version: 66.06
glider: 143
mission: 10
dive: 237
start: 12 3 109 11 25 37
data:
$ID,143
$MISSION,10
$DIVE,237
$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,-2
$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,-35716.281
$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,19
$R_STBD_OVSHOOT,19
$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
$GPS1,082306,6644.036,-5958.903,0,6121.7,0,-38.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.48
$_SM_ANGLEo,-2.5
$GPS2,082306,6644.036,-5958.903,0,6121.7,0,-38.1
$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,113.8,142263,-16.9,-9.167
$D_GRID,671
$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,15,-0.73,-146.0,0.0,0.0,0,23,0.00,0.00,-5.85,0.000,2,0.000,0.000,2733,366,2712,0,0,0,0,0,0
$GC,26,-0.73,-146.0,13.8,-0.0,1,52,0.85,6.10,-14.70,0.000,4,0.127,0.094,2460,3908,3399,0,0,0,0,0,0
$GC,122,-0.66,-146.0,28.1,-17.1,18,127,0.00,2.72,0.00,0.000,6,0.000,0.075,2460,2462,3400,0,0,0,0,0,0
$GC,465,-0.56,-146.0,79.3,-15.3,79,471,0.20,2.88,0.00,0.000,4,0.231,0.097,2495,3917,3401,0,0,0,0,0,0
$GC,585,-0.61,-146.0,94.1,-11.9,100,591,0.00,2.72,0.00,0.000,6,0.000,0.072,2495,2471,3401,0,0,0,0,0,0
$GC,914,-0.68,-146.0,131.0,-10.4,135,918,0.00,2.85,0.00,0.000,4,0.000,0.098,2495,3914,3401,0,0,0,0,0,0
$GC,1080,-0.76,-146.0,149.2,-10.1,149,1087,0.17,2.70,0.00,0.000,6,0.119,0.074,2436,2482,3400,0,0,0,0,0,0
$GC,1407,-0.65,-146.0,189.8,-11.7,180,1413,0.17,2.85,0.00,0.000,4,0.225,0.097,2467,3911,3400,0,0,0,0,0,0
$GC,1584,-0.71,-146.0,207.2,-10.1,195,1588,0.00,2.67,0.00,0.000,6,0.000,0.073,2467,2498,3400,0,0,0,0,0,0
$GC,1908,-0.71,-146.0,239.0,-9.4,225,1912,0.00,2.83,0.00,0.000,4,0.000,0.100,2466,3910,3400,0,0,0,0,0,0
$GC,2008,-0.76,-146.0,248.3,-8.9,233,2013,0.00,2.67,0.00,0.000,6,0.000,0.074,2466,2507,3400,0,0,0,0,0,0
$GC,2332,-0.81,-146.0,277.6,-9.3,264,2334,0.12,0.00,0.00,0.000,6,0.129,0.000,2425,2508,3400,0,0,0,0,0,0
$GC,2651,-0.72,-146.0,314.8,-12.3,294,2653,0.12,0.00,0.00,0.000,6,0.238,0.000,2450,2509,3400,0,0,0,0,0,0
$GC,2970,-0.72,-146.0,346.7,-9.6,324,2974,0.00,2.78,0.00,0.000,4,0.000,0.101,2449,3917,3399,0,0,0,0,0,0
$GC,3109,-0.72,-146.0,361.3,-10.5,336,3114,0.00,2.67,0.00,0.000,6,0.000,0.076,2450,2514,3399,0,0,0,0,0,0
$GC,3434,-0.72,-146.0,391.7,-8.7,366,3438,0.00,2.80,0.00,0.000,4,0.000,0.100,2450,3916,3399,0,0,0,0,0,0
$GC,3584,-0.72,-146.0,405.8,-10.1,379,3589,0.00,2.65,0.00,0.000,6,0.000,0.076,2450,2526,3398,0,0,0,0,0,0
$GC,3909,-0.77,-146.0,434.6,-8.6,409,3910,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2526,3398,0,0,0,0,0,0
$GC,4228,-0.83,-146.0,461.2,-8.0,439,4233,0.00,2.78,0.00,0.000,4,0.000,0.100,2450,3916,3398,0,0,0,0,0,0
$GC,4363,-0.91,-146.0,472.3,-8.2,450,4369,0.17,2.62,0.00,0.000,6,0.120,0.074,2395,2537,3398,0,0,0,0,0,0
$GC,4687,-0.78,-146.0,503.3,-9.6,481,4692,0.17,2.75,0.00,0.000,4,0.217,0.096,2428,3910,3399,0,0,0,0,0,0
$GC,4760,-0.78,-146.0,509.8,-8.6,487,4765,0.00,2.60,0.00,0.000,6,0.000,0.073,2428,2545,3398,0,0,0,0,0,0
$GC,5086,-0.78,-146.0,536.9,-8.8,517,5091,0.00,2.72,0.00,0.000,4,0.000,0.098,2428,3913,3399,0,0,0,0,0,0
