version: 66.06
glider: 143
mission: 10
dive: 335
start: 12 18 109 10 15 20
data:
$ID,143
$MISSION,10
$DIVE,335
$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,-42257.414
$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,31
$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
$GPS1,100937,6707.311,-5704.733,24,1.7,24,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-65.4
$GPS2,101502,6707.316,-5704.755,12,1.8,12,-37.7
$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,161.2,14502,-16.9,-9.167
$D_GRID,551
$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,-115.15,0.000,2,0.000,0.000,125,2468,3165,0,0,0,0,0,0
$GC,136,-0.73,-146.0,3.2,-4.6,23,163,11.15,2.30,-6.15,0.000,4,0.291,0.097,2444,854,3398,0,0,0,0,0,0
$GC,169,0.47,-146.0,11.5,-22.8,29,176,1.42,2.12,0.00,0.000,6,0.180,0.067,2837,2446,3400,0,0,0,0,0,0
$GC,515,-0.60,-146.0,31.5,-6.0,90,521,1.02,2.17,0.00,0.000,4,0.109,0.081,2501,861,3401,0,0,0,0,0,0
$GC,647,-0.74,-146.0,42.4,-9.1,113,653,0.15,2.38,0.00,0.000,6,0.110,0.067,2448,2584,3401,0,0,0,0,0,0
$GC,990,-0.74,-146.0,78.6,-9.7,174,996,0.00,3.05,0.00,0.000,4,0.000,0.087,2447,3922,3400,0,0,4,0,0,0
$GC,1250,-0.79,-146.0,105.1,-11.1,216,1254,0.00,2.88,0.00,0.000,6,0.000,0.064,2447,2614,3400,0,0,3,0,0,0
$GC,1574,-0.85,-146.0,137.4,-10.4,246,1579,0.00,3.00,0.00,0.000,4,0.000,0.087,2448,3924,3398,0,0,4,0,0,0
$GC,1832,-0.95,-146.0,163.6,-8.4,268,1839,0.20,2.83,0.00,0.000,6,0.102,0.062,2375,2632,3398,0,0,3,0,0,0
$GC,2157,-0.82,-146.0,198.6,-10.9,299,2162,0.20,2.97,0.00,0.000,4,0.205,0.083,2413,3929,3396,0,0,3,0,0,0
$GC,2219,-0.82,-146.0,204.7,-9.2,304,2224,0.00,2.80,0.00,0.000,6,0.000,0.061,2413,2644,3397,0,0,3,0,0,0
$GC,2543,-0.82,-146.0,235.0,-9.2,334,2548,0.00,2.92,0.00,0.000,4,0.000,0.084,2413,3920,3397,0,0,4,0,0,0
$GC,2662,-0.82,-146.0,245.6,-8.9,344,2666,0.00,2.78,0.00,0.000,6,0.000,0.059,2413,2650,3397,0,0,3,0,0,0
$GC,2986,-0.82,-146.0,272.6,-7.9,374,2991,0.00,2.90,0.00,0.000,4,0.000,0.082,2413,3923,3397,0,0,4,0,0,0
$GC,3155,-0.82,-146.0,286.6,-8.8,388,3160,0.00,2.72,0.00,0.000,6,0.000,0.058,2413,2683,3397,0,0,3,0,0,0
$GC,3479,-0.82,-146.0,312.8,-8.3,419,3484,0.00,2.85,0.00,0.000,4,0.000,0.081,2413,3918,3398,0,0,3,0,0,0
$GC,3602,-0.82,-146.0,323.3,-8.3,429,3608,0.00,2.70,0.00,0.000,6,0.000,0.057,2413,2702,3398,0,0,2,0,0,0
$GC,3926,-0.82,-146.0,349.5,-8.2,460,3931,0.00,2.83,0.00,0.000,4,0.000,0.081,2413,3923,3399,0,0,3,0,0,0
$GC,4071,-0.82,-146.0,362.2,-8.9,472,4077,0.00,2.67,0.00,0.000,6,0.000,0.056,2413,2710,3399,0,0,3,0,0,0
$GC,4396,-0.82,-146.0,389.4,-8.4,503,4401,0.00,2.80,0.00,0.000,4,0.000,0.080,2413,3918,3400,0,0,3,0,0,0
$GC,4552,-0.82,-146.0,402.1,-8.4,516,4557,0.00,2.62,0.00,0.000,6,0.000,0.055,2413,2735,3400,0,0,3,0,0,0
$GC,4876,-0.82,-146.0,426.7,-7.8,547,4881,0.00,2.78,0.00,0.000,4,0.000,0.080,2413,3926,3400,0,0,3,0,0,0
