version: 66.06
glider: 143
mission: 10
dive: 339
start: 12 19 109 0 17 43
data:
$ID,143
$MISSION,10
$DIVE,339
$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,-42319.055
$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,14
$R_STBD_OVSHOOT,15
$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
$GPS1,001131,6707.655,-5709.618,38,1.2,38,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-67.8
$GPS2,001725,6707.651,-5709.664,14,1.2,14,-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,156.5,17859,-16.9,-9.167
$D_GRID,599
$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,-146.0,0.0,0.0,0,133,0.00,0.00,-114.82,0.000,2,0.000,0.000,125,2470,3137,0,0,0,0,0,0
$GC,137,-0.73,-146.0,3.3,-5.5,23,164,11.10,2.25,-6.95,0.000,4,0.288,0.097,2443,861,3399,0,0,0,0,0,0
$GC,299,-0.73,-146.0,26.8,-12.5,52,304,0.00,2.12,0.00,0.000,6,0.000,0.067,2443,2462,3401,0,0,0,0,0,0
$GC,641,-0.73,-146.0,66.6,-11.5,113,647,0.00,3.35,0.00,0.000,4,0.000,0.087,2444,3929,3401,0,0,3,0,0,0
$GC,894,-0.73,-146.0,94.9,-10.5,158,900,0.00,3.12,0.00,0.000,6,0.000,0.064,2443,2500,3401,0,0,3,0,0,0
$GC,1222,-0.73,-146.0,121.6,-6.7,193,1227,0.00,3.25,0.00,0.000,4,0.000,0.087,2443,3928,3399,0,0,4,0,0,0
$GC,1480,-0.81,-146.0,143.4,-9.4,215,1486,0.00,3.03,0.00,0.000,6,0.000,0.064,2444,2556,3398,0,0,3,0,0,0
$GC,1805,-0.89,-146.0,171.8,-8.1,246,1811,0.12,3.15,0.00,0.000,4,0.123,0.085,2400,3918,3398,0,0,3,0,0,0
$GC,1984,-0.89,-146.0,190.0,-9.9,261,1990,0.00,2.97,0.00,0.000,6,0.000,0.061,2400,2571,3397,0,0,2,0,0,0
$GC,2309,-0.89,-146.0,220.3,-9.4,292,2314,0.00,3.10,0.00,0.000,4,0.000,0.085,2399,3930,3397,0,0,4,0,0,0
$GC,2562,-0.84,-146.0,244.7,-9.7,314,2567,0.00,2.88,0.00,0.000,6,0.000,0.061,2399,2618,3397,0,0,3,0,0,0
$GC,2886,-0.79,-146.0,275.6,-9.3,344,2892,0.15,3.00,0.00,0.000,4,0.204,0.081,2428,3920,3397,0,0,3,0,0,0
$GC,3022,-0.84,-146.0,287.1,-8.7,355,3028,0.00,2.83,0.00,0.000,6,0.000,0.058,2428,2626,3398,0,0,3,0,0,0
$GC,3347,-0.90,-146.0,314.7,-8.8,386,3352,0.00,2.95,0.00,0.000,4,0.000,0.081,2428,3925,3399,0,0,4,0,0,0
$GC,3532,-0.95,-146.0,331.7,-9.2,402,3538,0.12,2.80,0.00,0.000,6,0.110,0.058,2384,2637,3399,0,0,3,0,0,0
$GC,3857,-0.87,-146.0,364.4,-9.6,432,3862,0.00,2.92,0.00,0.000,4,0.000,0.081,2383,3929,3400,0,0,4,0,0,0
$GC,4069,-0.78,-146.0,386.3,-9.6,450,4076,0.20,2.78,0.00,0.000,6,0.189,0.056,2432,2667,3400,0,0,2,0,0,0
$GC,4394,-0.86,-146.0,410.9,-7.2,481,4399,0.00,2.90,0.00,0.000,4,0.000,0.079,2432,3929,3401,0,0,3,0,0,0
$GC,4536,-0.94,-146.0,421.7,-8.0,493,4541,0.15,2.72,0.00,0.000,6,0.111,0.055,2381,2685,3401,0,0,3,0,0,0
$GC,4860,-0.85,-146.0,451.2,-9.5,523,4866,0.15,2.88,0.00,0.000,4,0.196,0.079,2413,3929,3401,0,0,3,0,0,0
$GC,5006,-0.85,-146.0,464.1,-8.0,535,5012,0.00,2.67,0.00,0.000,6,0.000,0.054,2413,2709,3401,0,0,3,0,0,0
$GC,5331,-0.85,-146.0,489.0,-7.6,566,5335,0.00,2.83,0.00,0.000,4,0.000,0.079,2413,3929,3402,0,0,3,0,0,0