$GC,5140,-0.78,-146.0,542.3,-10.2,521,5146,0.00,2.60,0.00,0.000,6,0.000,0.072,2427,2544,3399,0,0,0,0,0,0
$GC,5465,-0.78,-146.0,573.5,-9.4,552,5470,0.00,2.72,0.00,0.000,4,0.000,0.097,2427,3915,3400,0,0,0,0,0,0
$GC,5560,-0.78,-146.0,582.6,-9.5,560,5564,0.00,2.58,0.00,0.000,6,0.000,0.071,2427,2557,3399,0,0,0,0,0,0
$GC,5881,-0.78,-146.0,610.9,-8.8,582,5885,0.00,2.70,0.00,0.000,4,0.000,0.095,2426,3917,3400,0,0,0,0,0,0
$GC,5935,-0.78,-146.0,615.9,-8.8,583,5941,0.00,2.58,0.00,0.000,6,0.000,0.071,2427,2555,3400,0,0,0,0,0,0
$GC,6248,-0.78,-146.0,641.4,-7.9,594,6253,0.00,2.70,0.00,0.000,4,0.000,0.095,2427,3918,3400,0,0,0,0,0,0
$GC,6320,-0.78,-146.0,647.4,-8.8,596,6324,0.00,2.55,0.00,0.000,6,0.000,0.070,2427,2572,3401,0,0,0,0,0,0
$STATE,6610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6610,begin apogee
$GC,6616,-0.16,0.0,671.5,8.1,606,6742,0.77,0.00,123.28,1.206,6,0.194,0.000,2632,1941,2800,0,0,0,0,0,0
$STATE,6743,end apogee,CONTROL_FINISHED_OK
$STATE,6743,begin climb
$GC,6745,0.73,146.0,673.3,0.0,610,6883,0.98,2.72,129.30,1.148,4,0.143,0.096,2921,356,2203,0,0,0,0,0,0
$GC,6946,0.66,146.0,657.6,12.1,616,6950,0.00,2.55,0.00,0.000,6,0.000,0.071,2921,1953,2198,0,0,0,0,0,0
$GC,7263,0.66,146.0,622.9,10.3,627,7267,0.00,3.12,0.00,0.000,4,0.000,0.087,2921,3542,2194,0,0,0,0,0,0
$GC,7358,0.52,146.0,611.8,12.7,630,7364,0.30,3.08,0.00,0.000,6,0.202,0.078,2864,1958,2193,0,0,0,0,0,0
$GC,7680,0.68,163.9,585.2,8.4,651,7702,0.15,3.08,14.82,1.068,4,0.117,0.088,2911,3537,2130,0,0,0,0,0,0
$GC,7752,0.60,163.9,577.0,12.0,657,7759,0.17,3.03,0.00,0.000,6,0.205,0.078,2885,1965,2129,0,0,0,0,0,0
$GC,8077,0.68,163.9,543.5,10.2,688,8082,0.00,3.05,0.00,0.000,4,0.000,0.089,2885,3545,2128,0,0,0,0,0,0
$GC,8143,0.68,163.9,536.2,11.7,693,8149,0.00,3.00,0.00,0.000,6,0.000,0.078,2896,1970,2126,0,0,0,0,0,0
$GC,8470,0.75,163.9,503.2,9.6,724,8476,0.10,3.03,0.00,0.000,4,0.127,0.087,2933,3538,2126,0,0,0,0,0,0
$GC,8521,0.60,163.9,496.9,13.0,728,8527,0.25,2.95,0.00,0.000,6,0.204,0.078,2887,1982,2126,0,0,0,0,0,0
$GC,8846,0.71,175.7,469.0,8.7,758,8863,0.00,3.00,10.82,0.997,4,0.000,0.087,2887,3543,2084,0,0,0,0,0,0
$GC,8923,0.71,175.7,461.3,10.2,764,8930,0.00,2.95,0.00,0.000,6,0.000,0.077,2897,1991,2083,0,0,0,0,0,0
$GC,9251,0.80,184.9,431.3,8.8,795,9267,0.15,2.97,9.65,0.966,4,0.108,0.087,2950,3538,2045,0,0,0,0,0,0
$GC,9305,0.63,184.9,424.4,14.0,799,9312,0.28,2.92,0.00,0.000,6,0.202,0.077,2897,2002,2044,0,0,0,0,0,0
$GC,9630,0.78,220.9,396.6,7.7,830,9672,0.15,3.05,31.95,1.017,4,0.118,0.087,2946,3533,1898,0,0,0,0,0,0
$GC,9752,0.67,220.9,382.3,13.5,841,9758,0.20,2.95,0.00,0.000,6,0.203,0.078,2913,2006,1895,0,0,0,0,0,0
$GC,10076,0.76,220.9,351.0,9.7,871,10078,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2007,1893,0,0,0,0,0,0
$GC,10396,0.88,220.9,318.6,10.3,901,10402,0.20,2.95,0.00,0.000,4,0.110,0.087,2978,3538,1892,0,0,0,0,0,0
$GC,10447,0.71,220.9,311.1,15.6,905,10453,0.28,2.90,0.00,0.000,6,0.204,0.078,2923,2010,1892,0,0,0,0,0,0
$GC,10772,0.82,227.2,278.3,8.9,935,10784,0.00,2.92,5.47,0.789,4,0.000,0.087,2922,3538,1875,0,0,0,0,0,0
