version: 66.06
glider: 143
mission: 10
dive: 360
start: 12 22 109 19 48 38
data:
$ID,143
$MISSION,10
$DIVE,360
$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,-42651.848
$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,18
$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
$GPS1,193436,6712.609,-5726.689,24,1.4,24,-37.9
$_CALLS,3
$_XMS_NAKs,17
$_XMS_TOUTs,2
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-63.8
$GPS2,194820,6712.604,-5726.981,11,1.7,11,-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,160.2,33299,-16.9,-9.167
$D_GRID,657
$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,-146.0,0.0,0.0,0,118,0.00,0.00,-100.28,0.000,2,0.000,0.000,128,2456,3086,0,0,0,0,0,0
$GC,121,-0.73,-146.0,3.6,-6.0,20,148,11.52,2.15,-8.90,0.000,4,0.299,0.107,2452,863,3399,0,0,0,0,0,0
$GC,368,-0.73,-146.0,35.7,-11.0,64,373,0.00,2.08,0.00,0.000,6,0.000,0.077,2452,2458,3402,0,0,0,0,0,0
$GC,713,-0.73,-146.0,71.6,-9.4,125,718,0.00,2.15,0.00,0.000,4,0.000,0.096,2452,851,3402,0,0,0,0,0,0
$GC,965,-0.73,-146.0,96.3,-9.7,170,970,0.00,2.10,0.00,0.000,6,0.000,0.077,2453,2466,3402,0,0,0,0,0,0
$GC,1297,-0.79,-146.0,125.9,-9.2,205,1301,0.00,2.15,0.00,0.000,4,0.000,0.095,2453,857,3401,0,0,0,0,0,0
$GC,1555,-0.84,-146.0,151.2,-10.2,227,1560,0.00,2.08,0.00,0.000,6,0.000,0.077,2453,2461,3402,0,0,0,0,0,0
$GC,1879,-0.91,-146.0,180.0,-8.4,258,1884,0.17,2.17,0.00,0.000,4,0.119,0.097,2396,852,3401,0,0,0,0,0,0
$GC,2136,-0.81,-146.0,208.5,-11.0,280,2142,0.12,2.08,0.00,0.000,6,0.230,0.078,2423,2460,3401,0,0,0,0,0,0
$GC,2461,-0.81,-146.0,236.1,-8.2,311,2466,0.00,3.60,0.00,0.000,4,0.000,0.097,2423,3927,3400,0,0,4,0,0,0
$GC,2658,-0.81,-146.0,252.6,-8.1,328,2664,0.00,3.42,0.00,0.000,6,0.000,0.073,2424,2465,3400,0,0,4,0,0,0
$GC,2982,-0.81,-146.0,278.0,-7.7,358,2988,0.00,3.55,0.00,0.000,4,0.000,0.094,2423,3918,3400,0,0,5,0,0,0
$GC,3239,-0.81,-146.0,298.8,-7.8,380,3246,0.00,3.45,0.00,0.000,6,0.000,0.072,2423,2456,3400,0,0,4,0,0,0
$GC,3564,-0.81,-146.0,324.5,-8.2,411,3568,0.00,2.10,0.00,0.000,4,0.000,0.092,2424,857,3400,0,0,0,0,0,0
$GC,3822,-0.81,-146.0,348.5,-9.3,434,3826,0.00,2.05,0.00,0.000,6,0.000,0.074,2424,2461,3400,0,0,0,0,0,0
$GC,4147,-0.81,-146.0,376.3,-8.4,464,4152,0.00,3.50,0.00,0.000,4,0.000,0.091,2424,3917,3401,0,0,6,0,0,0
$GC,4294,-0.81,-146.0,388.9,-8.7,476,4300,0.00,3.35,0.00,0.000,6,0.000,0.069,2423,2461,3401,0,0,3,0,0,0
