,0.000,2890,1961,2195,0,0,0,0,0,0
$GC,8048,0.67,146.0,558.8,9.8,769,8049,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1961,2194,0,0,0,0,0,0
$GC,8367,0.67,146.0,527.6,9.5,799,8368,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1961,2193,0,0,0,0,0,0
$GC,8686,0.72,146.0,498.1,9.7,829,8691,0.00,2.67,0.00,0.000,4,0.000,0.077,2890,3549,2192,0,0,0,0,0,0
$GC,8729,0.72,146.0,493.4,10.7,832,8736,0.00,2.67,0.00,0.000,6,0.000,0.066,2900,1944,2192,0,0,0,0,0,0
$GC,9054,0.72,146.0,460.8,10.1,863,9055,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1944,2192,0,0,0,0,0,0
$GC,9374,0.72,146.0,428.5,9.7,893,9378,0.00,2.70,0.00,0.000,4,0.000,0.078,2901,3541,2192,0,0,0,0,0,0
$GC,9417,0.72,146.0,423.5,11.1,896,9423,0.00,2.65,0.00,0.000,6,0.000,0.067,2913,1951,2192,0,0,0,0,0,0
$GC,9741,0.72,146.0,391.3,9.5,927,9746,0.00,2.70,0.00,0.000,4,0.000,0.079,2913,3546,2192,0,0,0,0,0,0
$GC,9781,0.65,146.0,387.3,10.6,930,9785,0.00,2.65,0.00,0.000,6,0.000,0.067,2925,1953,2192,0,0,0,0,0,0
$GC,10105,0.65,146.0,354.5,10.2,960,10106,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,1954,2192,0,0,0,0,0,0
$GC,10425,0.65,146.0,321.4,10.6,990,10429,0.00,2.67,0.00,0.000,4,0.000,0.078,2925,3538,2192,0,0,0,0,0,0
$GC,10475,0.56,146.0,315.5,12.1,994,10480,0.25,2.62,0.00,0.000,6,0.191,0.067,2874,1959,2192,0,0,0,0,0,0
$GC,10799,0.73,166.0,288.1,8.3,1024,10821,0.15,2.67,15.35,0.878,4,0.101,0.077,2928,3538,2122,0,0,0,0,0,0
$GC,10849,0.65,166.0,282.3,12.6,1028,10855,0.17,2.65,0.00,0.000,6,0.192,0.067,2900,1952,2121,0,0,0,0,0,0
$GC,11174,0.72,166.0,247.7,10.8,1059,11175,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1952,2120,0,0,0,0,0,0
$GC,11494,0.80,166.0,214.4,10.0,1089,11499,0.15,2.70,0.00,0.000,4,0.106,0.077,2949,3538,2120,0,0,0,0,0,0
$GC,11522,0.70,166.0,210.9,12.3,1091,11527,0.17,2.62,0.00,0.000,6,0.196,0.067,2918,1966,2120,0,0,0,0,0,0
$GC,11846,0.70,166.0,177.7,10.3,1121,11847,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1967,2120,0,0,0,0,0,0
$GC,12166,0.72,185.0,148.8,8.4,1151,12185,0.00,0.00,16.25,0.802,6,0.000,0.000,2918,1967,2045,0,0,0,0,0,0
$GC,12504,0.79,189.6,117.8,9.0,1183,12515,0.00,2.67,5.00,0.638,4,0.000,0.077,2918,3540,2027,0,0,0,0,0,0
$GC,12531,0.80,192.6,115.1,9.0,1185,12541,0.00,2.62,4.40,0.590,6,0.000,0.066,2928,1967,2014,0,0,0,0,0,0
$GC,12871,0.88,197.3,83.6,9.0,1232,12882,0.12,0.00,5.47,0.649,6,0.107,0.000,2974,1967,1995,0,0,0,0,0,0
$GC,13220,0.88,197.3,42.7,11.1,1294,13226,0.00,2.67,0.00,0.000,4,0.000,0.079,2974,3543,1994,0,0,0,0,0,0
