version: 66.06
glider: 143
mission: 10
dive: 351
start: 12 21 109 4 37 7
data:
$ID,143
$MISSION,10
$DIVE,351
$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,325
$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,-42500.062
$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,15
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,042424,6708.091,-5722.202,30,1.0,47,-37.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-68.5
$GPS2,043649,6708.151,-5722.275,9,1.1,14,-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,148.9,26527,-16.9,-9.167
$D_GRID,736
$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,-146.0,0.0,0.0,0,134,0.00,0.00,-115.05,0.000,2,0.000,0.000,129,2465,3038,0,0,0,0,0,0
$GC,137,-0.73,-146.0,3.0,-3.9,23,168,11.43,2.25,-10.52,0.000,4,0.296,0.104,2445,856,3400,0,0,0,0,0,0
$GC,423,-0.73,-146.0,38.3,-11.3,74,428,0.00,2.10,0.00,0.000,6,0.000,0.074,2445,2458,3402,0,0,0,0,0,0
$GC,766,-0.73,-146.0,72.2,-9.7,135,772,0.00,2.15,0.00,0.000,4,0.000,0.091,2445,863,3402,0,0,0,0,0,0
$GC,1025,-0.73,-146.0,99.1,-10.5,181,1031,0.00,2.10,0.00,0.000,6,0.000,0.074,2445,2464,3402,0,0,0,0,0,0
$GC,1356,-0.78,-146.0,131.0,-9.6,213,1361,0.00,3.47,0.00,0.000,4,0.000,0.092,2445,3926,3401,0,0,4,0,0,0
$GC,1464,-0.86,-146.0,141.2,-9.5,222,1469,0.00,3.33,0.00,0.000,6,0.000,0.068,2445,2461,3401,0,0,3,0,0,0
$GC,1788,-0.94,-146.0,168.8,-7.7,252,1794,0.17,3.47,0.00,0.000,4,0.114,0.087,2373,3926,3401,0,0,4,0,0,0
$GC,1975,-0.77,-146.0,188.4,-10.1,268,1981,0.28,3.33,0.00,0.000,6,0.207,0.066,2437,2459,3400,0,0,3,0,0,0
$GC,2299,-0.83,-146.0,212.3,-8.2,298,2305,0.00,3.45,0.00,0.000,4,0.000,0.087,2438,3920,3400,0,0,4,0,0,0
$GC,2558,-0.90,-146.0,232.5,-7.6,320,2565,0.12,3.28,0.00,0.000,6,0.123,0.065,2397,2455,3400,0,0,3,0,0,0
$GC,2883,-0.84,-146.0,262.0,-9.1,351,2888,0.00,3.45,0.00,0.000,4,0.000,0.086,2397,3923,3401,0,0,4,0,0,0
$GC,3141,-0.76,-146.0,285.4,-8.6,373,3147,0.17,3.30,0.00,0.000,6,0.201,0.065,2437,2460,3402,0,0,3,0,0,0
$GC,3466,-0.82,-146.0,310.9,-8.0,404,3471,0.00,3.45,0.00,0.000,4,0.000,0.086,2437,3928,3403,0,0,4,0,0,0
$GC,3477,-0.88,-146.0,311.9,-8.2,404,3483,0.00,3.30,0.00,0.000,6,0.000,0.064,2437,2460,3403,0,0,3,0,0,0
$GC,3801,-0.95,-146.0,340.8,-9.5,435,3806,0.17,2.15,0.00,0.000,4,0.110,0.087,2378,853,3403,0,0,0,0,0,0
$GC,3969,-0.80,-146.0,361.4,-13.0,450,3974,0.22,2.08,0.00,0.000,6,0.210,0.070,2429,2462,3403,0,0,0,0,0,0
$GC,4294,-0.85,-146.0,390.7,-9.0,480,4299,0.00,3.45,0.00,0.000,4,0.000,0.087,2429,3925,3403,0,0,4,0,0,0
