version: 66.06
glider: 143
mission: 10
dive: 189
start: 11 24 109 4 15 20
data:
$ID,143
$MISSION,10
$DIVE,189
$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,-33505.93
$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,17
$R_STBD_OVSHOOT,20
$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
$GPS1,040907,6703.000,-5651.620,24,1.3,25,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-68.7
$GPS2,041502,6702.992,-5651.611,14,1.3,14,-37.5
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,294.9,160734,-16.9,-9.167
$D_GRID,567
$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,-146.0,0.0,0.0,0,109,0.00,0.00,-91.45,0.000,2,0.000,0.000,126,2462,3111,0,0,0,0,0,0
$GC,113,-0.73,-146.0,3.1,-5.4,18,139,11.23,2.60,-7.38,0.000,4,0.297,0.098,2448,3902,3398,0,0,0,0,0,0
$GC,393,-0.65,-146.0,44.9,-13.1,68,399,0.12,2.45,0.00,0.000,6,0.215,0.059,2476,2444,3401,0,0,0,0,0,0
$GC,736,-0.65,-146.0,82.4,-9.8,129,742,0.00,2.58,0.00,0.000,4,0.000,0.086,2476,3914,3400,0,0,0,0,0,0
$GC,850,-0.71,-146.0,93.1,-9.2,149,856,0.00,2.42,0.00,0.000,6,0.000,0.061,2476,2464,3400,0,0,0,0,0,0
$GC,1185,-0.77,-146.0,120.9,-7.7,187,1190,0.12,2.55,0.00,0.000,4,0.116,0.084,2428,3915,3400,0,0,0,0,0,0
$GC,1310,-0.68,-146.0,134.0,-11.6,197,1316,0.17,2.40,0.00,0.000,6,0.209,0.060,2469,2475,3400,0,0,0,0,0,0
$GC,1635,-0.73,-146.0,163.4,-8.7,228,1639,0.00,2.50,0.00,0.000,4,0.000,0.086,2469,3909,3400,0,0,0,0,0,0
$GC,1668,-0.79,-146.0,166.4,-9.2,230,1673,0.00,2.35,0.00,0.000,6,0.000,0.060,2468,2498,3400,0,0,0,0,0,0
$GC,1993,-0.85,-146.0,193.0,-8.0,261,1998,0.17,2.50,0.00,0.000,4,0.099,0.084,2400,3916,3400,0,0,0,0,0,0
$GC,2032,-0.67,-146.0,197.1,-11.0,264,2037,0.28,2.35,0.00,0.000,6,0.206,0.059,2467,2499,3399,0,0,0,0,0,0
$GC,2357,-0.74,-146.0,223.8,-8.0,294,2362,0.00,2.45,0.00,0.000,4,0.000,0.084,2467,3910,3400,0,0,0,0,0,0
$GC,2420,-0.82,-146.0,228.8,-8.2,299,2424,0.12,2.30,0.00,0.000,6,0.114,0.058,2425,2520,3400,0,0,0,0,0,0
$GC,2745,-0.75,-146.0,259.9,-9.7,329,2749,0.00,2.42,0.00,0.000,4,0.000,0.084,2424,3916,3400,0,0,0,0,0,0
$GC,2806,-0.69,-146.0,266.0,-9.6,334,2811,0.17,2.28,0.00,0.000,6,0.206,0.058,2465,2539,3400,0,0,0,0,0,0
$GC,3131,-0.77,-146.0,292.3,-8.0,364,3135,0.00,2.38,0.00,0.000,4,0.000,0.084,2465,3910,3400,0,0,0,0,0,0
$GC,3175,-0.85,-146.0,296.3,-8.4,367,3182,0.15,2.25,0.00,0.000,6,0.106,0.058,2413,2549,3400,0,0,0,0,0,0
$GC,3500,-0.76,-146.0,329.6,-9.7,398,3505,0.12,2.38,0.00,0.000,4,0.214,0.081,2431,3913,3400,0,0,0,0,0,0
$GC,3539,-0.76,-146.0,333.5,-10.0,401,3543,0.00,2.25,0.00,0.000,6,0.000,0.056,2431,2549,3401,0,0,0,0,0,0
$GC,3863,-0.76,-146.0,363.6,-9.3,431,3864,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2550,3401,0,0,0,0,0,0
$GC,4183,-0.76,-146.0,392.7,-8.7,461,4187,0.00,2.38,0.00,0.000,4,0.000,0.083,2431,3910,3402,0,0,0,0,0,0
$GC,4221,-0.76,-146.0,396.4,-9.5,464,4227,0.00,2.20,0.00,0.000,6,0.000,0.057,2431,2568,3402,0,0,0,0,0,0
$GC,4546,-0.76,-146.0,424.6,-8.8,495,4547,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2569,3402,0,0,0,0,0,0
$GC,4864,-0.76,-146.0,451.7,-8.3,525,4868,0.00,2.33,0.00,0.000,4,0.000,0.082,2431,3912,3402,0,0,0,0,0,0
