version: 66.06
glider: 143
mission: 10
dive: 276
start: 12 10 109 15 54 5
data:
$ID,143
$MISSION,10
$DIVE,276
$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,-40840.281
$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,14
$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
$GPS1,154136,6701.392,-5649.666,62,1.3,62,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-67.6
$GPS2,155347,6701.304,-5649.644,83,1.9,86,-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,58.2,3358,-16.9,-9.167
$D_GRID,561
$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,-146.0,0.0,0.0,0,133,0.00,0.00,-115.12,0.000,2,0.000,0.000,124,2464,3037,0,0,0,0,0,0
$GC,137,-0.73,-146.0,3.1,-4.4,23,168,11.25,2.50,-10.43,0.000,4,0.297,0.097,2447,859,3399,0,0,0,0,0,0
$GC,226,-0.64,-146.0,17.1,-15.3,39,232,0.12,2.38,0.00,0.000,6,0.224,0.073,2475,2461,3401,0,0,0,0,0,0
$GC,570,-0.73,-146.0,52.5,-7.8,100,576,0.00,3.03,0.00,0.000,4,0.000,0.091,2475,3918,3402,0,0,0,0,0,0
$GC,741,-0.82,-146.0,67.7,-8.5,130,747,0.17,2.90,0.00,0.000,6,0.111,0.067,2417,2462,3402,0,0,0,0,0,0
$GC,1080,-0.76,-146.0,109.2,-11.8,184,1085,0.00,3.03,0.00,0.000,4,0.000,0.091,2417,3923,3401,0,0,0,0,0,0
$GC,1222,-0.71,-146.0,125.9,-11.5,196,1228,0.17,2.90,0.00,0.000,6,0.212,0.067,2457,2457,3400,0,0,0,0,0,0
$GC,1547,-0.81,-146.0,155.3,-8.4,226,1552,0.00,3.05,0.00,0.000,4,0.000,0.090,2457,3922,3399,0,0,0,0,0,0
$GC,1666,-0.91,-146.0,164.9,-7.9,236,1672,0.20,2.85,0.00,0.000,6,0.107,0.065,2390,2480,3399,0,0,0,0,0,0
$GC,1991,-0.80,-146.0,197.9,-10.3,266,1996,0.15,3.00,0.00,0.000,4,0.211,0.088,2424,3922,3399,0,0,0,0,0,0
$GC,2097,-0.80,-146.0,208.1,-9.2,275,2102,0.00,2.85,0.00,0.000,6,0.000,0.064,2424,2486,3399,0,0,0,0,0,0
$GC,2423,-0.80,-146.0,236.0,-8.2,305,2428,0.00,2.97,0.00,0.000,4,0.000,0.087,2424,3927,3399,0,0,0,0,0,0
$GC,2624,-0.80,-146.0,252.9,-8.0,322,2630,0.00,2.83,0.00,0.000,6,0.000,0.064,2424,2496,3399,0,0,0,0,0,0
$GC,2949,-0.80,-146.0,279.2,-8.1,353,2954,0.00,2.92,0.00,0.000,4,0.000,0.087,2424,3920,3400,0,0,1,0,0,0
$GC,3115,-0.80,-146.0,292.9,-8.7,367,3119,0.00,2.80,0.00,0.000,6,0.000,0.063,2424,2507,3400,0,0,0,0,0,0
$GC,3440,-0.80,-146.0,319.5,-7.9,397,3444,0.00,2.92,0.00,0.000,4,0.000,0.085,2424,3924,3400,0,0,0,0,0,0
$GC,3523,-0.80,-146.0,326.3,-8.0,404,3528,0.00,2.80,0.00,0.000,6,0.000,0.062,2424,2510,3400,0,0,0,0,0,0
$GC,3851,-0.80,-146.0,350.7,-7.5,434,3856,0.00,2.92,0.00,0.000,4,0.000,0.085,2424,3925,3401,0,0,0,0,0,0
$GC,4009,-0.80,-146.0,363.3,-8.0,447,4015,0.00,2.78,0.00,0.000,6,0.000,0.062,2424,2531,3401,0,0,0,0,0,0
$GC,4334,-0.80,-146.0,389.0,-7.9,478,4338,0.00,2.90,0.00,0.000,4,0.000,0.084,2424,3925,3401,0,0,0,0,0,0
$GC,4456,-0.80,-146.0,399.4,-8.6,488,4462,0.00,2.78,0.00,0.000,6,0.000,0.061,2424,2532,3402,0,0,0,0,0,0
$GC,4781,-0.80,-146.0,426.4,-7.9,519,4785,0.00,2.90,0.00,0.000,4,0.000,0.084,2424,3925,3402,0,0,0,0,0,0
