version: 66.06
glider: 143
mission: 10
dive: 359
start: 12 22 109 15 35 50
data:
$ID,143
$MISSION,10
$DIVE,359
$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,-42638.742
$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
$GPS1,152924,6711.390,-5723.954,40,2.0,40,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-69.3
$GPS2,153534,6711.428,-5724.078,10,2.9,29,-37.9
$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,158.8,30371,-16.9,-9.167
$D_GRID,671
$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,14,begin dive
$GC,16,-0.73,-146.0,0.0,0.0,0,119,0.00,0.00,-99.57,0.000,2,0.000,0.000,124,2453,3090,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.5,-6.4,20,149,11.60,2.17,-8.52,0.000,4,0.301,0.106,2450,863,3398,0,0,0,0,0,0
$GC,390,-0.73,-146.0,39.0,-11.6,68,396,0.00,2.10,0.00,0.000,6,0.000,0.077,2450,2455,3400,0,0,0,0,0,0
$GC,733,-0.73,-146.0,77.6,-10.8,129,739,0.00,2.17,0.00,0.000,4,0.000,0.096,2450,851,3400,0,0,0,0,0,0
$GC,973,-0.73,-146.0,102.2,-9.8,170,979,0.00,2.15,0.00,0.000,6,0.000,0.077,2450,2458,3400,0,0,0,0,0,0
$GC,1299,-0.78,-146.0,129.0,-8.5,201,1303,0.00,2.17,0.00,0.000,4,0.000,0.097,2450,854,3400,0,0,0,0,0,0
$GC,1556,-0.78,-146.0,153.4,-9.5,223,1562,0.00,2.15,0.00,0.000,6,0.000,0.077,2450,2460,3399,0,0,0,0,0,0
$GC,1881,-0.87,-146.0,181.6,-8.2,254,1888,0.12,3.50,0.00,0.000,4,0.130,0.094,2398,3926,3399,0,0,4,0,0,0
$GC,2139,-0.76,-146.0,209.1,-10.8,276,2146,0.17,3.40,0.00,0.000,6,0.216,0.074,2436,2464,3399,0,0,3,0,0,0
$GC,2465,-0.82,-146.0,237.6,-8.2,307,2471,0.00,3.50,0.00,0.000,4,0.000,0.094,2436,3921,3399,0,0,6,0,0,0
$GC,2723,-0.88,-146.0,258.0,-7.4,329,2729,0.00,3.38,0.00,0.000,6,0.000,0.071,2436,2459,3398,0,0,4,0,0,0
$GC,3048,-0.94,-146.0,283.1,-7.7,360,3054,0.15,3.55,0.00,0.000,4,0.119,0.091,2372,3930,3398,0,0,5,0,0,0
$GC,3302,-0.78,-146.0,310.6,-11.2,382,3308,0.28,3.40,0.00,0.000,6,0.211,0.071,2436,2453,3398,0,0,4,0,0,0
$GC,3627,-0.84,-146.0,337.1,-8.0,412,3632,0.00,3.50,0.00,0.000,4,0.000,0.091,2436,3919,3398,0,0,6,0,0,0
$GC,3885,-0.91,-146.0,357.7,-7.6,434,3892,0.15,3.35,0.00,0.000,6,0.120,0.070,2387,2458,3399,0,0,4,0,0,0
$GC,4210,-0.84,-146.0,390.0,-9.9,465,4216,0.12,3.58,0.00,0.000,4,0.204,0.090,2413,3920,3399,0,0,4,0,0,0
$GC,4444,-0.84,-146.0,412.0,-9.4,485,4451,0.00,3.40,0.00,0.000,6,0.000,0.068,2413,2455,3400,0,0,4,0,0,0
$GC,4771,-0.84,-146.0,440.5,-8.8,516,4776,0.00,3.50,0.00,0.000,4,0.000,0.088,2413,3932,3400,0,0,6,0,0,0
$GC,5029,-0.84,-146.0,463.9,-8.7,538,5035,0.00,3.38,0.00,0.000,6,0.000,0.067,2413,2460,3401,0,0,4,0,0,0
$GC,5353,-0.84,-146.0,491.4,-8.5,569,5359,0.00,3.53,0.00,0.000,4,0.000,0.088,2413,3932,3401,0,0,5,0,0,0
$GC,5611,-0.84,-146.0,514.0,-8.1,591,5617,0.00,3.38,0.00,0.000,6,0.000,0.067,2413,2461,3402,0,0,4,0,0,0
$GC,5936,-0.84,-146.0,540.4,-8.4,622,5942,0.00,3.47,0.00,0.000,4,0.000,0.087,2413,3920,3402,0,0,6,0,0,0
