version: 66.06
glider: 143
mission: 10
dive: 340
start: 12 19 109 3 57 32
data:
$ID,143
$MISSION,10
$DIVE,340
$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,-42331.047
$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,16
$R_STBD_OVSHOOT,29
$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
$GPS1,035136,6708.298,-5711.220,37,1.0,37,-37.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-67.6
$GPS2,035714,6708.317,-5711.397,9,1.3,9,-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,158.0,19557,-16.9,-9.167
$D_GRID,609
$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,14,-0.73,-146.0,0.0,0.0,0,133,0.00,0.00,-115.30,0.000,2,0.000,0.000,125,2459,3158,0,0,0,0,0,0
$GC,137,-0.73,-146.0,3.4,-5.4,23,164,11.38,2.35,-6.25,0.000,4,0.295,0.097,2447,838,3398,0,0,0,0,0,0
$GC,287,-0.73,-146.0,25.4,-11.9,50,292,0.00,2.20,0.00,0.000,6,0.000,0.068,2447,2449,3400,0,0,0,0,0,0
$GC,629,-0.73,-146.0,63.7,-11.3,111,635,0.00,3.28,0.00,0.000,4,0.000,0.087,2447,3924,3400,0,0,3,0,0,0
$GC,865,-0.73,-146.0,90.3,-11.0,153,870,0.00,3.08,0.00,0.000,6,0.000,0.064,2448,2489,3400,0,0,2,0,0,0
$GC,1196,-0.80,-146.0,121.1,-8.1,192,1201,0.00,3.20,0.00,0.000,4,0.000,0.087,2447,3923,3399,0,0,3,0,0,0
$GC,1393,-0.87,-146.0,138.0,-8.9,209,1399,0.12,3.03,0.00,0.000,6,0.127,0.064,2408,2515,3398,0,0,2,0,0,0
$GC,1717,-0.87,-146.0,172.0,-10.5,239,1722,0.00,3.15,0.00,0.000,4,0.000,0.087,2408,3926,3397,0,0,3,0,0,0
$GC,1929,-0.87,-146.0,195.0,-11.0,257,1935,0.00,2.95,0.00,0.000,6,0.000,0.062,2408,2549,3397,0,0,2,0,0,0
$GC,2254,-0.87,-146.0,226.3,-9.3,288,2259,0.00,3.08,0.00,0.000,4,0.000,0.084,2408,3918,3397,0,0,2,0,0,0
$GC,2483,-0.87,-146.0,248.5,-9.3,308,2488,0.00,2.88,0.00,0.000,6,0.000,0.060,2408,2576,3397,0,0,2,0,0,0
$GC,2808,-0.87,-146.0,275.8,-7.7,338,2813,0.00,3.00,0.00,0.000,4,0.000,0.083,2408,3917,3397,0,0,2,0,0,0
$GC,3009,-0.87,-146.0,292.3,-8.7,355,3015,0.00,2.80,0.00,0.000,6,0.000,0.058,2408,2615,3397,0,0,1,0,0,0
$GC,3336,-0.87,-146.0,318.8,-8.3,386,3340,0.00,2.92,0.00,0.000,4,0.000,0.081,2408,3921,3398,0,0,2,0,0,0
$GC,3486,-0.87,-146.0,332.5,-9.1,399,3491,0.00,2.75,0.00,0.000,6,0.000,0.057,2408,2633,3399,0,0,2,0,0,0
$GC,3811,-0.87,-146.0,360.7,-9.0,429,3815,0.00,2.90,0.00,0.000,4,0.000,0.081,2408,3929,3399,0,0,2,0,0,0
$GC,3933,-0.87,-146.0,372.3,-9.3,439,3939,0.00,2.75,0.00,0.000,6,0.000,0.056,2408,2639,3400,0,0,2,0,0,0
$GC,4260,-0.87,-146.0,400.9,-8.7,470,4265,0.00,2.88,0.00,0.000,4,0.000,0.081,2407,3919,3400,0,0,2,0,0,0
$GC,4356,-0.87,-146.0,409.3,-9.2,478,4360,0.00,2.72,0.00,0.000,6,0.000,0.056,2409,2652,3400,0,0,1,0,0,0
$GC,4681,-0.87,-146.0,437.1,-8.1,508,4686,0.00,2.88,0.00,0.000,4,0.000,0.080,2408,3922,3401,0,0,1,0,0,0
$GC,4843,-0.87,-146.0,451.6,-9.5,522,4848,0.00,2.67,0.00,0.000,6,0.000,0.056,2408,2673,3401,0,0,2,0,0,0
$GC,5168,-0.87,-146.0,479.1,-8.3,552,5173,0.00,2.83,0.00,0.000,4,0.000,0.080,2408,3922,3402,0,0,2,0,0,0
$GC,5357,-0.87,-146.0,496.1,-9.2,568,5363,0.00,2.62,0.00,0.000,6,0.000,0.056,2408,2706,3402,0,0,2,0,0,0