$GC,4945,-0.80,-146.0,439.6,-8.0,533,4949,0.00,2.75,0.00,0.000,6,0.000,0.061,2425,2551,3402,0,0,0,0,0,0
$GC,5269,-0.80,-146.0,463.8,-6.8,563,5274,0.00,2.85,0.00,0.000,4,0.000,0.084,2424,3918,3403,0,0,0,0,0,0
$GC,5392,-0.80,-146.0,472.6,-7.4,573,5397,0.00,2.72,0.00,0.000,6,0.000,0.060,2424,2558,3402,0,0,0,0,0,0
$GC,5718,-0.80,-146.0,494.9,-7.0,604,5723,0.00,2.85,0.00,0.000,4,0.000,0.083,2425,3919,3403,0,0,0,0,0,0
$GC,5891,-0.80,-146.0,507.1,-6.8,619,5895,0.00,2.72,0.00,0.000,6,0.000,0.060,2424,2558,3403,0,0,0,0,0,0
$GC,6216,-0.92,-146.0,530.8,-7.9,649,6217,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2560,3404,0,0,0,0,0,0
$STATE,6383,end dive,NO_VERTICAL_VELOCITY
$STATE,6383,begin apogee
$GC,6389,-0.16,0.0,530.7,0.0,665,6516,0.70,0.00,120.12,1.065,6,0.137,0.000,2637,1946,2800,0,0,0,0,0,0
$STATE,6517,end apogee,CONTROL_FINISHED_OK
$STATE,6517,begin climb
$GC,6519,0.73,146.0,530.2,0.0,678,6653,0.90,2.45,122.88,1.019,4,0.120,0.087,2925,353,2203,0,0,0,0,0,0
$GC,6691,0.62,146.0,515.7,12.8,694,6698,0.15,2.30,0.00,0.000,6,0.194,0.059,2895,1958,2201,0,0,0,0,0,0
$GC,7016,0.62,146.0,479.7,11.0,725,7021,0.00,3.25,0.00,0.000,4,0.000,0.075,2895,3541,2197,0,0,0,0,0,0
$GC,7101,0.57,146.0,469.9,12.0,732,7107,0.15,3.22,0.00,0.000,6,0.204,0.069,2875,1958,2196,0,0,0,0,0,0
$GC,7425,0.64,146.0,438.0,9.7,762,7430,0.00,3.20,0.00,0.000,4,0.000,0.077,2875,3534,2196,0,0,0,0,0,0
$GC,7543,0.64,146.0,425.3,11.3,772,7548,0.00,3.12,0.00,0.000,6,0.000,0.069,2886,1989,2194,0,0,0,0,0,0
$GC,7867,0.69,146.0,391.1,10.0,802,7872,0.00,3.15,0.00,0.000,4,0.000,0.077,2886,3536,2194,0,0,0,0,0,0
$GC,7963,0.69,146.0,380.8,10.9,810,7968,0.00,3.10,0.00,0.000,6,0.000,0.068,2900,1999,2193,0,0,0,0,0,0
$GC,8287,0.69,146.0,345.3,11.1,840,8292,0.00,3.12,0.00,0.000,4,0.000,0.077,2900,3536,2194,0,0,0,0,0,0
$GC,8376,0.62,146.0,334.4,12.3,847,8381,0.00,3.08,0.00,0.000,6,0.000,0.069,2913,2017,2194,0,0,0,0,0,0
$GC,8700,0.62,146.0,299.4,10.4,878,8705,0.00,3.10,0.00,0.000,4,0.000,0.077,2913,3535,2193,0,0,0,0,0,0
$GC,8755,0.52,146.0,293.3,11.2,882,8761,0.25,3.05,0.00,0.000,6,0.197,0.068,2866,2035,2194,0,0,0,0,0,0
$GC,9080,0.72,200.1,269.7,6.9,913,9132,0.17,3.15,43.22,0.890,4,0.107,0.077,2926,3537,1982,0,0,0,0,0,0
$GC,9204,0.63,200.1,255.5,12.9,924,9211,0.17,3.08,0.00,0.000,6,0.202,0.067,2901,2054,1979,0,0,0,0,0,0
$GC,9529,0.69,200.1,222.8,10.1,955,9534,0.00,3.08,0.00,0.000,4,0.000,0.077,2901,3537,1977,0,0,0,0,0,0
$GC,9556,0.69,200.1,219.9,11.1,957,9561,0.00,3.03,0.00,0.000,6,0.000,0.067,2912,2063,1976,0,0,0,0,0,0
$GC,9882,0.69,200.1,186.0,10.4,987,9887,0.00,3.05,0.00,0.000,4,0.000,0.077,2912,3534,1976,0,0,0,0,0,0
$GC,9903,0.69,200.1,183.4,11.1,988,9909,0.00,3.00,0.00,0.000,6,0.000,0.067,2924,2069,1976,0,0,0,0,0,0
$GC,10228,0.69,200.1,147.4,11.4,1019,10233,0.00,3.05,0.00,0.000,4,0.000,0.076,2924,3541,1975,0,0,0,0,0,0