$GC,6194,-0.84,-146.0,562.2,-8.2,644,6200,0.00,3.35,0.00,0.000,6,0.000,0.067,2413,2459,3402,0,0,4,0,0,0
$GC,6519,-0.84,-146.0,588.0,-7.7,675,6523,0.00,2.12,0.00,0.000,4,0.000,0.089,2413,854,3402,0,0,0,0,0,0
$GC,6779,-0.84,-146.0,610.6,-9.2,691,6783,0.00,2.08,0.00,0.000,6,0.000,0.071,2413,2465,3403,0,0,0,0,0,0
$GC,7097,-0.84,-146.0,636.0,-7.9,702,7102,0.00,3.50,0.00,0.000,4,0.000,0.088,2413,3920,3402,0,0,4,0,0,0
$GC,7270,-0.84,-146.0,649.9,-7.2,707,7275,0.00,3.38,0.00,0.000,6,0.000,0.067,2413,2460,3403,0,0,4,0,0,0
$STATE,7560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7560,begin apogee
$GC,7566,-0.16,0.0,672.2,7.6,717,7695,0.82,0.00,125.97,1.183,6,0.188,0.000,2631,1943,2799,0,0,0,0,0,0
$STATE,7696,end apogee,CONTROL_FINISHED_OK
$STATE,7696,begin climb
$GC,7699,0.73,146.0,674.6,0.0,721,7839,0.98,2.12,131.43,1.125,4,0.132,0.094,2923,362,2203,0,0,0,0,0,0
$GC,8024,0.63,146.0,641.3,12.5,731,8028,0.00,1.88,0.00,0.000,6,0.000,0.064,2923,1968,2196,0,0,0,0,0,0
$GC,8359,0.54,146.0,601.0,11.7,742,8367,0.22,3.72,0.00,0.000,4,0.201,0.080,2854,3531,2195,0,0,4,0,0,0
$GC,8520,0.60,147.2,585.4,9.1,754,8526,0.00,3.70,0.00,0.000,6,0.000,0.074,2868,1942,2194,0,0,4,0,0,0
$GC,8845,0.74,170.0,558.1,8.2,785,8873,0.17,3.75,19.85,1.058,4,0.107,0.082,2930,3532,2107,0,0,4,0,0,0
$GC,9042,0.58,170.0,533.2,13.3,802,9052,0.28,3.72,0.00,0.000,6,0.203,0.076,2881,1941,2103,0,0,4,0,0,0
$GC,9370,0.66,170.0,501.8,9.2,833,9376,0.00,3.72,0.00,0.000,4,0.000,0.081,2881,3532,2103,0,0,4,0,0,0
$GC,9535,0.66,170.0,485.2,10.4,847,9540,0.00,3.70,0.00,0.000,6,0.000,0.076,2895,1943,2103,0,0,4,0,0,0
$GC,9859,0.66,170.0,454.0,9.5,877,9864,0.00,3.72,0.00,0.000,4,0.000,0.082,2895,3534,2103,0,0,5,0,0,0
$GC,10012,0.66,170.0,437.9,10.6,890,10018,0.00,3.70,0.00,0.000,6,0.000,0.076,2912,1941,2101,0,0,4,0,0,0
$GC,10336,0.66,170.0,404.3,10.5,920,10342,0.00,3.72,0.00,0.000,4,0.000,0.082,2912,3533,2101,0,0,4,0,0,0
$GC,10505,0.57,170.0,384.3,12.4,934,10511,0.20,3.70,0.00,0.000,6,0.202,0.076,2882,1941,2101,0,0,4,0,0,0
$GC,10830,0.70,189.3,354.8,8.4,965,10855,0.10,3.78,17.25,0.953,4,0.140,0.081,2914,3533,2027,0,0,4,0,0,0
$GC,11019,0.63,189.3,333.0,12.2,982,11029,0.15,3.70,0.00,0.000,6,0.205,0.076,2898,1947,2024,0,0,4,0,0,0
$GC,11348,0.69,189.3,299.4,10.8,1013,11354,0.00,3.72,0.00,0.000,4,0.000,0.081,2898,3533,2024,0,0,4,0,0,0
$GC,11484,0.69,189.3,283.1,12.5,1024,11490,0.00,3.70,0.00,0.000,6,0.000,0.074,2912,1945,2023,0,0,4,0,0,0
$GC,11808,0.69,189.3,247.1,10.1,1055,11814,0.00,3.72,0.00,0.000,4,0.000,0.081,2911,3534,2023,0,0,4,0,0,0
$GC,11977,0.69,189.3,227.9,10.7,1069,11983,0.00,3.70,0.00,0.000,6,0.000,0.075,2927,1944,2023,0,0,4,0,0,0
$GC,12302,0.69,189.3,192.7,10.8,1100,12308,0.00,3.72,0.00,0.000,4,0.000,0.081,2928,3533,2023,0,0,4,0,0,0
$GC,12458,0.62,189.3,173.9,12.6,1113,12465,0.22,3.70,0.00,0.000,6,0.200,0.075,2892,1948,2023,0,0,3,0,0,0
