version: 66.06
glider: 143
mission: 10
dive: 275
start: 12 10 109 12 10 49
data:
$ID,143
$MISSION,10
$DIVE,275
$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,425
$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,-40752.047
$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,16
$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
$GPS1,115536,6701.454,-5652.514,33,1.6,38,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-55.2
$GPS2,115536,6701.454,-5652.514,181,99.0,181,-37.5
$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,86.2,4339,-16.9,-9.167
$D_GRID,590
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.73,-146.0,0.0,0.0,0,130,0.00,0.00,-110.62,0.000,2,0.000,0.000,128,2468,2937,0,0,0,0,0,0
$GC,133,-0.73,-146.0,3.3,-7.1,22,165,11.05,2.42,-13.45,0.000,4,0.293,0.103,2445,869,3399,0,0,0,0,0,0
$GC,351,-0.67,-146.0,34.0,-15.0,61,357,0.00,2.35,0.00,0.000,6,0.000,0.076,2445,2464,3401,0,0,0,0,0,0
$GC,694,-0.67,-146.0,75.5,-11.0,122,700,0.00,3.05,0.00,0.000,4,0.000,0.092,2445,3925,3402,0,0,1,0,0,0
$GC,890,-0.67,-146.0,95.8,-12.0,157,896,0.00,2.92,0.00,0.000,6,0.000,0.068,2445,2453,3402,0,0,0,0,0,0
$GC,1224,-0.72,-146.0,126.5,-10.0,192,1229,0.00,3.08,0.00,0.000,4,0.000,0.092,2445,3919,3400,0,0,1,0,0,0
$GC,1361,-0.79,-146.0,140.5,-10.4,203,1366,0.00,2.90,0.00,0.000,6,0.000,0.068,2445,2480,3400,0,0,0,0,0,0
$GC,1688,-0.84,-146.0,171.1,-8.6,234,1693,0.00,3.03,0.00,0.000,4,0.000,0.090,2445,3920,3400,0,0,0,0,0,0
$GC,1867,-0.92,-146.0,187.1,-8.8,249,1873,0.17,2.85,0.00,0.000,6,0.116,0.067,2389,2510,3400,0,0,0,0,0,0
$GC,2192,-0.80,-146.0,222.8,-11.1,280,2198,0.17,2.97,0.00,0.000,4,0.211,0.088,2428,3924,3399,0,0,1,0,0,0
$GC,2337,-0.80,-146.0,237.9,-10.6,292,2344,0.00,2.83,0.00,0.000,6,0.000,0.065,2428,2520,3400,0,0,0,0,0,0
$GC,2664,-0.80,-146.0,268.0,-8.4,323,2669,0.00,2.95,0.00,0.000,4,0.000,0.089,2428,3923,3400,0,0,0,0,0,0
$GC,2810,-0.80,-146.0,281.2,-9.0,335,2816,0.00,2.80,0.00,0.000,6,0.000,0.065,2427,2528,3400,0,0,1,0,0,0
$GC,3134,-0.80,-146.0,306.8,-7.6,366,3139,0.00,2.90,0.00,0.000,4,0.000,0.087,2428,3918,3400,0,0,1,0,0,0
$GC,3301,-0.80,-146.0,319.8,-7.8,380,3307,0.00,2.80,0.00,0.000,6,0.000,0.064,2427,2534,3400,0,0,0,0,0,0
$GC,3628,-0.80,-146.0,344.8,-7.8,411,3633,0.00,2.90,0.00,0.000,4,0.000,0.086,2428,3919,3400,0,0,1,0,0,0
$GC,3784,-0.80,-146.0,358.0,-8.7,424,3790,0.00,2.78,0.00,0.000,6,0.000,0.063,2427,2544,3400,0,0,0,0,0,0
$GC,4109,-0.80,-146.0,386.1,-9.4,455,4114,0.00,2.88,0.00,0.000,4,0.000,0.085,2428,3918,3402,0,0,1,0,0,0
$GC,4319,-0.84,-146.0,406.0,-9.2,473,4324,0.00,2.72,0.00,0.000,6,0.000,0.062,2428,2561,3402,0,0,1,0,0,0
$GC,4643,-0.84,-146.0,435.2,-9.1,503,4648,0.00,2.85,0.00,0.000,4,0.000,0.084,2428,3923,3403,0,0,1,0,0,0
$GC,4784,-0.90,-146.0,448.2,-9.3,515,4789,0.00,2.75,0.00,0.000,6,0.000,0.061,2428,2565,3402,0,0,0,0,0,0
$GC,5109,-0.95,-146.0,475.9,-7.9,545,5115,0.12,2.85,0.00,0.000,4,0.116,0.081,2369,3918,3403,0,0,1,0,0,0