$GC,5426,-0.85,-146.0,496.7,-7.9,574,5431,0.00,2.65,0.00,0.000,6,0.000,0.054,2413,2723,3402,0,0,3,0,0,0
$GC,5751,-0.85,-146.0,522.2,-8.0,604,5755,0.00,2.80,0.00,0.000,4,0.000,0.079,2413,3930,3403,0,0,3,0,0,0
$GC,5881,-0.85,-146.0,532.8,-8.6,615,5885,0.00,2.62,0.00,0.000,6,0.000,0.055,2413,2741,3403,0,0,3,0,0,0
$GC,6206,-0.85,-146.0,558.1,-8.0,645,6211,0.00,2.78,0.00,0.000,4,0.000,0.080,2413,3928,3403,0,0,3,0,0,0
$GC,6352,-0.85,-146.0,570.8,-8.1,657,6357,0.00,2.60,0.00,0.000,6,0.000,0.055,2413,2756,3403,0,0,3,0,0,0
$GC,6676,-0.85,-146.0,596.9,-7.2,688,6681,0.00,2.75,0.00,0.000,4,0.000,0.081,2413,3931,3403,0,0,5,0,0,0
$STATE,6701,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6702,begin apogee
$GC,6710,-0.16,0.0,599.0,8.4,690,6837,0.77,0.00,122.88,1.101,6,0.176,0.000,2628,1935,2800,0,0,0,0,0,0
$STATE,6838,end apogee,CONTROL_FINISHED_OK
$STATE,6838,begin climb
$GC,6840,0.73,146.0,601.2,0.0,695,6974,0.95,2.15,125.57,1.053,4,0.126,0.083,2923,357,2202,0,0,0,0,0,0
$GC,7002,0.64,146.0,588.0,11.6,706,7008,0.00,2.08,0.00,0.000,6,0.000,0.054,2923,1992,2199,0,0,0,0,0,0
$GC,7327,0.55,146.0,549.9,11.8,737,7333,0.22,3.45,0.00,0.000,4,0.198,0.071,2854,3529,2195,0,0,4,0,0,0
$GC,7441,0.62,148.4,538.9,9.1,746,7447,0.00,3.47,0.00,0.000,6,0.000,0.064,2868,1959,2194,0,0,3,0,0,0
$GC,7766,0.74,174.0,512.0,8.1,777,7798,0.17,3.53,23.10,1.002,4,0.098,0.074,2930,3529,2089,0,0,3,0,0,0
$GC,7926,0.62,174.0,492.3,12.4,791,7933,0.22,3.47,0.00,0.000,6,0.202,0.067,2894,1971,2085,0,0,2,0,0,0
$GC,8251,0.62,174.0,459.9,9.8,822,8256,0.00,3.42,0.00,0.000,4,0.000,0.073,2893,3529,2085,0,0,4,0,0,0
$GC,8384,0.62,174.0,445.1,11.3,833,8391,0.00,3.38,0.00,0.000,6,0.000,0.067,2907,2000,2084,0,0,4,0,0,0
$GC,8709,0.62,174.0,409.2,11.5,864,8715,0.00,3.40,0.00,0.000,4,0.000,0.074,2907,3534,2084,0,0,4,0,0,0
$GC,8821,0.57,174.0,395.3,12.7,873,8828,0.20,3.38,0.00,0.000,6,0.194,0.067,2875,2014,2084,0,0,3,0,0,0
$GC,9146,0.67,174.0,363.6,9.8,904,9151,0.00,3.38,0.00,0.000,4,0.000,0.074,2875,3534,2084,0,0,4,0,0,0
$GC,9276,0.73,174.0,349.6,11.9,915,9282,0.12,3.33,0.00,0.000,6,0.111,0.065,2930,2043,2084,0,0,3,0,0,0
$GC,9600,0.67,174.0,309.3,12.6,945,9606,0.00,3.38,0.00,0.000,4,0.000,0.074,2931,3539,2084,0,0,3,0,0,0
$GC,9689,0.54,174.0,296.8,13.6,952,9696,0.30,3.30,0.00,0.000,6,0.197,0.066,2872,2060,2084,0,0,3,0,0,0
$GC,10014,0.66,174.0,264.4,9.7,983,10020,0.00,3.35,0.00,0.000,4,0.000,0.073,2872,3533,2084,0,0,2,0,0,0
$GC,10111,0.73,174.0,254.1,11.9,991,10116,0.12,3.28,0.00,0.000,6,0.113,0.064,2927,2069,2084,0,0,3,0,0,0
$GC,10435,0.73,174.0,214.6,12.1,1021,10440,0.00,3.33,0.00,0.000,4,0.000,0.072,2928,3537,2084,0,0,3,0,0,0
$GC,10554,0.64,174.0,198.8,13.6,1031,10560,0.17,3.25,0.00,0.000,6,0.202,0.065,2903,2089,2084,0,0,3,0,0,0
$GC,10879,0.69,174.0,164.1,10.3,1061,10884,0.00,3.28,0.00,0.000,4,0.000,0.072,2902,3534,2084,0,0,3,0,0,0
