version: 66.06
glider: 143
mission: 10
dive: 316
start: 12 15 109 19 6 1
data:
$ID,143
$MISSION,10
$DIVE,316
$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,-41950.805
$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,16
$R_STBD_OVSHOOT,17
$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
$GPS1,185537,6708.969,-5709.691,35,0.9,35,-37.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-66.4
$GPS2,190543,6709.010,-5709.622,10,1.0,15,-37.8
$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,163.3,19175,-16.9,-9.167
$D_GRID,563
$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,-146.0,0.0,0.0,0,145,0.00,0.00,-125.45,0.000,2,0.000,0.000,127,2460,3182,0,0,0,0,0,0
$GC,148,-0.73,-146.0,3.5,-6.8,25,174,11.38,3.33,-5.43,0.000,4,0.298,0.097,2443,3916,3399,0,0,3,0,0,0
$GC,270,-0.73,-146.0,23.2,-11.2,47,275,0.00,3.10,0.00,0.000,6,0.000,0.064,2443,2460,3401,0,0,3,0,0,0
$GC,613,-0.73,-146.0,59.8,-10.0,108,619,0.00,3.25,0.00,0.000,4,0.000,0.087,2443,3918,3401,0,0,3,0,0,0
$GC,872,-0.73,-146.0,84.2,-9.4,154,878,0.00,3.03,0.00,0.000,6,0.000,0.065,2444,2505,3401,0,0,3,0,0,0
$GC,1212,-0.73,-146.0,116.1,-9.4,200,1217,0.00,3.17,0.00,0.000,4,0.000,0.089,2443,3922,3400,0,0,3,0,0,0
$GC,1469,-0.79,-146.0,137.6,-7.6,222,1475,0.00,2.95,0.00,0.000,6,0.000,0.065,2444,2544,3399,0,0,3,0,0,0
$GC,1794,-0.87,-146.0,162.9,-7.7,253,1799,0.00,3.10,0.00,0.000,4,0.000,0.087,2444,3917,3398,0,0,2,0,0,0
$GC,2053,-0.95,-146.0,183.5,-8.0,275,2059,0.17,2.88,0.00,0.000,6,0.110,0.063,2386,2576,3398,0,0,3,0,0,0
$GC,2377,-0.85,-146.0,216.4,-9.6,306,2383,0.12,3.03,0.00,0.000,4,0.209,0.084,2413,3917,3397,0,0,3,0,0,0
$GC,2574,-0.85,-146.0,232.6,-8.0,323,2579,0.00,2.83,0.00,0.000,6,0.000,0.061,2413,2600,3397,0,0,2,0,0,0
$GC,2898,-0.85,-146.0,261.7,-9.4,353,2903,0.00,2.95,0.00,0.000,4,0.000,0.083,2413,3927,3398,0,0,3,0,0,0
$GC,3117,-0.85,-146.0,281.7,-9.2,372,3121,0.00,2.80,0.00,0.000,6,0.000,0.060,2413,2628,3399,0,0,2,0,0,0
$GC,3441,-0.85,-146.0,308.8,-8.5,402,3446,0.00,2.90,0.00,0.000,4,0.000,0.082,2413,3917,3401,0,0,2,0,0,0
$GC,3582,-0.85,-146.0,321.1,-9.2,414,3587,0.00,2.75,0.00,0.000,6,0.000,0.058,2413,2636,3400,0,0,2,0,0,0
$GC,3907,-0.85,-146.0,347.6,-7.5,444,3912,0.00,2.88,0.00,0.000,4,0.000,0.081,2413,3917,3401,0,0,2,0,0,0
$GC,4018,-0.85,-146.0,356.0,-7.6,453,4024,0.00,2.72,0.00,0.000,6,0.000,0.058,2413,2651,3401,0,0,2,0,0,0
$GC,4344,-0.85,-146.0,379.1,-7.4,484,4349,0.00,2.88,0.00,0.000,4,0.000,0.081,2413,3928,3403,0,0,2,0,0,0
$GC,4486,-0.85,-146.0,390.1,-7.5,496,4490,0.00,2.70,0.00,0.000,6,0.000,0.058,2413,2668,3403,0,0,3,0,0,0
$GC,4811,-0.85,-146.0,417.2,-8.7,526,4816,0.00,2.85,0.00,0.000,4,0.000,0.081,2413,3927,3403,0,0,2,0,0,0
$GC,5052,-0.85,-146.0,439.8,-9.7,547,5056,0.00,2.65,0.00,0.000,6,0.000,0.058,2413,2707,3404,0,0,2,0,0,0