$GC,4552,-0.91,-146.0,414.3,-8.8,502,4557,0.00,3.33,0.00,0.000,6,0.000,0.066,2429,2458,3403,0,0,3,0,0,0
$GC,4877,-0.96,-146.0,441.7,-8.0,533,4882,0.15,2.15,0.00,0.000,4,0.117,0.087,2379,857,3403,0,0,0,0,0,0
$GC,5134,-0.82,-146.0,469.9,-11.0,555,5141,0.17,2.08,0.00,0.000,6,0.216,0.071,2419,2462,3403,0,0,0,0,0,0
$GC,5459,-0.82,-146.0,496.2,-7.7,586,5464,0.00,3.42,0.00,0.000,4,0.000,0.089,2419,3916,3403,0,0,5,0,0,0
$GC,5656,-0.82,-146.0,512.3,-8.2,603,5661,0.00,3.33,0.00,0.000,6,0.000,0.067,2419,2459,3403,0,0,3,0,0,0
$GC,5980,-0.82,-146.0,539.2,-8.2,633,5985,0.00,3.47,0.00,0.000,4,0.000,0.087,2419,3916,3403,0,0,4,0,0,0
$GC,6237,-0.82,-146.0,560.9,-8.4,655,6244,0.00,3.33,0.00,0.000,6,0.000,0.066,2419,2460,3402,0,0,2,0,0,0
$GC,6562,-0.82,-146.0,587.4,-8.2,686,6568,0.00,3.45,0.00,0.000,4,0.000,0.087,2419,3916,3403,0,0,4,0,0,0
$GC,6821,-0.87,-146.0,609.0,-8.7,702,6826,0.00,3.30,0.00,0.000,6,0.000,0.066,2419,2460,3403,0,0,3,0,0,0
$GC,7133,-0.87,-146.0,633.9,-7.8,713,7138,0.00,3.45,0.00,0.000,4,0.000,0.087,2419,3916,3403,0,0,4,0,0,0
$GC,7390,-0.92,-146.0,655.1,-8.0,720,7396,0.00,3.28,0.00,0.000,6,0.000,0.066,2419,2459,3403,0,0,3,0,0,0
$GC,7702,-0.97,-146.0,680.0,-8.1,731,7709,0.12,3.47,0.00,0.000,4,0.125,0.084,2362,3926,3403,0,0,4,0,0,0
$GC,7960,-0.82,-146.0,707.2,-10.5,738,7967,0.25,3.33,0.00,0.000,6,0.212,0.065,2419,2459,3403,0,0,3,0,0,0
$STATE,8271,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8271,begin apogee
$GC,8277,-0.16,0.0,731.5,7.6,749,8408,0.80,0.00,126.75,1.219,6,0.183,0.000,2634,1946,2800,0,0,0,0,0,0
$STATE,8408,end apogee,CONTROL_FINISHED_OK
$STATE,8408,begin climb
$GC,8410,0.73,146.0,733.6,0.0,753,8551,0.95,2.20,131.73,1.162,4,0.130,0.091,2920,353,2203,0,0,0,0,0,0
$GC,8698,0.62,146.0,705.8,12.6,762,8701,0.00,1.95,0.00,0.000,6,0.000,0.062,2921,1962,2197,0,0,0,0,0,0
$GC,9039,0.53,146.0,664.7,12.1,773,9047,0.25,3.62,0.00,0.000,4,0.198,0.078,2852,3535,2195,0,0,6,0,0,0
$GC,9160,0.58,146.0,652.6,9.5,776,9166,0.00,3.62,0.00,0.000,6,0.000,0.073,2866,1949,2194,0,0,4,0,0,0
$GC,9473,0.70,151.6,624.7,8.9,786,9484,0.15,3.65,4.38,0.772,4,0.101,0.081,2923,3540,2182,0,0,6,0,0,0
$GC,9619,0.55,151.6,605.8,13.1,790,9625,0.30,3.65,0.00,0.000,6,0.202,0.074,2868,1939,2181,0,0,3,0,0,0
$GC,9948,0.66,166.6,575.7,8.5,817,9970,0.12,3.62,14.52,1.058,4,0.126,0.081,2909,3535,2120,0,0,6,0,0,0
$GC,10117,0.57,166.6,555.7,12.1,832,10127,0.20,3.62,0.00,0.000,6,0.199,0.074,2879,1947,2118,0,0,4,0,0,0