$GC,5682,-0.87,-146.0,522.1,-7.8,599,5687,0.00,2.75,0.00,0.000,4,0.000,0.081,2408,3920,3402,0,0,3,0,0,0
$GC,5812,-0.87,-146.0,532.3,-8.1,610,5816,0.00,2.60,0.00,0.000,6,0.000,0.056,2408,2719,3402,0,0,2,0,0,0
$GC,6136,-0.87,-146.0,556.7,-7.9,640,6141,0.00,2.75,0.00,0.000,4,0.000,0.080,2408,3929,3402,0,0,2,0,0,0
$GC,6232,-0.87,-146.0,565.2,-9.7,648,6236,0.00,2.58,0.00,0.000,6,0.000,0.056,2408,2728,3402,0,0,2,0,0,0
$GC,6556,-0.87,-146.0,591.8,-7.1,678,6560,0.00,2.72,0.00,0.000,4,0.000,0.081,2408,3927,3402,0,0,2,0,0,0
$GC,6697,-0.87,-146.0,602.9,-8.2,688,6701,0.00,2.58,0.00,0.000,6,0.000,0.056,2408,2732,3402,0,0,2,0,0,0
$STATE,6803,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6803,begin apogee
$GC,6809,-0.16,0.0,611.6,8.0,692,6936,0.82,0.00,123.28,1.113,6,0.176,0.000,2634,1937,2800,0,0,0,0,0,0
$STATE,6937,end apogee,CONTROL_FINISHED_OK
$STATE,6937,begin climb
$GC,6938,0.73,146.0,614.8,0.0,696,7071,0.93,0.00,126.28,1.065,6,0.123,0.000,2914,1937,2204,0,0,0,0,0,0
$GC,7376,0.73,146.0,573.0,11.3,724,7381,0.00,3.58,0.00,0.000,4,0.000,0.072,2914,3552,2196,0,0,3,0,0,0
$GC,7483,0.62,146.0,559.4,12.3,733,7489,0.17,3.50,0.00,0.000,6,0.212,0.067,2892,1964,2195,0,0,2,0,0,0
$GC,7808,0.62,146.0,527.1,10.1,763,7813,0.00,3.45,0.00,0.000,4,0.000,0.074,2892,3544,2194,0,0,3,0,0,0
$GC,7943,0.57,146.0,511.7,11.0,774,7949,0.12,3.42,0.00,0.000,6,0.199,0.067,2879,1986,2193,0,0,1,0,0,0
$GC,8268,0.64,152.1,482.3,8.9,805,8279,0.00,3.42,4.95,0.753,4,0.000,0.075,2879,3552,2179,0,0,3,0,0,0
$GC,8392,0.64,152.1,470.4,9.9,816,8398,0.00,3.42,0.00,0.000,6,0.000,0.067,2892,1989,2178,0,0,1,0,0,0
$GC,8717,0.64,152.1,440.5,9.2,846,8722,0.00,3.40,0.00,0.000,4,0.000,0.074,2892,3545,2178,0,0,3,0,0,0
$GC,8828,0.64,152.1,429.0,9.8,855,8834,0.00,3.35,0.00,0.000,6,0.000,0.067,2907,2013,2178,0,0,2,0,0,0
$GC,9153,0.64,152.1,397.5,10.1,886,9158,0.00,3.40,0.00,0.000,4,0.000,0.075,2907,3552,2178,0,0,2,0,0,0
$GC,9271,0.58,152.1,384.6,11.5,896,9277,0.17,3.38,0.00,0.000,6,0.202,0.067,2882,2020,2178,0,0,1,0,0,0
$GC,9596,0.66,167.5,356.1,8.5,926,9617,0.00,3.40,14.20,0.908,4,0.000,0.075,2882,3548,2117,0,0,2,0,0,0
$GC,9730,0.66,167.5,342.6,10.5,938,9736,0.00,3.35,0.00,0.000,6,0.000,0.066,2894,2042,2114,0,0,1,0,0,0
$GC,10055,0.66,167.5,311.1,9.3,968,10060,0.00,3.38,0.00,0.000,4,0.000,0.074,2894,3545,2114,0,0,1,0,0,0
$GC,10133,0.66,167.5,302.8,10.6,974,10138,0.00,3.33,0.00,0.000,6,0.000,0.067,2909,2055,2113,0,0,1,0,0,0
$GC,10457,0.66,167.5,272.1,9.7,1005,10462,0.00,3.33,0.00,0.000,4,0.000,0.074,2909,3545,2113,0,0,2,0,0,0
$GC,10546,0.61,167.5,262.4,10.3,1012,10553,0.15,3.28,0.00,0.000,6,0.202,0.066,2890,2075,2114,0,0,2,0,0,0
$GC,10871,0.67,167.5,232.5,9.5,1043,10876,0.00,3.30,0.00,0.000,4,0.000,0.074,2890,3547,2114,0,0,2,0,0,0
$GC,10966,0.67,167.5,222.3,10.9,1051,10971,0.00,3.25,0.00,0.000,6,0.000,0.065,2902,2089,2114,0,0,2,0,0,0
$GC,11291,0.67,167.5,189.5,9.5,1081,11296,0.00,3.28,0.00,0.000,4,0.000,0.074,2902,3546,2114,0,0,2,0,0,0
$GC,11408,0.67,167.5,177.6,10.0,1091,11414,0.00,3.22,0.00,0.000,6,0.000,0.065,2916,2095,2113,0,0,2,0,0,0