$GC,5376,-0.85,-146.0,468.6,-8.8,577,5381,0.00,2.78,0.00,0.000,4,0.000,0.081,2413,3924,3404,0,0,3,0,0,0
$GC,5533,-0.85,-146.0,482.5,-8.5,590,5539,0.00,2.60,0.00,0.000,6,0.000,0.057,2413,2731,3403,0,0,2,0,0,0
$GC,5859,-0.85,-146.0,506.6,-7.4,621,5864,0.00,2.72,0.00,0.000,4,0.000,0.081,2413,3916,3404,0,0,2,0,0,0
$GC,5966,-0.85,-146.0,514.3,-7.1,630,5970,0.00,2.58,0.00,0.000,6,0.000,0.057,2413,2739,3404,0,0,2,0,0,0
$GC,6290,-0.85,-146.0,535.9,-6.2,660,6295,0.00,2.72,0.00,0.000,4,0.000,0.081,2413,3922,3404,0,0,2,0,0,0
$GC,6368,-0.85,-146.0,541.0,-6.5,666,6373,0.00,2.58,0.00,0.000,6,0.000,0.056,2413,2744,3404,0,0,2,0,0,0
$GC,6694,-0.85,-146.0,562.2,-6.7,697,6698,0.00,2.72,0.00,0.000,4,0.000,0.081,2413,3928,3404,0,0,2,0,0,0
$STATE,6701,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6701,begin apogee
$GC,6711,-0.16,0.0,563.1,6.7,697,6837,0.77,0.00,121.90,1.081,6,0.177,0.000,2628,1932,2800,0,0,0,0,0,0
$STATE,6838,end apogee,CONTROL_FINISHED_OK
$STATE,6838,begin climb
$GC,6840,0.73,146.0,564.4,0.0,710,6974,0.95,2.12,124.28,1.031,4,0.127,0.083,2924,367,2204,0,0,0,0,0,0
$GC,7013,0.65,146.0,547.7,12.9,726,7019,0.00,2.10,0.00,0.000,6,0.000,0.057,2924,1973,2201,0,0,0,0,0,0
$GC,7338,0.58,146.0,505.1,13.1,757,7344,0.17,3.38,0.00,0.000,4,0.202,0.073,2881,3531,2196,0,0,4,0,0,0
$GC,7457,0.58,146.0,490.7,11.7,767,7463,0.00,3.40,0.00,0.000,6,0.000,0.067,2893,1955,2194,0,0,2,0,0,0
$GC,7781,0.58,146.0,455.2,10.7,797,7786,0.00,3.40,0.00,0.000,4,0.000,0.075,2893,3536,2194,0,0,3,0,0,0
$GC,7876,0.58,146.0,443.7,12.0,805,7882,0.12,3.35,0.00,0.000,6,0.210,0.067,2882,1979,2193,0,0,2,0,0,0
$GC,8201,0.65,146.0,411.3,10.2,835,8206,0.00,3.35,0.00,0.000,4,0.000,0.075,2882,3527,2193,0,0,2,0,0,0
$GC,8325,0.65,146.0,397.6,11.8,845,8331,0.00,3.33,0.00,0.000,6,0.000,0.067,2895,1990,2193,0,0,1,0,0,0
$GC,8649,0.65,146.0,362.3,10.8,876,8654,0.00,3.35,0.00,0.000,4,0.000,0.075,2895,3527,2193,0,0,1,0,0,0
$GC,8760,0.65,146.0,349.4,11.9,885,8766,0.00,3.28,0.00,0.000,6,0.000,0.067,2910,2007,2193,0,0,2,0,0,0
$GC,9085,0.65,147.8,317.0,9.1,916,9090,0.00,3.33,0.00,0.000,4,0.000,0.074,2910,3533,2193,0,0,2,0,0,0
$GC,9181,0.57,147.8,307.3,9.9,924,9187,0.20,3.30,0.00,0.000,6,0.202,0.067,2878,2014,2193,0,0,1,0,0,0
$GC,9506,0.71,190.4,282.1,7.4,954,9551,0.12,3.35,35.78,0.895,4,0.120,0.074,2921,3526,2021,0,0,2,0,0,0
$GC,9646,0.65,190.4,267.1,11.5,967,9652,0.15,3.33,0.00,0.000,6,0.204,0.067,2903,2027,2016,0,0,1,0,0,0
$GC,9970,0.70,190.4,235.6,10.4,997,9976,0.00,3.30,0.00,0.000,4,0.000,0.074,2903,3528,2015,0,0,2,0,0,0
$GC,10066,0.70,190.4,224.6,11.3,1005,10071,0.00,3.25,0.00,0.000,6,0.000,0.067,2914,2050,2014,0,0,1,0,0,0
$GC,10390,0.70,190.4,186.9,11.6,1035,10395,0.00,3.28,0.00,0.000,4,0.000,0.074,2915,3536,2014,0,0,2,0,0,0
$GC,10478,0.70,190.4,176.0,12.0,1042,10484,0.00,3.25,0.00,0.000,6,0.000,0.067,2929,2053,2014,0,0,1,0,0,0