$GC,10446,0.66,166.6,524.4,9.4,863,10451,0.00,3.65,0.00,0.000,4,0.000,0.080,2879,3541,2118,0,0,4,0,0,0
$GC,10592,0.66,166.6,509.1,10.7,875,10598,0.00,3.62,0.00,0.000,6,0.000,0.074,2893,1947,2118,0,0,4,0,0,0
$GC,10916,0.66,166.6,475.7,10.6,906,10922,0.00,3.65,0.00,0.000,4,0.000,0.081,2893,3541,2117,0,0,4,0,0,0
$GC,11070,0.66,166.6,458.4,11.2,919,11076,0.00,3.62,0.00,0.000,6,0.000,0.074,2909,1946,2117,0,0,4,0,0,0
$GC,11395,0.66,166.6,424.9,10.5,949,11400,0.00,3.65,0.00,0.000,4,0.000,0.081,2909,3540,2117,0,0,4,0,0,0
$GC,11537,0.57,166.6,407.8,12.4,961,11547,0.20,3.62,0.00,0.000,6,0.199,0.075,2878,1945,2116,0,0,4,0,0,0
$GC,11865,0.70,183.3,379.1,8.5,992,11887,0.12,3.65,15.20,0.967,4,0.124,0.081,2919,3540,2051,0,0,4,0,0,0
$GC,12024,0.60,183.3,360.7,12.8,1006,12034,0.20,3.65,0.00,0.000,6,0.202,0.075,2889,1950,2048,0,0,3,0,0,0
$GC,12352,0.68,183.3,329.8,9.7,1037,12358,0.00,3.65,0.00,0.000,4,0.000,0.081,2889,3538,2048,0,0,4,0,0,0
$GC,12494,0.68,183.3,314.6,10.8,1049,12500,0.00,3.62,0.00,0.000,6,0.000,0.074,2903,1946,2048,0,0,4,0,0,0
$GC,12818,0.68,183.3,281.5,9.8,1079,12823,0.00,3.62,0.00,0.000,4,0.000,0.081,2903,3534,2047,0,0,5,0,0,0
$GC,12948,0.68,183.3,266.8,11.2,1090,12953,0.00,3.62,0.00,0.000,6,0.000,0.075,2919,1946,2047,0,0,4,0,0,0
$GC,13272,0.68,183.3,233.2,10.2,1120,13278,0.00,3.62,0.00,0.000,4,0.000,0.081,2919,3534,2046,0,0,6,0,0,0
$GC,13392,0.59,183.3,220.1,10.4,1130,13402,0.20,3.62,0.00,0.000,6,0.200,0.075,2889,1945,2046,0,0,4,0,0,0
$GC,13720,0.73,218.2,194.8,7.7,1161,13757,0.12,3.65,29.58,0.877,4,0.128,0.081,2929,3537,1909,0,0,6,0,0,0
$GC,13916,0.66,218.2,171.5,12.1,1178,13926,0.17,3.67,0.00,0.000,6,0.202,0.074,2906,1946,1904,0,0,3,0,0,0
$GC,14245,0.72,218.2,137.3,10.0,1209,14250,0.00,3.65,0.00,0.000,4,0.000,0.080,2906,3534,1903,0,0,4,0,0,0
$GC,14412,0.77,218.2,118.8,11.7,1223,14418,0.00,3.62,0.00,0.000,6,0.000,0.073,2920,1943,1903,0,0,4,0,0,0
$GC,14745,0.88,218.2,84.3,9.7,1268,14751,0.15,3.65,0.00,0.000,4,0.100,0.078,2976,3540,1902,0,0,4,0,0,0
$GC,14831,0.72,218.2,73.0,14.0,1283,14837,0.28,3.62,0.00,0.000,6,0.200,0.072,2925,1942,1902,0,0,4,0,0,0
$GC,15176,0.85,230.8,41.2,8.6,1344,15198,0.12,3.62,10.82,0.736,4,0.128,0.077,2966,3535,1860,0,0,4,0,0,0
$GC,15345,0.74,230.8,19.9,13.1,1374,15351,0.20,3.65,0.00,0.000,6,0.195,0.074,2935,1937,1858,0,0,3,0,0,0
$FREEZE,8.56,-0.626,-1.831,0,1,0
$FREEZE,8.00,-0.625,-1.830,0,1,0
$FREEZE,7.48,-0.626,-1.829,0,1,0
$FREEZE,6.96,-0.653,-1.829,0,1,0