$GC,11732,0.67,167.5,146.5,9.7,1121,11738,0.00,3.28,0.00,0.000,4,0.000,0.074,2916,3552,2114,0,0,2,0,0,0
$GC,11828,0.67,167.5,135.9,11.3,1129,11833,0.00,3.22,0.00,0.000,6,0.000,0.064,2931,2112,2114,0,0,1,0,0,0
$GC,12152,0.73,173.3,104.9,8.9,1159,12167,0.00,3.28,6.53,0.672,4,0.000,0.074,2931,3547,2092,0,0,3,0,0,0
$GC,12297,0.73,173.3,90.5,10.0,1180,12303,0.00,3.20,0.00,0.000,6,0.000,0.065,2945,2123,2092,0,0,1,0,0,0
$GC,12640,0.73,177.5,58.4,9.0,1241,12651,0.00,3.22,5.43,0.632,4,0.000,0.074,2945,3549,2074,0,0,2,0,0,0
$GC,12738,0.67,177.5,48.0,11.1,1258,12744,0.20,3.20,0.00,0.000,6,0.199,0.066,2913,2133,2074,0,0,1,0,0,0
$GC,13086,0.84,211.1,19.9,7.8,1319,13123,0.15,3.28,28.20,0.755,4,0.117,0.077,2964,3553,1938,0,0,2,0,0,0
$FREEZE,8.72,-0.275,-1.830,0,1,0
$FREEZE,8.08,-0.269,-1.830,0,1,0
$FREEZE,7.35,-0.264,-1.829,0,1,0
$FREEZE,6.67,-0.264,-1.829,0,1,0
$FREEZE,5.99,-0.262,-1.828,0,1,0
$FREEZE,5.28,-0.265,-1.828,0,1,0
$FREEZE,4.57,-0.270,-1.827,0,1,0
$FREEZE,3.95,-0.281,-1.827,0,1,0
$GC,13226,0.75,211.1,3.9,12.4,1344,13232,0.17,3.22,0.00,0.000,6,0.199,0.067,2939,2151,1935,0,0,1,0,0,0
$FREEZE,2.29,-0.280,-1.826,0,1,0
$FREEZE,1.75,-0.266,-1.825,0,1,0
$STATE,13243,end climb,SURFACE_DEPTH_REACHED
$STATE,13243,begin surface coast
$FREEZE,1.27,-0.276,-1.825,0,1,0
$FREEZE,0.73,-0.282,-1.825,0,1,0
$FREEZE,0.63,-0.297,-0.940,0,1,0
$FINISH,0.6,1.013881
$STATE,13261,end surface coast,CONTROL_FINISHED_OK
$STATE,13261,begin surface
$SM_CCo,13278,130.35,0.719,0,0,1067,425.10
$SM_GC,1.46,0.00,0.00,130.35,0.000,0.000,0.719,124,2464,1067,-8.02,0.11,425.10
$RAFOS_CLK,822
$RAFOS,6,1261198150,4.833333,4.819445,106,64,58,0,0,0,737,121,195,0,0,0
$RAFOS,5,1261197666,4.700000,4.685000,107,61,57,0,0,0,601,158,219,0,0,0
$RAFOS,4,1261197187,4.566667,4.551944,59,58,56,0,0,0,813,209,167,0,0,0
$RAFOS,3,1261196703,4.433333,4.417500,64,64,61,0,0,0,174,213,202,0,0,0
$RAFOS,2,1261196223,4.300000,4.284167,66,64,60,0,0,0,205,154,175,0,0,0
$RAFOS,1,1261195741,4.166667,4.150278,60,57,56,0,0,0,185,200,140,0,0,0
$RAFOS,0,1261195264,4.033333,4.017778,58,57,56,0,0,0,190,152,219,0,0,0
$RAFOS_FIX,6706.996582,-5717.127930,191209,040400,2,106,1.58
$IRIDIUM_FIX,6636.54,-5652.31,150399,000020
$TT8_MAMPS,0.027612
$HUMID,47.79
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,19.4
$ALTIM_BOTTOM_PING,550.2,115.5
$24V_AH,22.5,63.674
$10V_AH,10.1,33.746
$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,22.675,174.150,308.850,130.350,0.000,25.237,33.633,158.232,2.500,0.000,11.367,2336.926,7903.058,631.515,2433.937,440.542,0.000,1860.858,0.000,2389.467,2520.000,20.991,0.000
$DEVICE_MAMPS,295.295,97.409,1112.917,719.446,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,989.599,924.816,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152520
$DATA_FILE_SIZE,53518,1350
$CAP_FILE_SIZE,157346,0
$CFSIZE,260165632,223649792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,104,0,0
$SOUNDSPEED,1467.8
$GPS,191209,074237,6708.290,-5713.745,40,1.1,40,-37.8