version: 66.06
glider: 143
mission: 10
dive: 352
start: 12 21 109 9 5 37
data:
$ID,143
$MISSION,10
$DIVE,352
$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,-42516.445
$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,18
$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
$GPS1,085933,6708.454,-5722.809,39,1.2,41,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-69.8
$GPS2,090519,6708.437,-5722.783,9,1.0,14,-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,149.6,27061,-16.9,-9.167
$D_GRID,731
$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,-146.0,0.0,0.0,0,113,0.00,0.00,-94.30,0.000,2,0.000,0.000,125,2456,3126,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.4,-5.2,19,142,11.05,2.22,-7.53,0.000,4,0.284,0.103,2449,856,3399,0,0,0,0,0,0
$GC,311,-0.73,-146.0,29.7,-11.1,54,317,0.00,2.10,0.00,0.000,6,0.000,0.072,2449,2459,3402,0,0,0,0,0,0
$GC,653,-0.73,-146.0,64.8,-10.1,115,659,0.00,2.15,0.00,0.000,4,0.000,0.090,2449,865,3402,0,0,0,0,0,0
$GC,912,-0.73,-146.0,93.0,-10.6,161,917,0.00,2.08,0.00,0.000,6,0.000,0.074,2449,2460,3402,0,0,0,0,0,0
$GC,1241,-0.78,-146.0,122.6,-8.7,198,1247,0.00,3.47,0.00,0.000,4,0.000,0.093,2449,3917,3401,0,0,5,0,0,0
$GC,1395,-0.84,-146.0,135.6,-8.5,211,1400,0.00,3.33,0.00,0.000,6,0.000,0.068,2449,2460,3400,0,0,3,0,0,0
$GC,1719,-0.92,-146.0,162.0,-8.4,241,1726,0.17,3.47,0.00,0.000,4,0.114,0.088,2388,3918,3399,0,0,4,0,0,0
$GC,1978,-0.81,-146.0,188.9,-9.6,263,1985,0.17,3.30,0.00,0.000,6,0.208,0.067,2427,2457,3399,0,0,4,0,0,0
$GC,2303,-0.81,-146.0,214.7,-8.2,294,2306,0.00,2.10,0.00,0.000,4,0.000,0.086,2427,865,3399,0,0,0,0,0,0
$GC,2563,-0.81,-146.0,239.4,-9.5,317,2566,0.00,2.05,0.00,0.000,6,0.000,0.068,2427,2463,3400,0,0,0,0,0,0
$GC,2892,-0.81,-146.0,269.5,-9.4,348,2897,0.00,3.42,0.00,0.000,4,0.000,0.086,2427,3923,3400,0,0,4,0,0,0
$GC,2981,-0.81,-146.0,277.8,-9.1,355,2987,0.00,3.30,0.00,0.000,6,0.000,0.064,2427,2460,3400,0,0,3,0,0,0
$GC,3306,-0.81,-146.0,306.6,-8.4,386,3311,0.00,3.45,0.00,0.000,4,0.000,0.086,2427,3916,3401,0,0,4,0,0,0
$GC,3563,-0.81,-146.0,328.7,-8.4,408,3570,0.00,3.33,0.00,0.000,6,0.000,0.065,2427,2459,3401,0,0,3,0,0,0
$GC,3888,-0.81,-146.0,353.8,-7.7,439,3894,0.00,3.47,0.00,0.000,4,0.000,0.086,2427,3928,3402,0,0,4,0,0,0
$GC,4146,-0.81,-146.0,373.2,-7.6,461,4152,0.00,3.33,0.00,0.000,6,0.000,0.065,2427,2460,3402,0,0,4,0,0,0