$FREEZE,6.55,-0.662,-1.828,0,1,0
$FREEZE,5.99,-0.676,-1.828,0,1,0
$FREEZE,5.58,-0.697,-1.827,0,1,0
$FREEZE,5.06,-0.731,-1.827,0,1,0
$FREEZE,4.50,-0.782,-1.826,0,1,0
$FREEZE,3.98,-0.867,-1.826,0,1,0
$FREEZE,3.41,-0.890,-1.826,0,1,0
$FREEZE,3.00,-0.883,-1.825,0,1,0
$FREEZE,2.42,-0.896,-1.824,0,1,0
$FREEZE,1.87,-0.903,-1.824,0,1,0
$STATE,15530,end climb,SURFACE_DEPTH_REACHED
$STATE,15530,begin surface coast
$FREEZE,1.38,-0.900,-1.823,0,1,0
$FREEZE,0.88,-0.911,-1.822,0,1,0
$FREEZE,0.64,-1.017,-1.819,0,1,0
$FREEZE,0.62,-1.274,-1.111,0,1,0
$FINISH,0.6,1.016407
$STATE,15555,end surface coast,CONTROL_FINISHED_OK
$STATE,15555,begin surface
$SM_CCo,15573,62.88,0.746,0,0,1474,325.02
$SM_GC,1.48,0.00,0.00,62.88,0.000,0.000,0.746,125,2456,1474,-8.02,-0.14,325.02
$RAFOS_CLK,1023
$RAFOS,6,1261385343,8.833333,8.817500,91,66,61,0,0,0,753,209,146,0,0,0
$RAFOS,5,1261384863,8.700000,8.684167,146,70,65,0,0,0,606,198,221,0,0,0
$RAFOS,4,1261384384,8.566667,8.551111,89,60,57,0,0,0,811,205,182,0,0,0
$RAFOS,3,1261383902,8.433333,8.417222,67,57,57,0,0,0,192,181,211,0,0,0
$RAFOS,2,1261383423,8.300000,8.284166,64,61,56,0,0,0,117,158,244,0,0,0
$RAFOS,1,1261382947,8.166667,8.151944,59,59,51,0,0,0,172,193,158,0,0,0
$RAFOS,0,1261382470,8.033334,8.019444,68,61,59,0,0,0,212,191,159,0,0,0
$RAFOS,6,1261370946,4.833333,4.818333,107,64,62,0,0,0,735,165,201,0,0,0
$RAFOS,5,1261370466,4.700000,4.685000,139,57,56,0,0,0,598,174,213,0,0,0
$RAFOS,2,1261369022,4.300000,4.283889,67,60,59,0,0,0,177,151,209,0,0,0
$RAFOS_FIX,6708.497070,-5727.875000,211209,080822,3,109,0.28
$IRIDIUM_FIX,6641.98,-5726.21,170399,040429
$TT8_MAMPS,0.027612
$HUMID,47.79
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.00
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.9,19.2
$ALTIM_BOTTOM_PING,700.2,46.3
$24V_AH,22.1,65.281
$10V_AH,10.1,34.717
$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,26.075,199.125,332.975,62.875,0.000,88.996,101.666,288.197,3.750,0.000,15.648,2538.297,9673.498,614.891,2814.214,746.886,0.000,2025.029,0.000,2753.113,3240.000,21.298,0.000
$DEVICE_MAMPS,296.062,104.312,1218.763,746.291,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1033.248,982.574,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152508
$DATA_FILE_SIZE,56784,1411
$CAP_FILE_SIZE,185714,0
$CFSIZE,260165632,222670848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,196,0,0
$SOUNDSPEED,1461.9
$GPS,211209,085933,6708.454,-5722.809,39,1.2,41,-37.8