version: 66.06
glider: 143
mission: 10
dive: 186
start: 11 23 109 18 47 8
data:
$ID,143
$MISSION,10
$DIVE,186
$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,-33457.75
$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,18
$R_STBD_OVSHOOT,21
$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
$GPS1,183637,6703.054,-5654.293,39,1.1,39,-37.6
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-69.3
$GPS2,184650,6703.055,-5654.438,13,1.4,13,-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,128.8,4651,-16.9,-9.167
$D_GRID,577
$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,-90.35,0.000,2,0.000,0.000,125,2467,3067,0,0,0,0,0,0
$GC,110,-0.73,-146.0,3.2,-5.2,18,137,10.95,2.65,-9.18,0.000,4,0.288,0.089,2445,863,3398,0,0,0,0,0,0
$GC,289,-0.62,-146.0,29.1,-12.8,50,296,0.17,2.58,0.00,0.000,6,0.214,0.071,2487,2456,3400,0,0,0,0,0,0
$GC,633,-0.68,-146.0,65.9,-9.7,111,639,0.00,2.55,0.00,0.000,4,0.000,0.089,2487,3918,3400,0,0,0,0,0,0
$GC,732,-0.74,-146.0,74.4,-8.9,128,738,0.12,2.42,0.00,0.000,6,0.121,0.061,2445,2459,3400,0,0,0,0,0,0
$GC,1074,-0.69,-146.0,114.9,-11.5,178,1079,0.00,2.53,0.00,0.000,4,0.000,0.087,2444,3912,3400,0,0,0,0,0,0
$GC,1159,-0.69,-146.0,124.5,-10.8,185,1163,0.00,2.40,0.00,0.000,6,0.000,0.061,2444,2468,3399,0,0,0,0,0,0
$GC,1483,-0.69,-146.0,155.7,-9.3,215,1484,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2470,3400,0,0,0,0,0,0
$GC,1803,-0.69,-146.0,187.5,-9.9,245,1807,0.00,2.50,0.00,0.000,4,0.000,0.087,2444,3912,3399,0,0,0,0,0,0
$GC,1931,-0.69,-146.0,200.0,-9.7,256,1935,0.00,2.38,0.00,0.000,6,0.000,0.061,2444,2479,3399,0,0,0,0,0,0
$GC,2255,-0.69,-146.0,230.5,-9.4,286,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2480,3399,0,0,0,0,0,0
$GC,2575,-0.69,-146.0,259.5,-8.6,316,2579,0.00,2.50,0.00,0.000,4,0.000,0.087,2444,3922,3400,0,0,0,0,0,0
$GC,2663,-0.69,-146.0,267.6,-8.9,323,2669,0.00,2.38,0.00,0.000,6,0.000,0.060,2444,2478,3400,0,0,0,0,0,0
$GC,2988,-0.69,-146.0,297.1,-9.6,354,2989,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2479,3400,0,0,0,0,0,0
$GC,3307,-0.69,-146.0,328.0,-9.7,384,3312,0.00,2.47,0.00,0.000,4,0.000,0.085,2444,3913,3401,0,0,0,0,0,0
$GC,3362,-0.69,-146.0,333.5,-9.5,388,3368,0.00,2.35,0.00,0.000,6,0.000,0.059,2444,2478,3401,0,0,0,0,0,0
$GC,3687,-0.69,-146.0,363.4,-8.7,419,3692,0.00,2.50,0.00,0.000,4,0.000,0.085,2444,3923,3401,0,0,0,0,0,0
$GC,3743,-0.69,-146.0,368.3,-8.4,423,3748,0.00,2.35,0.00,0.000,6,0.000,0.058,2444,2488,3401,0,0,0,0,0,0
$GC,4069,-0.69,-146.0,394.5,-8.1,454,4073,0.00,2.47,0.00,0.000,4,0.000,0.084,2444,3922,3401,0,0,0,0,0,0
$GC,4119,-0.69,-146.0,398.5,-7.8,458,4123,0.00,2.35,0.00,0.000,6,0.000,0.058,2444,2490,3401,0,0,0,0,0,0
$GC,4445,-0.69,-146.0,424.4,-7.9,488,4449,0.00,2.45,0.00,0.000,4,0.000,0.084,2444,3913,3401,0,0,0,0,0,0
$GC,4522,-0.69,-146.0,430.9,-8.5,494,4528,0.00,2.33,0.00,0.000,6,0.000,0.058,2444,2492,3401,0,0,0,0,0,0