$GC,12783,0.80,218.0,146.9,8.0,1144,12818,0.17,3.72,25.10,0.847,4,0.113,0.081,2950,3531,1909,0,0,4,0,0,0
$GC,12998,0.69,218.0,120.7,12.9,1163,13005,0.22,3.65,0.00,0.000,6,0.198,0.076,2914,1950,1905,0,0,4,0,0,0
$GC,13328,0.85,248.0,91.1,7.9,1203,13364,0.15,3.72,26.17,0.821,4,0.121,0.082,2964,3524,1787,0,0,4,0,0,0
$GC,13495,0.79,248.0,71.8,12.3,1233,13502,0.15,3.72,0.00,0.000,6,0.202,0.077,2948,1950,1784,0,0,4,0,0,0
$GC,13840,0.85,255.2,39.2,8.9,1294,13856,0.00,3.78,6.82,0.726,4,0.000,0.083,2948,3528,1758,0,0,4,0,0,0
$GC,14019,0.85,255.2,17.0,13.2,1326,14024,0.00,3.72,0.00,0.000,6,0.000,0.079,2962,1950,1757,0,0,4,0,0,0
$FREEZE,8.55,-1.521,-1.821,0,1,0
$FREEZE,7.89,-1.513,-1.820,0,1,0
$FREEZE,7.19,-1.521,-1.820,0,1,0
$FREEZE,6.58,-1.520,-1.819,0,1,0
$FREEZE,6.02,-1.513,-1.819,0,1,0
$FREEZE,5.37,-1.517,-1.818,0,1,0
$FREEZE,4.78,-1.515,-1.818,0,1,0
$FREEZE,4.14,-1.514,-1.818,0,1,0
$FREEZE,3.47,-1.513,-1.817,0,1,0
$FREEZE,2.84,-1.515,-1.817,0,1,0
$FREEZE,2.30,-1.516,-1.816,0,1,0
$FREEZE,1.81,-1.518,-1.816,0,1,0
$STATE,14152,end climb,SURFACE_DEPTH_REACHED
$STATE,14152,begin surface coast
$FREEZE,1.30,-1.522,-1.815,0,1,0
$FREEZE,0.86,-1.523,-1.815,0,1,0
$FREEZE,0.57,-1.522,-0.742,0,1,0
$FINISH,0.6,1.010901
$STATE,14170,end surface coast,CONTROL_FINISHED_OK
$STATE,14170,begin surface
$SM_CCo,14188,57.05,0.781,0,0,1474,325.02
$SM_GC,1.57,0.00,0.00,57.05,0.000,0.000,0.781,129,2456,1474,-8.00,-0.14,325.02
$RAFOS_CLK,925
$RAFOS,6,1261500544,16.833334,16.817778,83,60,57,0,0,0,736,225,190,0,0,0
$RAFOS,5,1261500071,16.700001,16.686388,83,66,62,0,0,0,579,209,161,0,0,0
$RAFOS,4,1261499582,16.566668,16.550556,57,56,55,0,0,0,204,154,221,0,0,0
$RAFOS,3,1261499110,16.433332,16.419445,63,55,53,0,0,0,210,133,160,0,0,0
$RAFOS,2,1261498624,16.299999,16.284445,64,59,56,0,0,0,206,122,197,0,0,0
$RAFOS,1,1261498143,16.166666,16.150833,67,66,63,0,0,0,206,195,172,0,0,0
$RAFOS,0,1261497666,16.033333,16.018333,61,60,56,0,0,0,185,213,227,0,0,0
$RAFOS_FIX,6710.390137,-5731.074707,221209,161656,2,83,1.26
$IRIDIUM_FIX,6641.98,-5726.21,180399,111144
$TT8_MAMPS,0.027612
$HUMID,48.74
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,16.50
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.3,19.0
$ALTIM_BOTTOM_PING,600.3,99.1
$24V_AH,22.1,66.364
$10V_AH,10.0,35.416
$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,24.750,174.050,352.600,57.050,0.000,24.347,43.684,153.882,4.000,0.000,31.577,2359.521,8513.869,586.722,2680.724,469.905,0.000,1920.599,0.000,2616.993,2520.000,18.922,0.000
$DEVICE_MAMPS,301.431,105.846,1183.481,780.806,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,995.355,948.756,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152520
$DATA_FILE_SIZE,53655,1353
$CAP_FILE_SIZE,162728,0
$CFSIZE,260165632,222007296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,177,0,0
$SOUNDSPEED,1457.7
$GPS,221209,193436,6712.609,-5726.689,24,1.4,24,-37.9