$GC,10806,0.90,227.2,275.1,9.3,938,10812,0.15,2.88,0.00,0.000,6,0.117,0.077,2983,2023,1875,0,0,0,0,0,0
$GC,11131,0.84,227.2,237.1,11.5,968,11132,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2024,1875,0,0,0,0,0,0
$GC,11451,0.84,227.2,203.2,10.7,998,11452,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2025,1875,0,0,0,0,0,0
$GC,11770,0.84,227.2,169.2,10.2,1028,11775,0.00,2.92,0.00,0.000,4,0.000,0.091,2982,3539,1874,0,0,0,0,0,0
$GC,11820,0.74,227.2,163.0,12.4,1032,11826,0.28,2.88,0.00,0.000,6,0.197,0.081,2928,2027,1875,0,0,0,0,0,0
$GC,12145,0.90,227.2,133.7,9.4,1062,12150,0.15,2.92,0.00,0.000,4,0.119,0.091,2978,3537,1874,0,0,0,0,0,0
$GC,12196,0.81,227.2,127.6,12.0,1066,12202,0.15,2.85,0.00,0.000,6,0.206,0.081,2956,2041,1874,0,0,0,0,0,0
$GC,12521,0.94,259.9,98.7,7.8,1097,12557,0.12,0.00,29.80,0.878,6,0.132,0.000,2995,2042,1738,0,0,0,0,0,0
$GC,12895,0.94,260.4,64.5,9.1,1164,12900,0.00,2.92,0.00,0.000,4,0.000,0.093,2995,3538,1733,0,0,0,0,0,0
$GC,12934,0.94,260.4,60.2,10.7,1171,12940,0.00,2.90,0.00,0.000,6,0.000,0.082,3007,2032,1733,0,0,0,0,0,0
$GC,13278,0.94,260.4,22.9,12.8,1232,13284,0.00,2.60,0.00,0.000,4,0.000,0.103,3018,349,1732,0,0,0,0,0,0
$GC,13364,0.88,260.4,12.5,11.0,1247,13370,0.17,2.53,0.00,0.000,6,0.185,0.077,2977,2041,1732,0,0,0,0,0,0
$FREEZE,8.54,-1.765,-1.760,2,2,0
$STATE,13409,end climb,FINISH_DEPTH_REACHED
$STATE,13409,begin subsurface finish
$FINISH1,8.5,1.025781,84
$GC,13416,0.10,83.5,8.5,-8.5,1255,13447,0.85,0.00,-24.80,0.000,6,0.170,0.000,2730,1936,2461,0,0,0,0,0,0
$FINISH2,7.9
$STATE,13448,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13448,begin surface
$RAFOS_CLK,940
$RAFOS,6,1259844545,12.833333,12.818055,131,62,57,0,0,0,760,181,165,0,0,0
$RAFOS,5,1259844062,12.700000,12.683888,59,58,58,0,0,0,202,188,890,0,0,0
$RAFOS,4,1259843581,12.566667,12.550278,99,56,56,0,0,0,670,205,194,0,0,0
$RAFOS,3,1259843104,12.433333,12.417778,128,63,59,0,0,0,759,159,215,0,0,0
$RAFOS,2,1259842622,12.300000,12.283889,90,62,60,0,0,0,662,208,154,0,0,0
$RAFOS,1,1259842143,12.166667,12.150833,177,60,59,0,0,0,558,152,130,0,0,0
$RAFOS,0,1259841665,12.033333,12.018056,154,59,55,0,0,0,667,189,222,0,0,0
$RAFOS_FIX,6645.295898,-5954.522949,031209,121232,6,130,0.27
$IRIDIUM_FIX,6620.33,-5958.37,270299,070748
$TT8_MAMPS,0.029146
$HUMID,50.39
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,16.10
$XPDR_PINGS,8
$ALTIM_TOP_PING,19.9,18.9
$24V_AH,22.5,49.615
$10V_AH,10.1,25.878
$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,7.850,156.675,355.100,0.000,0.000,0.000,0.000,0.000,4.250,0.000,0.000,2192.493,8527.830,455.170,2164.581,176.731,0.000,1577.186,0.000,2142.076,2520.000,16.746,0.000
$DEVICE_MAMPS,237.770,106.613,1205.724,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,934.952,879.556,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152468
$DATA_FILE_SIZE,47281,1261
$CAP_FILE_SIZE,148400,0
$CFSIZE,260165632,231288832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.6
$GPS,031209,122432,6645.296,-5954.523,0,6129.8,0,-38.1