$GC,4472,-0.85,-146.0,397.5,-7.8,492,4477,0.00,3.45,0.00,0.000,4,0.000,0.087,2427,3926,3402,0,0,4,0,0,0
$GC,4730,-0.90,-146.0,419.4,-8.7,514,4736,0.00,3.33,0.00,0.000,6,0.000,0.065,2427,2457,3402,0,0,3,0,0,0
$GC,5055,-0.95,-146.0,445.7,-7.8,545,5061,0.15,3.47,0.00,0.000,4,0.114,0.084,2361,3923,3402,0,0,4,0,0,0
$GC,5314,-0.77,-146.0,472.2,-10.0,567,5320,0.32,3.30,0.00,0.000,6,0.206,0.065,2438,2460,3402,0,0,3,0,0,0
$GC,5639,-0.86,-146.0,492.2,-5.8,598,5644,0.00,3.45,0.00,0.000,4,0.000,0.087,2438,3924,3401,0,0,4,0,0,0
$GC,5897,-0.95,-146.0,507.2,-5.7,620,5904,0.17,3.33,0.00,0.000,6,0.111,0.065,2380,2457,3402,0,0,3,0,0,0
$GC,6222,-0.86,-146.0,534.7,-9.3,651,6228,0.12,3.47,0.00,0.000,4,0.202,0.085,2400,3922,3402,0,0,4,0,0,0
$GC,6480,-0.86,-146.0,558.2,-9.4,673,6486,0.00,3.30,0.00,0.000,6,0.000,0.064,2399,2459,3402,0,0,4,0,0,0
$GC,6806,-0.86,-146.0,586.6,-9.4,704,6811,0.00,3.47,0.00,0.000,4,0.000,0.086,2400,3916,3401,0,0,4,0,0,0
$GC,7064,-0.86,-146.0,611.1,-8.9,719,7070,0.00,3.33,0.00,0.000,6,0.000,0.066,2400,2458,3402,0,0,3,0,0,0
$GC,7377,-0.86,-146.0,638.7,-8.6,730,7382,0.00,3.45,0.00,0.000,4,0.000,0.086,2400,3915,3402,0,0,4,0,0,0
$GC,7637,-0.86,-146.0,661.7,-8.6,737,7643,0.00,3.33,0.00,0.000,6,0.000,0.066,2400,2456,3402,0,0,3,0,0,0
$GC,7950,-0.86,-146.0,688.1,-8.4,748,7955,0.00,3.47,0.00,0.000,4,0.000,0.087,2400,3925,3401,0,0,4,0,0,0
$GC,8209,-0.86,-146.0,711.1,-8.9,755,8214,0.00,3.33,0.00,0.000,6,0.000,0.065,2400,2460,3401,0,0,3,0,0,0
$STATE,8457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8457,begin apogee
$GC,8463,-0.16,0.0,732.3,8.4,764,8593,0.88,0.00,126.00,1.221,6,0.187,0.000,2631,1934,2800,0,0,0,0,0,0
$STATE,8593,end apogee,CONTROL_FINISHED_OK
$STATE,8593,begin climb
$GC,8595,0.73,146.0,734.8,0.0,768,8736,0.95,2.17,131.32,1.167,4,0.131,0.091,2918,350,2202,0,0,0,0,0,0
$GC,8883,0.65,146.0,706.3,11.9,777,8887,0.00,1.95,0.00,0.000,6,0.000,0.061,2918,1964,2196,0,0,0,0,0,0
$GC,9223,0.58,146.0,666.2,11.7,788,9231,0.17,3.62,0.00,0.000,4,0.207,0.079,2877,3534,2194,0,0,5,0,0,0
$GC,9369,0.58,146.0,650.6,11.1,792,9374,0.00,3.65,0.00,0.000,6,0.000,0.074,2892,1939,2192,0,0,4,0,0,0
$GC,9692,0.58,146.0,618.1,9.9,803,9697,0.00,3.65,0.00,0.000,4,0.000,0.081,2891,3538,2192,0,0,5,0,0,0
$GC,9844,0.52,146.0,600.9,11.9,807,9854,0.20,3.62,0.00,0.000,6,0.201,0.074,2861,1943,2192,0,0,4,0,0,0
$GC,10173,0.67,159.3,572.8,8.6,838,10195,0.15,3.65,10.93,1.024,4,0.115,0.081,2911,3538,2148,0,0,4,0,0,0