$GC,10952,0.69,174.0,155.9,11.2,1067,10957,0.00,3.22,0.00,0.000,6,0.000,0.064,2915,2105,2084,0,0,3,0,0,0
$GC,11277,0.75,174.0,122.9,10.0,1097,11282,0.00,3.28,0.00,0.000,4,0.000,0.073,2915,3533,2084,0,0,2,0,0,0
$GC,11350,0.75,174.0,115.2,11.0,1103,11355,0.00,3.20,0.00,0.000,6,0.000,0.064,2929,2122,2084,0,0,1,0,0,0
$GC,11685,0.80,179.4,85.3,8.9,1148,11696,0.00,3.20,5.25,0.615,4,0.000,0.071,2929,3531,2068,0,0,3,0,0,0
$GC,11764,0.80,179.4,77.2,10.2,1162,11769,0.00,3.15,0.00,0.000,6,0.000,0.064,2943,2124,2068,0,0,1,0,0,0
$GC,12107,0.84,204.5,45.9,8.1,1223,12138,0.00,3.22,22.00,0.742,4,0.000,0.074,2943,3523,1965,0,0,2,0,0,0
$GC,12202,0.84,204.5,37.4,9.6,1240,12208,0.00,3.17,0.00,0.000,6,0.000,0.065,2957,2122,1963,0,0,1,0,0,0
$FREEZE,8.71,-0.235,-1.831,0,1,0
$FREEZE,8.11,-0.234,-1.830,0,1,0
$FREEZE,7.55,-0.234,-1.830,0,1,0
$FREEZE,7.06,-0.233,-1.829,0,1,0
$FREEZE,6.48,-0.233,-1.829,0,1,0
$FREEZE,5.90,-0.238,-1.829,0,1,0
$FREEZE,5.34,-0.238,-1.828,0,1,0
$FREEZE,4.74,-0.235,-1.828,0,1,0
$GC,12546,0.84,204.5,4.7,10.2,1301,12552,0.00,3.22,0.00,0.000,4,0.000,0.075,2957,3530,1962,0,0,1,0,0,0
$FREEZE,3.45,-0.239,-1.827,0,1,0
$FREEZE,2.75,-0.235,-1.826,0,1,0
$FREEZE,2.11,-0.236,-1.826,0,1,0
$FREEZE,1.52,-0.237,-1.825,0,1,0
$STATE,12574,end climb,SURFACE_DEPTH_REACHED
$STATE,12574,begin surface coast
$FREEZE,0.80,-0.241,-1.825,0,1,0
$FREEZE,0.49,-0.259,-0.914,0,1,0
$FREEZE,0.59,-0.275,-1.101,0,1,0
$FINISH,0.6,1.016268
$STATE,12591,end surface coast,CONTROL_FINISHED_OK
$STATE,12591,begin surface
$SM_CCo,12611,130.38,0.719,0,0,1066,425.10
$SM_GC,1.38,0.00,0.00,130.38,0.000,0.000,0.719,125,2458,1066,-8.02,-0.08,425.10
$RAFOS_CLK,777
$RAFOS,6,1261183745,0.833333,0.818056,88,67,64,0,0,0,777,215,137,0,0,0
$RAFOS,5,1261183263,0.700000,0.684167,65,61,59,0,0,0,205,156,626,0,0,0
$RAFOS,4,1261182784,0.566667,0.551111,68,66,60,0,0,0,838,181,225,0,0,0
$RAFOS,3,1261182306,0.433333,0.418333,59,58,57,0,0,0,209,171,190,0,0,0
$RAFOS_FIX,6704.868164,-5715.641602,191209,000044,2,78,4.26
$IRIDIUM_FIX,6641.98,-5709.24,140399,202045
$TT8_MAMPS,0.026078
$HUMID,46.69
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,19.1
$ALTIM_BOTTOM_PING,500.7,133.5
$24V_AH,22.6,63.542
$10V_AH,10.1,33.666
$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,23.650,170.625,298.800,130.375,0.000,27.889,39.011,156.704,2.500,0.000,15.928,2273.833,7398.031,626.103,2348.379,448.095,0.000,1811.512,0.000,2299.859,1440.000,17.537,0.000
$DEVICE_MAMPS,288.392,97.409,1100.645,718.679,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,955.767,894.156,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152556
$DATA_FILE_SIZE,50512,1309
$CAP_FILE_SIZE,153237,0
$CFSIZE,260165632,223735808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,152,0,0
$SOUNDSPEED,1468.7
$GPS,191209,035136,6708.298,-5711.220,37,1.0,37,-37.8