$GC,5245,-0.80,-146.0,490.7,-11.2,556,5251,0.25,2.72,0.00,0.000,6,0.206,0.060,2428,2572,3404,0,0,0,0,0,0
$GC,5570,-0.85,-146.0,517.1,-9.0,587,5574,0.00,2.85,0.00,0.000,4,0.000,0.084,2428,3927,3404,0,0,1,0,0,0
$GC,5694,-0.92,-146.0,528.0,-8.8,597,5700,0.12,2.70,0.00,0.000,6,0.121,0.061,2388,2591,3405,0,0,1,0,0,0
$GC,6018,-0.84,-146.0,560.2,-10.2,628,6023,0.00,2.83,0.00,0.000,4,0.000,0.084,2388,3930,3405,0,0,1,0,0,0
$GC,6152,-0.76,-146.0,573.5,-10.3,639,6159,0.22,2.67,0.00,0.000,6,0.203,0.061,2441,2607,3405,0,0,1,0,0,0
$STATE,6379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6381,begin apogee
$GC,6386,-0.16,0.0,590.6,7.6,661,6513,0.65,0.00,121.38,1.112,6,0.176,0.000,2627,1948,2800,0,0,0,0,0,0
$STATE,6513,end apogee,CONTROL_FINISHED_OK
$STATE,6513,begin climb
$GC,6515,0.73,146.0,593.5,0.0,674,6649,0.98,2.40,124.88,1.063,4,0.135,0.089,2926,364,2203,0,0,0,0,0,0
$GC,6711,0.62,146.0,576.7,12.4,692,6717,0.17,2.28,0.00,0.000,6,0.199,0.061,2890,1962,2199,0,0,0,0,0,0
$GC,7037,0.62,146.0,544.5,10.0,723,7042,0.00,3.25,0.00,0.000,4,0.000,0.077,2890,3532,2197,0,0,0,0,0,0
$GC,7173,0.57,146.0,529.5,11.8,734,7179,0.00,3.20,0.00,0.000,6,0.000,0.070,2901,1975,2194,0,0,0,0,0,0
$GC,7498,0.57,146.0,494.7,10.6,765,7503,0.00,3.20,0.00,0.000,4,0.000,0.078,2902,3533,2194,0,0,0,0,0,0
$GC,7553,0.49,146.0,488.4,11.9,769,7560,0.28,3.15,0.00,0.000,6,0.204,0.070,2849,1965,2193,0,0,1,0,0,0
$GC,7878,0.68,162.7,462.7,8.5,800,7900,0.17,3.22,13.45,0.957,4,0.107,0.078,2910,3541,2136,0,0,0,0,0,0
$GC,7981,0.59,162.7,450.5,12.9,809,7987,0.17,3.15,0.00,0.000,6,0.204,0.071,2884,1992,2134,0,0,0,0,0,0
$GC,8305,0.65,162.7,416.7,10.0,839,8310,0.00,3.17,0.00,0.000,4,0.000,0.078,2884,3542,2134,0,0,0,0,0,0
$GC,8378,0.65,162.7,408.7,11.8,845,8383,0.00,3.12,0.00,0.000,6,0.000,0.071,2895,1996,2132,0,0,0,0,0,0
$GC,8702,0.65,162.7,375.2,10.6,875,8707,0.00,3.12,0.00,0.000,4,0.000,0.079,2895,3536,2132,0,0,1,0,0,0
$GC,8764,0.65,162.7,368.2,11.4,880,8769,0.00,3.10,0.00,0.000,6,0.000,0.071,2909,2002,2132,0,0,0,0,0,0
$GC,9088,0.65,162.7,331.5,11.6,910,9093,0.00,3.12,0.00,0.000,4,0.000,0.077,2909,3535,2132,0,0,0,0,0,0
$GC,9161,0.58,162.7,321.9,13.7,916,9167,0.17,3.05,0.00,0.000,6,0.202,0.070,2882,2027,2132,0,0,0,0,0,0
$GC,9486,0.66,162.7,287.4,10.6,946,9491,0.00,3.08,0.00,0.000,4,0.000,0.077,2882,3534,2132,0,0,0,0,0,0
$GC,9559,0.66,162.7,279.1,11.5,952,9564,0.00,3.03,0.00,0.000,6,0.000,0.069,2893,2046,2132,0,0,0,0,0,0
$GC,9883,0.71,162.7,247.8,9.3,982,9888,0.00,3.08,0.00,0.000,4,0.000,0.077,2893,3538,2132,0,0,0,0,0,0
$GC,9979,0.71,162.7,238.1,9.9,990,9984,0.00,3.03,0.00,0.000,6,0.000,0.068,2906,2051,2132,0,0,0,0,0,0
$GC,10303,0.73,176.3,207.9,8.6,1020,10324,0.00,3.08,12.40,0.815,4,0.000,0.078,2906,3529,2080,0,0,0,0,0,0
$GC,10397,0.73,176.3,198.8,10.1,1028,10403,0.00,3.00,0.00,0.000,6,0.000,0.069,2919,2063,2078,0,0,0,0,0,0
