version: 66.06
glider: 143
mission: 10
dive: 341
start: 12 19 109 7 55 44
data:
$ID,143
$MISSION,10
$DIVE,341
$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,-42344.555
$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,21
$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
$GPS1,074237,6708.290,-5713.745,40,1.1,40,-37.8
$_CALLS,3
$_XMS_NAKs,20
$_XMS_TOUTs,1
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-69.3
$GPS2,075526,6708.265,-5713.995,11,1.9,11,-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,155.2,21153,-16.9,-9.167
$D_GRID,654
$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,-146.0,0.0,0.0,0,138,0.00,0.00,-120.12,0.000,2,0.000,0.000,124,2465,3187,0,0,0,0,0,0
$GC,142,-0.73,-146.0,3.7,-6.7,24,164,11.43,2.35,-5.25,0.000,4,0.297,0.100,2448,857,3399,0,0,1,0,0,0
$GC,360,-0.73,-146.0,34.2,-11.3,63,366,0.00,2.20,0.00,0.000,6,0.000,0.070,2448,2456,3402,0,0,0,0,0,0
$GC,704,-0.73,-146.0,72.7,-10.9,124,709,0.00,2.25,0.00,0.000,4,0.000,0.087,2448,862,3401,0,0,0,0,0,0
$GC,961,-0.73,-146.0,102.4,-11.1,169,966,0.00,2.30,0.00,0.000,6,0.000,0.073,2448,2511,3402,0,0,0,0,0,0
$GC,1288,-0.78,-146.0,131.5,-8.4,199,1293,0.00,3.22,0.00,0.000,4,0.000,0.092,2448,3920,3400,0,0,1,0,0,0
$GC,1446,-0.86,-146.0,144.9,-8.9,212,1452,0.12,3.03,0.00,0.000,6,0.129,0.065,2409,2533,3400,0,0,2,0,0,0
$GC,1770,-0.86,-146.0,176.8,-10.2,243,1775,0.00,3.15,0.00,0.000,4,0.000,0.089,2409,3925,3399,0,0,3,0,0,0
$GC,2022,-0.86,-146.0,204.1,-10.6,265,2027,0.00,2.92,0.00,0.000,6,0.000,0.064,2409,2577,3398,0,0,2,0,0,0
$GC,2346,-0.86,-146.0,234.8,-8.9,295,2351,0.00,3.05,0.00,0.000,4,0.000,0.087,2409,3931,3398,0,0,3,0,0,0
$GC,2566,-0.86,-146.0,254.3,-9.1,314,2571,0.00,2.85,0.00,0.000,6,0.000,0.062,2409,2597,3398,0,0,3,0,0,0
$GC,2890,-0.86,-146.0,283.6,-9.0,344,2895,0.00,2.97,0.00,0.000,4,0.000,0.084,2409,3923,3399,0,0,3,0,0,0
$GC,3068,-0.86,-146.0,300.8,-9.9,359,3075,0.00,2.80,0.00,0.000,6,0.000,0.059,2409,2617,3399,0,0,2,0,0,0
$GC,3394,-0.86,-146.0,331.0,-9.0,390,3399,0.00,2.92,0.00,0.000,4,0.000,0.082,2409,3922,3400,0,0,3,0,0,0
$GC,3561,-0.86,-146.0,346.3,-9.1,404,3568,0.00,2.78,0.00,0.000,6,0.000,0.058,2409,2635,3401,0,0,2,0,0,0
$GC,3886,-0.86,-146.0,374.1,-8.5,435,3891,0.00,2.90,0.00,0.000,4,0.000,0.082,2409,3921,3401,0,0,2,0,0,0