$GC,4847,-0.69,-146.0,456.7,-7.7,525,4851,0.00,2.45,0.00,0.000,4,0.000,0.084,2444,3913,3401,0,0,0,0,0,0
$GC,4902,-0.69,-146.0,461.3,-8.6,529,4907,0.00,2.33,0.00,0.000,6,0.000,0.058,2444,2495,3401,0,0,0,0,0,0
$GC,5226,-0.69,-146.0,485.6,-7.7,560,5230,0.00,2.45,0.00,0.000,4,0.000,0.084,2444,3920,3401,0,0,0,0,0,0
$GC,5276,-0.69,-146.0,489.5,-8.2,564,5281,0.00,2.33,0.00,0.000,6,0.000,0.058,2444,2502,3401,0,0,0,0,0,0
$GC,5601,-0.69,-146.0,514.4,-7.4,594,5605,0.00,2.42,0.00,0.000,4,0.000,0.083,2444,3913,3402,0,0,0,0,0,0
$GC,5678,-0.69,-146.0,520.3,-8.3,600,5684,0.00,2.30,0.00,0.000,6,0.000,0.058,2444,2510,3402,0,0,0,0,0,0
$GC,6003,-0.74,-146.0,545.3,-7.6,631,6004,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2511,3402,0,0,0,0,0,0
$STATE,6117,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6118,begin apogee
$GC,6123,-0.16,0.0,554.2,7.7,642,6249,0.65,0.00,118.07,1.081,6,0.183,0.000,2627,1944,2799,0,0,0,0,0,0
$STATE,6250,end apogee,CONTROL_FINISHED_OK
$STATE,6250,begin climb
$GC,6253,0.73,146.0,557.6,0.0,655,6379,0.95,0.00,121.38,1.035,6,0.129,0.000,2915,1944,2203,0,0,0,0,0,0
$GC,6703,0.73,146.0,514.3,10.6,698,6705,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,1945,2196,0,0,0,0,0,0
$GC,7022,0.73,146.0,479.8,10.7,728,7026,0.00,2.72,0.00,0.000,4,0.000,0.076,2915,3542,2194,0,0,0,0,0,0
$GC,7054,0.66,146.0,476.2,11.5,730,7060,0.00,2.67,0.00,0.000,6,0.000,0.064,2927,1951,2193,0,0,0,0,0,0
$GC,7379,0.59,146.0,440.7,11.1,761,7381,0.17,0.00,0.00,0.000,6,0.189,0.000,2886,1952,2193,0,0,0,0,0,0
$GC,7699,0.69,162.2,413.0,8.5,791,7717,0.00,0.00,12.88,0.923,6,0.000,0.000,2886,1952,2137,0,0,0,0,0,0
$GC,8036,0.77,162.2,382.0,9.9,823,8041,0.17,2.72,0.00,0.000,4,0.107,0.075,2935,3552,2136,0,0,0,0,0,0
$GC,8080,0.65,162.2,376.3,13.7,826,8087,0.17,2.65,0.00,0.000,6,0.195,0.064,2904,1957,2135,0,0,0,0,0,0
$GC,8404,0.65,162.2,342.3,9.5,857,8406,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1957,2134,0,0,0,0,0,0
$GC,8724,0.65,162.2,311.0,10.1,887,8725,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1958,2135,0,0,0,0,0,0
$GC,9043,0.65,162.2,278.4,10.2,917,9047,0.00,2.55,0.00,0.000,4,0.000,0.084,2914,352,2135,0,0,0,0,0,0
$GC,9072,0.65,162.2,275.5,9.9,919,9076,0.00,2.47,0.00,0.000,6,0.000,0.061,2914,1961,2135,0,0,0,0,0,0
$GC,9396,0.65,162.2,241.6,10.3,949,9400,0.00,2.62,0.00,0.000,4,0.000,0.077,2914,3536,2134,0,0,0,0,0,0
$GC,9462,0.65,162.2,234.2,11.2,954,9468,0.00,2.62,0.00,0.000,6,0.000,0.066,2926,1946,2134,0,0,0,0,0,0
$GC,9788,0.65,162.2,200.4,10.1,985,9792,0.00,2.53,0.00,0.000,4,0.000,0.084,2937,351,2134,0,0,0,0,0,0
$GC,9815,0.65,162.2,197.3,11.3,987,9820,0.15,2.45,0.00,0.000,6,0.188,0.062,2902,1955,2134,0,0,0,0,0,0
$GC,10139,0.74,162.2,167.7,9.2,1017,10144,0.00,2.65,0.00,0.000,4,0.000,0.077,2902,3546,2134,0,0,0,0,0,0
$GC,10189,0.74,162.2,162.9,10.0,1021,10193,0.00,2.62,0.00,0.000,6,0.000,0.065,2911,1959,2134,0,0,0,0,0,0