$GC,4886,-0.76,-146.0,453.7,-8.5,526,4892,0.00,2.20,0.00,0.000,6,0.000,0.057,2431,2570,3402,0,0,0,0,0,0
$GC,5213,-0.76,-146.0,479.4,-7.8,557,5217,0.00,2.33,0.00,0.000,4,0.000,0.083,2431,3909,3402,0,0,0,0,0,0
$GC,5240,-0.76,-146.0,481.7,-7.9,559,5244,0.00,2.20,0.00,0.000,6,0.000,0.058,2431,2581,3402,0,0,0,0,0,0
$GC,5569,-0.76,-146.0,507.6,-7.7,590,5574,0.00,2.70,0.00,0.000,4,0.000,0.075,2431,874,3402,0,0,0,0,0,0
$GC,5601,-0.76,-146.0,510.4,-8.4,592,5607,0.00,2.70,0.00,0.000,6,0.000,0.067,2431,2586,3402,0,0,0,0,0,0
$GC,5927,-0.76,-146.0,537.1,-8.2,623,5931,0.00,2.28,0.00,0.000,4,0.000,0.084,2431,3910,3402,0,0,0,0,0,0
$GC,5982,-0.76,-146.0,542.0,-8.4,627,5988,0.00,2.20,0.00,0.000,6,0.000,0.057,2431,2574,3402,0,0,0,0,0,0
$STATE,5997,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5997,begin apogee
$GC,6002,-0.16,0.0,543.3,8.3,629,6124,0.73,0.00,118.00,1.075,6,0.178,0.000,2632,1948,2799,0,0,0,0,0,0
$STATE,6125,end apogee,CONTROL_FINISHED_OK
$STATE,6125,begin climb
$GC,6127,0.73,146.0,546.6,0.0,641,6254,0.93,0.00,121.32,1.031,6,0.125,0.000,2915,1948,2204,0,0,0,0,0,0
$GC,6568,0.73,146.0,504.5,10.8,683,6573,0.00,2.78,0.00,0.000,4,0.000,0.075,2915,3540,2197,0,0,0,0,0,0
$GC,6612,0.66,146.0,499.0,12.4,686,6618,0.00,2.70,0.00,0.000,6,0.000,0.064,2927,1964,2196,0,0,0,0,0,0
$GC,6937,0.60,146.0,460.9,11.4,717,6942,0.17,2.58,0.00,0.000,4,0.188,0.083,2895,358,2195,0,0,0,0,0,0
$GC,6998,0.64,146.0,454.4,10.1,722,7003,0.00,2.47,0.00,0.000,6,0.000,0.061,2895,1956,2195,0,0,0,0,0,0
$GC,7328,0.64,146.0,422.7,9.6,753,7332,0.00,2.67,0.00,0.000,4,0.000,0.077,2895,3539,2194,0,0,0,0,0,0
$GC,7371,0.64,146.0,418.3,10.5,756,7377,0.00,2.67,0.00,0.000,6,0.000,0.066,2907,1943,2193,0,0,0,0,0,0
$GC,7696,0.64,146.0,384.8,10.6,787,7700,0.00,2.53,0.00,0.000,4,0.000,0.084,2918,355,2192,0,0,0,0,0,0
$GC,7723,0.64,146.0,381.7,11.4,789,7727,0.00,2.47,0.00,0.000,6,0.000,0.061,2918,1961,2193,0,0,0,0,0,0
$GC,8047,0.64,146.0,347.3,11.2,819,8051,0.00,2.65,0.00,0.000,4,0.000,0.077,2918,3542,2192,0,0,0,0,0,0
$GC,8074,0.58,146.0,344.2,11.7,821,8079,0.20,2.65,0.00,0.000,6,0.189,0.066,2882,1953,2193,0,0,0,0,0,0
$GC,8399,0.70,162.3,315.1,8.5,851,8415,0.12,0.00,12.80,0.878,6,0.114,0.000,2925,1954,2137,0,0,0,0,0,0
$GC,8728,0.70,162.3,279.2,10.7,882,8733,0.00,2.70,0.00,0.000,4,0.000,0.077,2925,3541,2136,0,0,0,0,0,0
$GC,8761,0.63,162.3,275.6,11.6,884,8767,0.17,2.65,0.00,0.000,6,0.190,0.067,2896,1958,2136,0,0,0,0,0,0
$GC,9087,0.71,162.3,245.9,9.3,915,9091,0.00,2.53,0.00,0.000,4,0.000,0.084,2906,362,2136,0,0,0,0,0,0
$GC,9104,0.78,164.6,244.3,9.1,916,9109,0.10,2.47,0.00,0.000,6,0.131,0.061,2940,1975,2136,0,0,0,0,0,0
$GC,9428,0.72,164.6,205.8,12.5,946,9433,0.00,2.62,0.00,0.000,4,0.000,0.076,2940,3540,2136,0,0,0,0,0,0
$GC,9451,0.64,164.6,202.9,12.8,947,9457,0.22,2.62,0.00,0.000,6,0.189,0.066,2897,1969,2135,0,0,0,0,0,0
$GC,9775,0.72,164.6,170.8,9.5,978,9779,0.00,2.55,0.00,0.000,4,0.000,0.083,2907,351,2135,0,0,0,0,0,0
$GC,9803,0.81,164.8,168.4,9.2,980,9808,0.12,2.47,0.00,0.000,6,0.119,0.061,2950,1969,2135,0,0,0,0,0,0