$GC,4087,-0.86,-146.0,392.4,-9.2,452,4093,0.00,2.72,0.00,0.000,6,0.000,0.057,2409,2669,3402,0,0,1,0,0,0
$GC,4412,-0.86,-146.0,420.3,-8.7,483,4417,0.00,2.88,0.00,0.000,4,0.000,0.081,2409,3927,3402,0,0,1,0,0,0
$GC,4542,-0.86,-146.0,431.6,-8.8,494,4547,0.00,2.67,0.00,0.000,6,0.000,0.056,2409,2691,3403,0,0,2,0,0,0
$GC,4866,-0.86,-146.0,460.2,-9.3,524,4871,0.00,2.80,0.00,0.000,4,0.000,0.081,2409,3922,3403,0,0,3,0,0,0
$GC,5008,-0.86,-146.0,473.6,-9.4,536,5012,0.00,2.62,0.00,0.000,6,0.000,0.055,2409,2710,3404,0,0,3,0,0,0
$GC,5332,-0.86,-146.0,504.4,-9.1,566,5337,0.00,2.80,0.00,0.000,4,0.000,0.081,2409,3929,3404,0,0,2,0,0,0
$GC,5484,-0.86,-146.0,519.3,-10.2,579,5489,0.00,2.60,0.00,0.000,6,0.000,0.056,2409,2727,3405,0,0,3,0,0,0
$GC,5809,-0.86,-146.0,549.9,-9.3,609,5818,0.00,2.72,0.00,0.000,4,0.000,0.085,2409,3924,3405,0,0,3,0,0,0
$GC,5970,-0.86,-146.0,565.3,-9.5,623,5975,0.00,2.55,0.00,0.000,6,0.000,0.056,2409,2740,3405,0,0,3,0,0,0
$GC,6296,-0.86,-146.0,593.8,-9.3,653,6300,0.00,2.70,0.00,0.000,4,0.000,0.081,2409,3921,3405,0,0,3,0,0,0
$GC,6346,-0.86,-146.0,598.5,-9.1,657,6350,0.00,2.55,0.00,0.000,6,0.000,0.056,2409,2739,3406,0,0,3,0,0,0
$GC,6679,-0.86,-146.0,625.7,-7.8,669,6684,0.00,2.75,0.00,0.000,4,0.000,0.081,2409,3924,3406,0,0,2,0,0,0
$GC,6801,-0.86,-146.0,635.9,-8.4,672,6807,0.00,2.58,0.00,0.000,6,0.000,0.056,2409,2744,3406,0,0,3,0,0,0
$STATE,7020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7020,begin apogee
$GC,7026,-0.16,0.0,654.4,8.5,680,7154,0.82,0.00,124.68,1.143,6,0.174,0.000,2634,1949,2800,0,0,0,0,0,0
$STATE,7155,end apogee,CONTROL_FINISHED_OK
$STATE,7155,begin climb
$GC,7157,0.73,146.0,657.1,0.0,684,7293,0.93,2.25,127.35,1.094,4,0.120,0.085,2924,363,2203,0,0,0,0,0,0
$GC,7332,0.64,146.0,642.9,12.2,689,7336,0.00,2.08,0.00,0.000,6,0.000,0.055,2924,1972,2200,0,0,0,0,0,0
$GC,7652,0.55,146.0,605.3,12.2,700,7658,0.22,3.47,0.00,0.000,4,0.199,0.072,2855,3531,2196,0,0,3,0,0,0
$GC,7761,0.61,146.0,593.5,10.9,706,7767,0.00,3.45,0.00,0.000,6,0.000,0.066,2869,1961,2195,0,0,2,0,0,0
$GC,8085,0.69,146.0,561.7,9.6,736,8092,0.12,3.45,0.00,0.000,4,0.116,0.074,2909,3537,2195,0,0,3,0,0,0
$GC,8195,0.60,146.0,548.3,13.3,745,8201,0.15,3.42,0.00,0.000,6,0.206,0.067,2889,1975,2193,0,0,2,0,0,0
$GC,8519,0.60,146.0,512.5,10.9,775,8524,0.00,3.42,0.00,0.000,4,0.000,0.074,2889,3535,2193,0,0,3,0,0,0