$GC,10335,0.57,159.3,553.0,11.9,852,10342,0.20,3.65,0.00,0.000,6,0.201,0.074,2881,1941,2147,0,0,3,0,0,0
$GC,10660,0.65,164.9,522.3,8.9,883,10675,0.00,3.60,6.40,0.907,4,0.000,0.079,2881,3528,2125,0,0,4,0,0,0
$GC,10832,0.65,164.9,504.2,11.1,898,10838,0.00,3.62,0.00,0.000,6,0.000,0.074,2895,1937,2124,0,0,4,0,0,0
$GC,11158,0.65,164.9,471.5,10.2,929,11164,0.00,3.65,0.00,0.000,4,0.000,0.081,2895,3540,2124,0,0,5,0,0,0
$GC,11294,0.65,164.9,456.4,11.4,940,11300,0.00,3.62,0.00,0.000,6,0.000,0.074,2911,1948,2124,0,0,4,0,0,0
$GC,11617,0.65,164.9,421.2,10.8,971,11623,0.00,3.65,0.00,0.000,4,0.000,0.081,2911,3539,2124,0,0,4,0,0,0
$GC,11749,0.57,164.9,405.3,12.2,982,11759,0.22,3.62,0.00,0.000,6,0.196,0.075,2874,1947,2123,0,0,4,0,0,0
$GC,12077,0.69,173.9,375.3,8.8,1013,12093,0.12,3.65,8.75,0.913,4,0.130,0.081,2914,3540,2091,0,0,4,0,0,0
$GC,12240,0.61,173.9,355.3,12.7,1027,12250,0.17,3.65,0.00,0.000,6,0.202,0.076,2891,1940,2089,0,0,4,0,0,0
$GC,12568,0.68,173.9,322.5,10.0,1058,12574,0.00,3.65,0.00,0.000,4,0.000,0.081,2891,3537,2089,0,0,5,0,0,0
$GC,12721,0.68,173.9,306.1,10.1,1071,12727,0.00,3.62,0.00,0.000,6,0.000,0.075,2905,1947,2088,0,0,4,0,0,0
$GC,13045,0.70,191.8,276.4,8.4,1101,13070,0.00,3.62,16.40,0.920,4,0.000,0.081,2905,3535,2017,0,0,4,0,0,0
$GC,13249,0.70,191.8,255.6,11.2,1119,13255,0.00,3.65,0.00,0.000,6,0.000,0.076,2921,1939,2014,0,0,4,0,0,0
$GC,13574,0.70,191.8,222.4,10.8,1150,13579,0.00,3.65,0.00,0.000,4,0.000,0.082,2921,3535,2014,0,0,5,0,0,0
$GC,13687,0.64,191.8,209.0,11.8,1159,13694,0.17,3.62,0.00,0.000,6,0.202,0.075,2897,1949,2013,0,0,4,0,0,0
$GC,14012,0.71,191.8,178.4,9.6,1190,14018,0.00,3.65,0.00,0.000,4,0.000,0.081,2897,3535,2012,0,0,4,0,0,0
$GC,14130,0.71,191.8,166.0,10.5,1200,14136,0.00,3.62,0.00,0.000,6,0.000,0.074,2911,1949,2012,0,0,4,0,0,0
$GC,14455,0.76,191.8,134.4,9.9,1230,14460,0.00,3.65,0.00,0.000,4,0.000,0.080,2911,3537,2012,0,0,5,0,0,0
$GC,14561,0.76,191.8,123.3,10.8,1239,14567,0.00,3.62,0.00,0.000,6,0.000,0.074,2927,1949,2012,0,0,3,0,0,0
$GC,14889,0.76,191.9,92.6,9.2,1276,14895,0.00,3.65,0.00,0.000,4,0.000,0.078,2926,3542,2012,0,0,5,0,0,0
$GC,15058,0.76,191.9,76.3,9.6,1306,15063,0.00,3.62,0.00,0.000,6,0.000,0.073,2943,1947,2012,0,0,4,0,0,0
$GC,15403,0.77,199.0,46.5,8.9,1367,15419,0.00,3.65,7.18,0.703,4,0.000,0.080,2943,3529,1988,0,0,4,0,0,0
$GC,15543,0.77,199.0,31.7,10.5,1392,15549,0.00,3.60,0.00,0.000,6,0.000,0.074,2959,1950,1988,0,0,4,0,0,0