$GC,10513,0.82,162.2,132.0,9.6,1051,10515,0.12,0.00,0.00,0.000,6,0.112,0.000,2959,1960,2134,0,0,0,0,0,0
$GC,10834,0.76,162.2,94.3,11.6,1085,10839,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,1960,2134,0,0,0,0,0,0
$GC,11177,0.79,188.8,60.2,8.0,1146,11207,0.00,2.75,21.77,0.756,4,0.000,0.077,2959,3544,2029,0,0,0,0,0,0
$GC,11247,0.73,188.8,53.7,10.0,1159,11253,0.17,2.62,0.00,0.000,6,0.191,0.065,2929,1968,2028,0,0,0,0,0,0
$GC,11592,0.86,205.7,28.8,8.5,1220,11613,0.12,0.00,14.68,0.732,6,0.114,0.000,2972,1968,1961,0,0,0,0,0,0
$FREEZE,8.98,0.640,-1.822,0,1,0
$FREEZE,8.36,0.643,-1.821,0,1,0
$FREEZE,7.74,0.640,-1.821,0,1,0
$FREEZE,7.14,0.640,-1.820,0,1,0
$FREEZE,6.54,0.637,-1.820,0,1,0
$FREEZE,5.88,0.637,-1.819,0,1,0
$FREEZE,5.31,0.639,-1.819,0,1,0
$FREEZE,4.69,0.637,-1.819,0,1,0
$FREEZE,4.06,0.638,-1.818,0,1,0
$FREEZE,3.46,0.636,-1.818,0,1,0
$FREEZE,2.91,0.635,-1.817,0,1,0
$FREEZE,2.46,0.631,-1.817,0,1,0
$FREEZE,1.89,0.629,-1.817,0,1,0
$STATE,11871,end climb,SURFACE_DEPTH_REACHED
$STATE,11871,begin surface coast
$FREEZE,1.42,0.634,-1.816,0,1,0
$FREEZE,0.76,0.635,-1.816,0,1,0
$FREEZE,0.52,0.627,-0.925,0,1,0
$FREEZE,0.41,0.249,-1.839,0,1,0
$FINISH,0.4,1.026909
$STATE,11895,end surface coast,CONTROL_FINISHED_OK
$STATE,11895,begin surface
$SM_CCo,11912,73.72,0.725,0,0,1475,325.02
$SM_GC,1.39,0.00,0.00,73.72,0.000,0.000,0.725,124,2465,1475,-8.02,0.14,325.02
$RAFOS_CLK,747
$RAFOS,6,1259009353,20.833334,20.820278,67,59,58,0,0,0,792,199,168,0,0,0
$RAFOS,5,1259008868,20.700001,20.685556,75,62,60,0,0,0,636,163,206,0,0,0
$RAFOS,4,1259008385,20.566668,20.551390,70,57,53,0,0,0,882,210,125,0,0,0
$RAFOS,3,1259007901,20.433332,20.416945,64,62,60,0,0,0,1018,231,218,0,0,0
$RAFOS,2,1259007425,20.299999,20.284721,62,60,59,0,0,0,215,138,1059,0,0,0
$RAFOS,1,1259006944,20.166666,20.151112,62,60,58,0,0,0,193,177,151,0,0,0
$RAFOS,0,1259006469,20.033333,20.019167,65,61,60,0,0,0,209,222,152,0,0,0
$RAFOS_FIX,6702.959961,-5654.517090,231109,202028,4,69,0.03
$IRIDIUM_FIX,6631.12,-5656.72,170299,151542
$TT8_MAMPS,0.026845
$HUMID,47.16
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,17.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,19.0
$ALTIM_BOTTOM_PING,400.5,168.1
$24V_AH,23.1,42.727
$10V_AH,10.2,21.808
$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,22.325,96.825,288.775,73.725,0.000,29.551,31.898,431.772,2.000,0.000,14.833,2070.774,7359.342,482.068,2005.556,681.925,0.000,1514.460,0.000,1976.159,2520.000,12.453,0.000
$DEVICE_MAMPS,288.392,88.972,1081.470,724.815,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,941.197,868.751,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152456
$DATA_FILE_SIZE,47315,1274
$CAP_FILE_SIZE,141838,0
$CFSIZE,260165632,235565056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.8
$GPS,231109,220830,6703.121,-5651.518,41,1.3,41,-37.5