$GC,10128,0.74,164.8,131.3,11.9,1010,10132,0.00,2.62,0.00,0.000,4,0.000,0.077,2950,3536,2135,0,0,0,0,0,0
$GC,10189,0.64,164.8,123.3,13.2,1015,10194,0.25,2.60,0.00,0.000,6,0.189,0.066,2900,1974,2135,0,0,0,0,0,0
$GC,10519,0.82,206.5,94.6,7.4,1051,10561,0.17,2.70,35.72,0.779,4,0.104,0.075,2961,3545,1957,0,0,0,0,0,0
$GC,10591,0.73,206.5,87.7,10.6,1064,10598,0.20,2.65,0.00,0.000,6,0.188,0.066,2925,1976,1955,0,0,0,0,0,0
$GC,10937,0.85,221.1,61.3,8.6,1125,10959,0.12,2.62,12.50,0.728,4,0.113,0.084,2981,364,1897,0,0,0,0,0,0
$GC,10970,0.85,221.1,58.0,9.8,1131,10976,0.00,2.50,0.00,0.000,6,0.000,0.061,2981,1978,1896,0,0,0,0,0,0
$GC,11315,0.85,221.1,17.9,11.1,1192,11321,0.00,2.65,0.00,0.000,4,0.000,0.077,2981,3544,1895,0,0,0,0,0,0
$GC,11350,0.78,221.1,13.7,11.8,1198,11356,0.20,2.65,0.00,0.000,6,0.185,0.067,2944,1968,1895,0,0,0,0,0,0
$FREEZE,8.74,0.513,-1.822,0,1,0
$FREEZE,8.12,0.530,-1.821,0,1,0
$FREEZE,7.61,0.545,-1.821,0,1,0
$FREEZE,7.12,0.527,-1.821,0,1,0
$FREEZE,6.56,0.517,-1.820,0,1,0
$FREEZE,6.05,0.531,-1.819,0,1,0
$FREEZE,5.48,0.533,-1.819,0,1,0
$FREEZE,4.96,0.521,-1.819,0,1,0
$FREEZE,4.42,0.518,-1.818,0,1,0
$FREEZE,3.98,0.523,-1.818,0,1,0
$FREEZE,3.33,0.522,-1.817,0,1,0
$FREEZE,2.84,0.520,-1.817,0,1,0
$FREEZE,2.19,0.521,-1.816,0,1,0
$FREEZE,1.49,0.520,-1.816,0,1,0
$STATE,11473,end climb,SURFACE_DEPTH_REACHED
$STATE,11473,begin surface coast
$FREEZE,1.02,0.509,-1.816,0,1,0
$FREEZE,0.52,0.506,-1.815,0,1,0
$FREEZE,0.40,0.441,-0.965,0,1,0
$FINISH,0.4,1.014260
$STATE,11491,end surface coast,CONTROL_FINISHED_OK
$STATE,11491,begin surface
$SM_CCo,11509,64.65,0.726,0,0,1473,325.02
$SM_GC,1.36,0.00,0.00,64.65,0.000,0.000,0.726,125,2467,1473,-8.01,0.20,325.02
$RAFOS_CLK,708
$RAFOS,6,1259038144,4.833333,4.817778,113,63,57,0,0,0,831,203,169,0,0,0
$RAFOS,5,1259037668,4.700000,4.685555,99,67,59,0,0,0,626,219,195,0,0,0
$RAFOS,4,1259037185,4.566667,4.551389,80,62,59,0,0,0,872,205,150,0,0,0
$RAFOS,3,1259036703,4.433333,4.417500,62,61,57,0,0,0,197,170,179,0,0,0
$RAFOS,2,1259036225,4.300000,4.284722,65,56,55,0,0,0,201,167,182,0,0,0
$RAFOS,0,1259035266,4.033333,4.018333,63,58,56,0,0,0,207,171,152,0,0,0
$RAFOS_FIX,6705.680664,-5655.533691,241109,040444,3,97,3.33
$IRIDIUM_FIX,6631.12,-5646.10,180299,010117
$TT8_MAMPS,0.027612
$HUMID,47.28
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,18.00
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.8,19.1
$ALTIM_BOTTOM_PING,450.8,107.2
$24V_AH,23.1,43.061
$10V_AH,10.2,21.999
$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,24.625,136.525,300.350,64.650,0.000,31.137,35.970,171.997,2.500,0.000,15.542,2068.896,6985.645,509.630,1938.655,431.459,0.000,1530.421,0.000,1907.195,1800.000,14.120,0.000
$DEVICE_MAMPS,296.829,98.176,1074.567,726.349,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,899.843,833.634,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152540
$DATA_FILE_SIZE,47306,1223
$CAP_FILE_SIZE,145748,0
$CFSIZE,260165632,235356160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1470.2
$GPS,241109,072953,6703.483,-5657.111,23,1.8,40,-37.6