$GC,5038,-0.82,-146.0,440.1,-8.0,561,5043,0.00,2.58,0.00,0.000,6,0.000,0.055,2413,2760,3401,0,0,3,0,0,0
$GC,5363,-0.82,-146.0,464.6,-7.3,591,5367,0.00,2.72,0.00,0.000,4,0.000,0.080,2413,3921,3401,0,0,2,0,0,0
$GC,5498,-0.82,-146.0,474.8,-7.3,602,5503,0.00,2.53,0.00,0.000,6,0.000,0.055,2413,2775,3402,0,0,3,0,0,0
$GC,5824,-0.82,-146.0,500.7,-8.6,633,5829,0.00,2.67,0.00,0.000,4,0.000,0.080,2413,3923,3402,0,0,3,0,0,0
$GC,5919,-0.82,-146.0,509.3,-9.0,641,5924,0.00,2.50,0.00,0.000,6,0.000,0.054,2413,2783,3402,0,0,3,0,0,0
$GC,6244,-0.82,-146.0,536.2,-7.6,671,6248,0.00,2.62,0.00,0.000,4,0.000,0.080,2413,3917,3402,0,0,4,0,0,0
$GC,6332,-0.82,-146.0,543.3,-8.5,678,6338,0.00,2.50,0.00,0.000,6,0.000,0.055,2413,2789,3402,0,0,3,0,0,0
$STATE,6442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6442,begin apogee
$GC,6449,-0.16,0.0,551.7,8.2,689,6576,0.77,0.00,121.65,1.070,6,0.181,0.000,2627,1944,2800,0,0,0,0,0,0
$STATE,6576,end apogee,CONTROL_FINISHED_OK
$STATE,6577,begin climb
$GC,6578,0.73,146.0,553.2,0.0,702,6716,0.95,3.83,124.93,1.023,4,0.120,0.069,2918,3540,2201,0,0,4,0,0,0
$GC,6727,0.62,146.0,541.9,12.9,716,6734,0.20,3.72,0.00,0.000,6,0.198,0.064,2892,1955,2199,0,0,5,0,0,0
$GC,7052,0.62,146.0,506.0,10.8,747,7057,0.00,3.55,0.00,0.000,4,0.000,0.072,2892,3552,2195,0,0,4,0,0,0
$GC,7181,0.62,146.0,490.7,12.0,758,7186,0.00,3.55,0.00,0.000,6,0.000,0.066,2906,1951,2193,0,0,1,0,0,0
$GC,7505,0.62,146.0,454.6,11.2,788,7511,0.00,3.50,0.00,0.000,4,0.000,0.074,2906,3549,2193,0,0,4,0,0,0
$GC,7612,0.53,146.0,441.6,12.5,797,7619,0.22,3.47,0.00,0.000,6,0.196,0.066,2868,1970,2193,0,0,2,0,0,0
$GC,7937,0.63,146.0,411.0,9.6,827,7942,0.00,3.47,0.00,0.000,4,0.000,0.073,2868,3547,2192,0,0,3,0,0,0
$GC,8084,0.63,146.0,395.5,11.0,839,8090,0.00,3.42,0.00,0.000,6,0.000,0.065,2881,1987,2192,0,0,2,0,0,0
$GC,8408,0.71,146.0,363.6,9.8,870,8414,0.10,3.42,0.00,0.000,4,0.121,0.074,2921,3548,2192,0,0,4,0,0,0
$GC,8545,0.59,146.0,346.6,13.5,881,8551,0.20,3.42,0.00,0.000,6,0.202,0.066,2888,2009,2192,0,0,1,0,0,0
$GC,8868,0.59,146.0,314.7,9.4,912,8874,0.00,3.40,0.00,0.000,4,0.000,0.073,2887,3549,2192,0,0,4,0,0,0
$GC,9010,0.59,146.0,299.5,10.8,924,9015,0.00,3.40,0.00,0.000,6,0.000,0.065,2901,2026,2192,0,0,1,0,0,0
$GC,9334,0.59,146.0,266.0,10.1,954,9339,0.00,3.40,0.00,0.000,4,0.000,0.074,2901,3550,2192,0,0,3,0,0,0
$GC,9435,0.54,146.0,255.2,11.1,962,9442,0.20,3.35,0.00,0.000,6,0.196,0.065,2869,2049,2192,0,0,2,0,0,0
$GC,9761,0.68,157.9,228.4,8.7,993,9777,0.12,3.38,9.25,0.777,4,0.120,0.073,2912,3547,2155,0,0,2,0,0,0
$GC,9917,0.63,157.9,209.5,12.0,1006,9923,0.12,3.30,0.00,0.000,6,0.204,0.065,2901,2075,2154,0,0,2,0,0,0
$GC,10241,0.63,157.9,173.4,11.3,1037,10246,0.00,3.33,0.00,0.000,4,0.000,0.073,2901,3548,2155,0,0,3,0,0,0
$GC,10376,0.63,157.9,157.1,13.0,1048,10382,0.00,3.25,0.00,0.000,6,0.000,0.064,2913,2102,2154,0,0,3,0,0,0
$GC,10700,0.64,166.4,123.8,8.8,1079,10715,0.00,3.30,8.80,0.719,4,0.000,0.073,2913,3546,2120,0,0,2,0,0,0