$GC,13283,0.77,197.3,35.2,12.4,1305,13289,0.20,2.65,0.00,0.000,6,0.187,0.067,2938,1957,1993,0,0,0,0,0,0
$FREEZE,8.43,0.722,-1.823,0,2,0
$FREEZE,7.88,0.721,-1.823,0,2,0
$FREEZE,7.35,0.723,-1.822,0,2,0
$FREEZE,6.77,0.722,-1.822,0,2,0
$FREEZE,6.26,0.721,-1.822,0,2,0
$FREEZE,5.80,0.719,-1.821,0,2,0
$FREEZE,5.18,0.719,-1.821,0,2,0
$FREEZE,4.63,0.717,-1.820,0,2,0
$GC,13628,0.85,197.3,4.6,9.7,1366,13632,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1958,1994,0,0,0,0,0,0
$FREEZE,3.67,0.715,-1.820,0,2,0
$FREEZE,3.20,0.713,-1.819,0,2,0
$FREEZE,2.70,0.708,-1.819,0,2,0
$FREEZE,2.34,0.714,-1.819,0,2,0
$FREEZE,1.94,0.717,-1.818,0,2,0
$STATE,13659,end climb,SURFACE_DEPTH_REACHED
$STATE,13660,begin surface coast
$FREEZE,1.60,0.708,-1.818,0,2,0
$FREEZE,1.10,0.712,-1.818,0,2,0
$FREEZE,0.60,0.728,-1.817,0,2,0
$FREEZE,0.50,0.105,-1.854,0,2,0
$FREEZE,0.39,0.512,-0.113,0,2,0
$FINISH,0.4,1.001535
$STATE,13688,end surface coast,CONTROL_FINISHED_OK
$STATE,13688,begin surface
$SM_CCo,13705,74.15,0.731,0,0,1474,325.02
$SM_GC,1.56,0.00,0.00,74.15,0.000,0.000,0.731,123,2467,1474,-8.02,0.20,325.02
$RAFOS_CLK,875
$RAFOS,6,1258980547,12.833333,12.818611,62,61,55,0,0,0,215,184,146,0,0,0
$RAFOS,5,1258980068,12.700000,12.685555,65,65,60,0,0,0,208,612,181,0,0,0
$RAFOS,4,1258979587,12.566667,12.551945,61,61,57,0,0,0,204,215,173,0,0,0
$RAFOS,3,1258979109,12.433333,12.419167,65,62,59,0,0,0,182,169,215,0,0,0
$RAFOS,2,1258978626,12.300000,12.285000,56,55,55,0,0,0,208,165,132,0,0,0
$RAFOS,1,1258978148,12.166667,12.152223,60,59,57,0,0,0,153,177,198,0,0,0
$RAFOS,0,1258977661,12.033333,12.016945,60,59,57,0,0,0,119,208,153,0,0,0
$RAFOS_FIX,6658.312012,-5724.716309,221109,080822,3,82,0.60
$IRIDIUM_FIX,6636.54,-5705.96,170299,101036
$TT8_MAMPS,0.026845
$HUMID,47.24
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,18.00
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.8,19.1
$ALTIM_BOTTOM_PING,500.2,154.0
$24V_AH,23.0,42.465
$10V_AH,10.2,21.655
$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,23.375,103.950,289.675,74.150,0.000,88.556,117.014,317.891,3.250,0.000,76.105,2301.115,8790.856,497.192,2277.200,748.206,0.000,1621.770,0.000,2180.306,2520.000,17.621,0.000
$DEVICE_MAMPS,293.761,92.040,1146.665,730.951,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1019.224,944.518,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152520
$DATA_FILE_SIZE,53500,1377
$CAP_FILE_SIZE,160628,0
$CFSIZE,260165632,235659264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.8
$GPS,231109,144001,6701.939,-5656.219,70,1.7,70,-37.5