$FREEZE,8.89,-0.740,-1.829,0,1,0
$FREEZE,8.21,-0.737,-1.828,0,1,0
$FREEZE,7.64,-0.758,-1.827,0,1,0
$FREEZE,7.08,-0.759,-1.827,0,1,0
$FREEZE,6.51,-0.758,-1.826,0,1,0
$FREEZE,5.94,-0.755,-1.826,0,1,0
$FREEZE,5.42,-0.752,-1.825,0,1,0
$FREEZE,4.83,-0.748,-1.825,0,1,0
$FREEZE,4.27,-0.751,-1.824,0,1,0
$FREEZE,3.76,-0.744,-1.824,0,1,0
$FREEZE,3.10,-0.760,-1.823,0,1,0
$FREEZE,2.70,-0.776,-1.823,0,1,0
$FREEZE,2.06,-0.773,-1.823,0,1,0
$FREEZE,1.55,-0.763,-1.822,0,1,0
$STATE,15839,end climb,SURFACE_DEPTH_REACHED
$STATE,15839,begin surface coast
$FREEZE,1.03,-0.758,-1.822,0,1,0
$FREEZE,0.60,-0.747,-1.817,0,1,0
$FREEZE,0.69,-0.809,-1.722,0,1,0
$FREEZE,0.61,-0.789,-0.962,0,1,0
$FINISH,0.6,1.014204
$STATE,15863,end surface coast,CONTROL_FINISHED_OK
$STATE,15863,begin surface
$SM_CCo,15881,77.05,0.746,0,0,1474,325.02
$SM_GC,1.45,0.00,0.00,77.05,0.000,0.000,0.746,125,2454,1474,-8.02,-0.17,325.02
$RAFOS_CLK,1019
$RAFOS,6,1261399749,12.833333,12.819167,121,57,56,0,0,0,716,193,229,0,0,0
$RAFOS,5,1261399263,12.700000,12.684167,131,62,58,0,0,0,605,192,227,0,0,0
$RAFOS,4,1261398786,12.566667,12.551666,115,60,59,0,0,0,796,207,195,0,0,0
$RAFOS,3,1261398306,12.433333,12.418333,59,55,54,0,0,0,188,221,128,0,0,0
$RAFOS,2,1261397825,12.300000,12.284722,57,54,53,0,0,0,201,191,216,0,0,0
$RAFOS,1,1261397343,12.166667,12.150833,68,58,56,0,0,0,196,224,209,0,0,0
$RAFOS,0,1261396867,12.033333,12.018611,64,62,59,0,0,0,181,198,220,0,0,0
$RAFOS_FIX,6708.073730,-5728.381836,211209,121244,3,122,0.31
$IRIDIUM_FIX,6641.98,-5716.88,170399,040455
$TT8_MAMPS,0.026845
$HUMID,47.91
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.00
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.7,19.1
$ALTIM_BOTTOM_PING,650.2,102.5
$24V_AH,22.1,65.412
$10V_AH,10.1,34.807
$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,23.750,201.650,306.975,77.050,0.000,31.533,31.734,151.292,3.750,0.000,15.755,2584.421,9748.539,596.543,2909.780,463.926,0.000,2034.846,0.000,2846.715,2520.000,22.266,0.000
$DEVICE_MAMPS,283.790,102.778,1221.064,745.524,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1059.376,1013.159,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152480
$DATA_FILE_SIZE,56614,1449
$CAP_FILE_SIZE,177857,0
$CFSIZE,260165632,222588928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,205,0,0
$SOUNDSPEED,1461.5
$GPS,211209,133306,6708.207,-5722.320,30,1.2,30,-37.8