$GC,10803,0.70,190.4,138.6,10.7,1073,10808,0.00,3.22,0.00,0.000,4,0.000,0.074,2930,3527,2014,0,0,3,0,0,0
$GC,10887,0.70,190.4,129.1,11.5,1080,10892,0.00,3.17,0.00,0.000,6,0.000,0.066,2943,2071,2014,0,0,2,0,0,0
$GC,11215,0.70,190.4,90.3,12.9,1117,11221,0.00,3.22,0.00,0.000,4,0.000,0.074,2944,3528,2014,0,0,1,0,0,0
$GC,11272,0.65,190.4,82.9,13.6,1127,11278,0.22,3.15,0.00,0.000,6,0.196,0.065,2904,2089,2014,0,0,2,0,0,0
$GC,11618,0.88,244.6,52.6,6.9,1188,11670,0.20,3.28,44.08,0.751,4,0.101,0.075,2974,3528,1801,0,0,1,0,0,0
$GC,11776,0.81,244.6,34.4,12.6,1217,11783,0.15,3.20,0.00,0.000,6,0.200,0.067,2955,2102,1796,0,0,1,0,0,0
$FREEZE,8.65,-0.447,-1.829,0,1,0
$FREEZE,8.01,-0.462,-1.828,0,1,0
$FREEZE,7.42,-0.466,-1.828,0,1,0
$FREEZE,6.68,-0.468,-1.827,0,1,0
$FREEZE,5.90,-0.481,-1.826,0,1,0
$FREEZE,5.12,-0.482,-1.826,0,1,0
$FREEZE,4.39,-0.471,-1.825,0,1,0
$FREEZE,3.72,-0.477,-1.825,0,1,0
$FREEZE,3.13,-0.478,-1.824,0,1,0
$FREEZE,2.39,-0.483,-1.823,0,1,0
$FREEZE,1.85,-0.477,-1.823,0,1,0
$STATE,12079,end climb,SURFACE_DEPTH_REACHED
$STATE,12079,begin surface coast
$FREEZE,1.08,-0.470,-1.822,0,1,0
$FREEZE,0.34,-0.446,-1.820,0,1,0
$FREEZE,0.29,-0.571,-0.122,0,1,0
$FINISH,0.3,1.001605
$STATE,12097,end surface coast,CONTROL_FINISHED_OK
$STATE,12097,begin surface
$SM_CCo,12115,104.82,0.714,0,0,1066,425.10
$SM_GC,1.17,0.00,0.00,104.82,0.000,0.000,0.714,124,2453,1066,-8.02,-0.20,425.10
$RAFOS_CLK,761
$RAFOS,6,1260910143,20.833334,20.817499,91,69,59,0,0,0,788,184,169,0,0,0
$RAFOS,5,1260909668,20.700001,20.685556,83,64,61,0,0,0,605,195,224,0,0,0
$RAFOS,4,1260909186,20.566668,20.551666,64,59,59,0,0,0,178,220,238,0,0,0
$RAFOS,3,1260908705,20.433332,20.418056,59,59,56,0,0,0,200,211,185,0,0,0
$RAFOS,2,1260908227,20.299999,20.285278,68,54,53,0,0,0,206,119,149,0,0,0
$RAFOS,1,1260907749,20.166666,20.152500,64,63,60,0,0,0,989,190,141,0,0,0
$RAFOS,0,1260907262,20.033333,20.017221,74,59,59,0,0,0,178,161,208,0,0,0
$RAFOS_FIX,6708.132324,-5713.788574,151209,202012,3,79,0.64
$IRIDIUM_FIX,6641.98,-5713.89,110399,191918
$TT8_MAMPS,0.027612
$HUMID,46.45
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,19.7
$ALTIM_BOTTOM_PING,450.7,140.4
$24V_AH,22.6,60.639
$10V_AH,10.1,32.007
$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,23.075,158.725,326.025,104.825,0.000,61.487,74.015,274.211,2.250,0.000,17.948,2125.269,7193.815,597.979,2274.287,637.234,0.000,1760.342,0.000,2230.007,2520.000,15.795,0.000
$DEVICE_MAMPS,297.596,97.409,1080.703,714.077,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,936.066,869.131,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152604
$DATA_FILE_SIZE,50430,1274
$CAP_FILE_SIZE,149681,0
$CFSIZE,260165632,225427456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,105,0,0
$SOUNDSPEED,1467.8
$GPS,151209,223107,6708.731,-5707.870,28,1.6,28,-37.8