$GC,10721,0.73,176.3,166.0,10.8,1059,10726,0.00,3.05,0.00,0.000,4,0.000,0.077,2919,3541,2078,0,0,0,0,0,0
$GC,10754,0.68,176.3,162.3,12.1,1061,10760,0.00,3.00,0.00,0.000,6,0.000,0.068,2932,2072,2078,0,0,0,0,0,0
$GC,11078,0.68,176.3,127.2,10.6,1092,11082,0.00,2.38,0.00,0.000,4,0.000,0.088,2943,356,2078,0,0,0,0,0,0
$GC,11117,0.61,176.3,123.2,10.5,1095,11122,0.22,2.28,0.00,0.000,6,0.198,0.062,2889,2065,2078,0,0,0,0,0,0
$GC,11445,0.78,201.4,96.2,8.1,1129,11476,0.15,3.10,21.30,0.789,4,0.112,0.077,2941,3542,1978,0,0,0,0,0,0
$GC,11561,0.71,201.4,83.8,11.0,1150,11567,0.15,3.03,0.00,0.000,6,0.206,0.069,2922,2071,1976,0,0,0,0,0,0
$GC,11906,0.83,226.8,52.5,8.1,1211,11938,0.12,3.12,21.62,0.762,4,0.124,0.079,2963,3539,1874,0,0,0,0,0,0
$GC,12001,0.74,226.8,40.6,13.4,1228,12007,0.20,3.00,0.00,0.000,6,0.202,0.070,2930,2082,1872,0,0,0,0,0,0
$FREEZE,8.60,-0.027,-1.830,0,40,2
$FREEZE,7.95,-0.029,-1.829,0,40,2
$FREEZE,7.22,-0.027,-1.829,0,40,2
$FREEZE,6.55,-0.028,-1.828,0,40,2
$FREEZE,6.18,-0.030,-1.828,0,40,2
$FREEZE,5.59,-0.033,-1.827,0,40,2
$FREEZE,5.27,-0.034,-1.827,0,40,2
$FREEZE,4.87,-0.035,-1.827,0,40,2
$FREEZE,4.08,-0.028,-1.826,0,40,2
$FREEZE,3.34,-0.023,-1.826,0,40,2
$GC,12346,0.74,226.8,3.3,9.9,1289,12351,0.00,2.42,0.00,0.000,4,0.000,0.091,2939,359,1868,0,0,0,0,0,0
$FREEZE,1.11,-0.023,-1.824,0,40,2
$STATE,12356,end climb,SURFACE_DEPTH_REACHED
$STATE,12356,begin surface coast
$FREEZE,0.41,-0.065,-1.248,0,40,2
$FINISH,0.4,1.018434
$STATE,12363,end surface coast,CONTROL_FINISHED_OK
$STATE,12363,begin surface
$SM_CCo,12382,156.65,0.727,0,0,1066,425.10
$SM_GC,1.15,0.00,0.00,156.65,0.000,0.000,0.727,124,2461,1066,-8.02,0.03,425.10
$RAFOS_CLK,816
$RAFOS,6,1260449341,12.833333,12.816944,67,62,60,0,0,0,209,199,122,0,0,0
$RAFOS,5,1260448864,12.700000,12.684444,99,58,58,0,0,0,658,199,177,0,0,0
$RAFOS,4,1260448383,12.566667,12.550834,61,59,55,0,0,0,212,199,117,0,0,0
$RAFOS,3,1260447904,12.433333,12.417778,63,61,57,0,0,0,209,133,164,0,0,0
$RAFOS,2,1260447426,12.300000,12.285000,65,59,57,0,0,0,166,187,198,0,0,0
$RAFOS_FIX,6701.185059,-5701.106934,101209,080856,2,79,0.54
$IRIDIUM_FIX,6636.54,-5655.33,060399,121200
$TT8_MAMPS,0.027612
$HUMID,46.14
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.5,19.2
$ALTIM_BOTTOM_PING,500.5,107.5
$24V_AH,22.7,54.976
$10V_AH,10.1,29.137
$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,23.850,163.650,315.025,156.650,0.000,79.891,159.209,144.918,3.000,0.000,183.216,2165.086,7482.939,650.950,2423.725,709.643,0.000,1811.955,0.000,2209.667,1800.000,20.252,0.000
$DEVICE_MAMPS,292.994,102.778,1112.150,727.116,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,942.959,885.850,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152380
$DATA_FILE_SIZE,50463,1292
$CAP_FILE_SIZE,153088,0
$CFSIZE,260165632,226627584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$SOUNDSPEED,1465.8
$GPS,101209,154136,6701.392,-5649.666,62,1.3,62,-37.5