$GC,8619,0.60,146.0,500.7,12.0,783,8625,0.00,3.38,0.00,0.000,6,0.000,0.068,2902,1986,2192,0,0,3,0,0,0
$GC,8944,0.60,146.0,463.3,11.8,814,8949,0.00,3.40,0.00,0.000,4,0.000,0.075,2902,3527,2193,0,0,3,0,0,0
$GC,9068,0.53,146.0,447.6,13.1,824,9075,0.22,3.38,0.00,0.000,6,0.199,0.067,2863,2012,2192,0,0,1,0,0,0
$GC,9394,0.65,146.0,415.2,9.4,855,9400,0.12,3.38,0.00,0.000,4,0.122,0.076,2906,3532,2192,0,0,3,0,0,0
$GC,9527,0.57,146.0,398.5,13.3,866,9533,0.20,3.38,0.00,0.000,6,0.198,0.067,2874,2020,2192,0,0,1,0,0,0
$GC,9851,0.64,146.0,365.1,9.7,896,9856,0.00,3.35,0.00,0.000,4,0.000,0.074,2873,3528,2192,0,0,3,0,0,0
$GC,9963,0.64,146.0,353.1,10.7,905,9969,0.00,3.30,0.00,0.000,6,0.000,0.067,2886,2038,2192,0,0,2,0,0,0
$GC,10288,0.70,146.0,320.5,10.0,936,10293,0.00,3.38,0.00,0.000,4,0.000,0.074,2886,3537,2192,0,0,1,0,0,0
$GC,10388,0.70,146.0,309.6,11.4,944,10394,0.00,3.30,0.00,0.000,6,0.000,0.066,2901,2051,2192,0,0,2,0,0,0
$GC,10713,0.70,146.0,277.3,9.9,975,10718,0.00,3.30,0.00,0.000,4,0.000,0.074,2901,3528,2192,0,0,3,0,0,0
$GC,10801,0.70,146.0,267.3,11.5,982,10808,0.00,3.25,0.00,0.000,6,0.000,0.066,2915,2066,2192,0,0,3,0,0,0
$GC,11127,0.70,146.0,232.0,11.1,1013,11132,0.00,3.30,0.00,0.000,4,0.000,0.074,2916,3534,2192,0,0,3,0,0,0
$GC,11280,0.61,146.0,214.0,12.0,1026,11286,0.17,3.25,0.00,0.000,6,0.203,0.065,2890,2098,2192,0,0,1,0,0,0
$GC,11605,0.70,160.3,183.6,8.6,1056,11626,0.00,3.22,11.40,0.772,4,0.000,0.072,2890,3529,2144,0,0,3,0,0,0
$GC,11705,0.70,160.3,174.0,9.4,1065,11710,0.00,3.25,0.00,0.000,6,0.000,0.065,2902,2096,2143,0,0,1,0,0,0
$GC,12031,0.80,200.0,148.4,7.5,1095,12073,0.15,3.30,33.47,0.803,4,0.097,0.074,2958,3528,1983,0,0,2,0,0,0
$GC,12129,0.66,200.0,137.3,12.1,1104,12135,0.28,3.25,0.00,0.000,6,0.197,0.064,2907,2107,1981,0,0,2,0,0,0
$GC,12454,0.82,219.3,108.8,8.4,1134,12479,0.15,3.30,16.75,0.759,4,0.112,0.073,2959,3526,1904,0,0,3,0,0,0
$GC,12649,0.75,219.3,84.4,12.9,1162,12656,0.17,3.22,0.00,0.000,6,0.196,0.065,2933,2125,1901,0,0,1,0,0,0
$GC,12995,0.85,219.3,47.9,10.1,1223,13001,0.00,3.25,0.00,0.000,4,0.000,0.075,2933,3532,1901,0,0,2,0,0,0
$GC,13102,0.85,219.3,36.7,10.8,1242,13108,0.00,3.17,0.00,0.000,6,0.000,0.067,2945,2146,1901,0,0,2,0,0,0
$FREEZE,8.73,-0.313,-1.830,0,2,0
$FREEZE,8.10,-0.311,-1.830,0,2,0
$FREEZE,7.56,-0.312,-1.829,0,2,0
$FREEZE,6.90,-0.308,-1.829,0,2,0