$GC,10283,0.69,200.1,140.2,13.4,1023,10289,0.00,2.97,0.00,0.000,6,0.000,0.067,2938,2078,1975,0,0,1,0,0,0
$GC,10607,0.69,200.1,100.6,11.9,1054,10612,0.00,3.00,0.00,0.000,4,0.000,0.077,2938,3536,1974,0,0,1,0,0,0
$GC,10686,0.62,200.1,90.4,13.4,1066,10692,0.25,2.95,0.00,0.000,6,0.197,0.067,2889,2099,1975,0,0,0,0,0,0
$GC,11032,0.82,200.1,61.2,9.2,1127,11037,0.20,0.00,0.00,0.000,6,0.100,0.000,2961,2100,1975,0,0,0,0,0,0
$GC,11376,0.77,216.6,26.7,8.5,1188,11397,0.00,3.00,13.62,0.726,4,0.000,0.078,2961,3541,1916,0,0,0,0,0,0
$GC,11466,0.68,216.6,16.6,12.5,1204,11472,0.25,2.95,0.00,0.000,6,0.202,0.068,2914,2111,1914,0,0,0,0,0,0
$FREEZE,8.58,-0.045,-1.830,0,41,0
$FREEZE,8.37,-0.046,-1.830,0,41,0
$FREEZE,7.95,-0.045,-1.829,0,41,0
$FREEZE,7.71,-0.040,-1.829,0,41,0
$FREEZE,7.17,-0.046,-1.829,0,41,0
$FREEZE,6.58,-0.045,-1.828,0,41,0
$FREEZE,5.98,-0.044,-1.828,0,41,0
$FREEZE,5.62,-0.042,-1.828,0,41,0
$FREEZE,4.67,-0.041,-1.827,0,41,0
$FREEZE,3.97,-0.040,-1.826,0,41,0
$FREEZE,3.41,-0.042,-1.826,0,41,0
$FREEZE,2.90,-0.039,-1.826,0,41,0
$FREEZE,2.27,-0.040,-1.825,0,41,0
$FREEZE,1.47,-0.039,-1.825,0,41,0
$STATE,11651,end climb,SURFACE_DEPTH_REACHED
$STATE,11651,begin surface coast
$FREEZE,0.42,-0.045,-1.824,0,41,0
$FREEZE,0.49,-0.088,-1.818,0,41,0
$FREEZE,0.43,-1.230,-0.941,0,41,0
$FINISH,0.4,1.013882
$STATE,11669,end surface coast,CONTROL_FINISHED_OK
$STATE,11669,begin surface
$SM_CCo,11686,164.62,0.723,0,0,1066,425.10
$SM_GC,1.19,0.00,0.00,164.62,0.000,0.000,0.723,122,2465,1066,-8.03,0.14,425.10
$RAFOS_CLK,753
$RAFOS,6,1260463744,16.833334,16.817778,65,60,57,0,0,0,189,118,161,0,0,0
$RAFOS,5,1260463264,16.700001,16.684444,66,59,59,0,0,0,149,191,209,0,0,0
$RAFOS,4,1260462790,16.566668,16.552778,65,63,57,0,0,0,198,148,157,0,0,0
$RAFOS,3,1260462306,16.433332,16.418333,62,59,57,0,0,0,173,204,226,0,0,0
$RAFOS,2,1260461830,16.299999,16.286112,59,53,52,0,0,0,141,162,117,0,0,0
$RAFOS,1,1260461342,16.166666,16.150555,67,59,58,0,0,0,184,171,205,0,0,0
$RAFOS,0,1260460866,16.033333,16.018333,58,57,57,0,0,0,178,198,218,0,0,0
$RAFOS_FIX,6701.185059,-5701.106934,101209,080856,2,79,0.54
$IRIDIUM_FIX,6636.54,-5547.97,060399,151552
$TT8_MAMPS,0.027612
$HUMID,46.25
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.5,18.2
$ALTIM_BOTTOM_PING,350.7,199.8
$24V_AH,22.8,55.115
$10V_AH,10.1,29.215
$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,23.525,147.950,299.850,164.625,0.000,92.752,224.812,72.231,1.750,0.000,87.605,2069.286,7038.740,632.824,2209.231,624.383,0.000,1735.713,0.000,2101.662,2520.000,9.352,0.000
$DEVICE_MAMPS,296.829,97.409,1065.363,723.281,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,911.118,848.359,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152344
$DATA_FILE_SIZE,47319,1240
$CAP_FILE_SIZE,141305,0
$CFSIZE,260165632,226541568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$SOUNDSPEED,1466.6
$GPS,101209,191356,6702.727,-5648.094,71,2.3,90,-37.5