$GC,10765,0.64,166.4,117.8,10.0,1084,10771,0.00,3.22,0.00,0.000,6,0.000,0.064,2928,2115,2119,0,0,3,0,0,0
$GC,11098,0.71,171.7,89.6,8.9,1125,11114,0.00,3.25,6.15,0.655,4,0.000,0.072,2927,3551,2098,0,0,4,0,0,0
$GC,11211,0.71,171.7,78.6,10.1,1145,11217,0.00,3.28,0.00,0.000,6,0.000,0.064,2942,2116,2098,0,0,1,0,0,0
$GC,11555,0.72,183.3,46.3,8.7,1206,11576,0.00,3.25,11.23,0.719,4,0.000,0.073,2942,3545,2050,0,0,4,0,0,0
$GC,11651,0.67,183.3,36.9,10.7,1223,11657,0.20,3.25,0.00,0.000,6,0.198,0.065,2910,2125,2048,0,0,2,0,0,0
$FREEZE,8.88,0.012,-1.832,0,1,0
$FREEZE,8.35,0.014,-1.832,0,1,0
$FREEZE,7.78,0.014,-1.831,0,1,0
$FREEZE,7.24,0.014,-1.831,0,1,0
$FREEZE,6.66,0.014,-1.830,0,1,0
$FREEZE,6.14,0.016,-1.830,0,1,0
$FREEZE,5.42,0.014,-1.829,0,1,0
$FREEZE,4.82,0.012,-1.829,0,1,0
$FREEZE,4.20,0.012,-1.829,0,1,0
$GC,11995,0.87,242.7,9.2,6.7,1284,12055,0.20,3.40,48.62,0.742,4,0.104,0.075,2978,3551,1808,0,0,4,0,0,0
$FREEZE,2.33,0.013,-1.827,0,1,0
$FREEZE,1.55,0.014,-1.826,0,1,0
$STATE,12067,end climb,SURFACE_DEPTH_REACHED
$STATE,12067,begin surface coast
$FREEZE,0.68,0.013,-1.826,0,1,0
$FREEZE,0.54,0.034,-1.812,0,1,0
$FREEZE,0.57,0.039,-1.823,0,1,0
$FINISH,0.6,1.026704
$STATE,12085,end surface coast,CONTROL_FINISHED_OK
$STATE,12085,begin surface
$SM_CCo,12105,110.88,0.705,0,0,1066,425.10
$SM_GC,1.34,0.00,0.00,110.88,0.000,0.000,0.705,128,2469,1066,-8.01,0.25,425.10
$RAFOS_CLK,745
$RAFOS,6,1261140546,12.833333,12.818334,75,68,60,0,0,0,781,204,121,0,0,0
$RAFOS,5,1261140070,12.700000,12.686111,75,58,57,0,0,0,600,187,196,0,0,0
$RAFOS,4,1261139588,12.566667,12.552222,67,66,54,0,0,0,148,195,209,0,0,0
$RAFOS,3,1261139106,12.433333,12.418333,75,65,54,0,0,0,208,172,192,0,0,0
$RAFOS,2,1261138621,12.300000,12.283611,71,60,57,0,0,0,203,162,216,0,0,0
$RAFOS,1,1261138146,12.166667,12.151667,62,57,56,0,0,0,149,177,220,0,0,0
$RAFOS,0,1261137667,12.033333,12.018611,59,59,54,0,0,0,194,208,141,0,0,0
$RAFOS_FIX,6708.133301,-5710.066406,181209,121200,2,75,0.45
$IRIDIUM_FIX,6636.54,-5701.58,140399,070707
$TT8_MAMPS,0.027612
$HUMID,46.45
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.00
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.6,19.2
$ALTIM_BOTTOM_PING,450.2,118.2
$24V_AH,22.6,63.028
$10V_AH,10.1,33.366
$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,25.875,164.500,330.625,110.875,0.000,31.379,34.168,140.204,3.000,0.000,13.804,2179.655,7039.468,633.691,2266.257,423.263,0.000,1788.105,0.000,2223.348,2520.000,18.799,0.000
$DEVICE_MAMPS,290.693,96.642,1069.965,704.873,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,948.876,883.666,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152548
$DATA_FILE_SIZE,50399,1299
$CAP_FILE_SIZE,149212,0
$CFSIZE,260165632,224043008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,147,0,0
$SOUNDSPEED,1467.7
$GPS,181209,134030,6707.713,-5706.383,40,1.2,40,-37.7