$FREEZE,6.37,-0.311,-1.829,0,2,0
$FREEZE,5.77,-0.315,-1.828,0,2,0
$FREEZE,5.27,-0.314,-1.828,0,2,0
$FREEZE,4.78,-0.322,-1.827,0,2,0
$FREEZE,4.28,-0.317,-1.827,0,2,0
$FREEZE,3.68,-0.315,-1.826,0,2,0
$FREEZE,3.13,-0.324,-1.826,0,2,0
$FREEZE,2.62,-0.332,-1.826,0,2,0
$FREEZE,2.02,-0.333,-1.825,0,2,0
$GC,13446,0.90,219.3,2.0,10.2,1303,13452,0.10,3.25,0.00,0.000,4,0.121,0.077,2986,3534,1901,0,0,2,0,0,0
$FREEZE,0.69,-0.345,-1.825,0,2,0
$STATE,13457,end climb,SURFACE_DEPTH_REACHED
$STATE,13457,begin surface coast
$FREEZE,0.57,-0.358,-1.822,0,2,0
$FREEZE,0.61,-0.377,-1.045,0,2,0
$FREEZE,0.56,-0.374,-1.018,0,2,0
$FREEZE,0.61,-0.409,-0.302,0,2,0
$FINISH,0.6,1.004312
$STATE,13480,end surface coast,CONTROL_FINISHED_OK
$STATE,13481,begin surface
$SM_CCo,13500,123.85,0.729,0,0,1067,425.10
$SM_GC,1.38,0.00,0.00,123.85,0.000,0.000,0.729,124,2467,1067,-8.02,0.20,425.10
$RAFOS_CLK,864
$RAFOS,6,1261212544,8.833333,8.817778,75,66,54,0,0,0,762,222,170,0,0,0
$RAFOS,5,1261212062,8.700000,8.683888,115,58,56,0,0,0,617,219,200,0,0,0
$RAFOS,4,1261211582,8.566667,8.550555,75,56,54,0,0,0,836,205,140,0,0,0
$RAFOS,3,1261211101,8.433333,8.416945,70,58,54,0,0,0,201,167,184,0,0,0
$RAFOS,2,1261210627,8.300000,8.285277,64,59,59,0,0,0,208,198,170,0,0,0
$RAFOS,1,1261210141,8.166667,8.150278,59,56,55,0,0,0,204,215,145,0,0,0
$RAFOS,0,1261209664,8.033334,8.017777,65,59,53,0,0,0,178,218,235,0,0,0
$RAFOS_FIX,6707.568848,-5720.239258,191209,080840,3,88,1.65
$IRIDIUM_FIX,6636.54,-5716.88,150399,070756
$TT8_MAMPS,0.027612
$HUMID,47.24
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.00
$XPDR_PINGS,4
$ALTIM_TOP_PING,20.0,19.3
$ALTIM_BOTTOM_PING,550.4,151.0
$24V_AH,22.4,63.822
$10V_AH,10.1,33.829
$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,23.775,174.750,313.650,123.850,0.000,81.461,94.606,319.434,3.250,0.000,12.878,2284.205,8311.026,632.823,2406.384,760.079,0.000,1856.365,0.000,2360.452,2520.000,19.378,0.000
$DEVICE_MAMPS,296.829,99.710,1142.830,729.417,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,962.906,897.292,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152540
$DATA_FILE_SIZE,50405,1309
$CAP_FILE_SIZE,163789,0
$CFSIZE,260165632,223547392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,122,0,0
$SOUNDSPEED,1467.7
$GPS,191209,114430,6707.967,-5715.761,37,1.0,43,-37.8