$GC,4618,-0.81,-146.0,415.6,-7.8,507,4623,0.00,3.55,0.00,0.000,4,0.000,0.089,2424,3922,3402,0,0,4,0,0,0
$GC,4875,-0.81,-146.0,436.6,-7.7,529,4882,0.00,3.42,0.00,0.000,6,0.000,0.068,2424,2459,3402,0,0,4,0,0,0
$GC,5200,-0.81,-146.0,462.6,-8.2,560,5206,0.00,3.53,0.00,0.000,4,0.000,0.089,2424,3927,3402,0,0,6,0,0,0
$GC,5217,-0.81,-146.0,464.0,-8.0,561,5223,0.00,3.40,0.00,0.000,6,0.000,0.067,2424,2460,3402,0,0,4,0,0,0
$GC,5542,-0.86,-146.0,489.2,-7.7,591,5546,0.00,2.10,0.00,0.000,4,0.000,0.089,2424,848,3403,0,0,0,0,0,0
$GC,5720,-0.86,-146.0,505.2,-9.1,606,5726,0.00,2.08,0.00,0.000,6,0.000,0.071,2423,2456,3403,0,0,0,0,0,0
$GC,6047,-0.91,-146.0,531.1,-7.8,637,6051,0.00,2.10,0.00,0.000,4,0.000,0.089,2423,850,3403,0,0,0,0,0,0
$GC,6304,-0.91,-146.0,553.3,-8.5,659,6310,0.00,2.05,0.00,0.000,6,0.000,0.071,2423,2467,3403,0,0,0,0,0,0
$GC,6629,-0.96,-146.0,578.5,-7.8,690,6635,0.15,3.50,0.00,0.000,4,0.107,0.086,2361,3922,3403,0,0,6,0,0,0
$GC,6771,-0.80,-146.0,593.2,-10.7,702,6777,0.28,3.40,0.00,0.000,6,0.209,0.067,2424,2459,3404,0,0,4,0,0,0
$GC,7108,-0.87,-146.0,619.5,-7.7,718,7112,0.00,2.12,0.00,0.000,4,0.000,0.089,2425,846,3404,0,0,0,0,0,0
$GC,7366,-0.87,-146.0,641.6,-8.1,725,7370,0.00,2.08,0.00,0.000,6,0.000,0.070,2425,2459,3404,0,0,0,0,0,0
$STATE,7590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7590,begin apogee
$GC,7596,-0.16,0.0,658.8,7.5,733,7725,0.77,0.00,125.90,1.172,6,0.183,0.000,2635,1947,2800,0,0,0,0,0,0
$STATE,7726,end apogee,CONTROL_FINISHED_OK
$STATE,7726,begin climb
$GC,7728,0.73,146.0,661.2,0.0,737,7868,0.95,2.15,130.70,1.116,4,0.133,0.093,2920,342,2203,0,0,0,0,0,0
$GC,7918,0.64,146.0,645.8,12.1,743,7923,0.00,1.98,0.00,0.000,6,0.000,0.063,2920,1961,2198,0,0,0,0,0,0
$GC,8253,0.55,146.0,605.2,12.0,754,8262,0.20,3.78,0.00,0.000,4,0.202,0.079,2858,3538,2195,0,0,6,0,0,0
$GC,8409,0.60,146.0,589.5,9.6,764,8419,0.00,3.75,0.00,0.000,6,0.000,0.074,2872,1949,2194,0,0,4,0,0,0
$GC,8738,0.69,150.8,559.5,9.0,795,8750,0.12,3.72,3.78,0.676,4,0.120,0.081,2917,3533,2184,0,0,5,0,0,0
$GC,8912,0.56,150.8,537.5,13.3,810,8919,0.25,3.72,0.00,0.000,6,0.209,0.077,2876,1937,2184,0,0,4,0,0,0
$GC,9239,0.66,160.5,507.1,8.8,841,9259,0.00,3.72,9.98,0.975,4,0.000,0.082,2876,3532,2144,0,0,5,0,0,0
$GC,9393,0.66,160.5,491.1,10.1,855,9402,0.00,3.72,0.00,0.000,6,0.000,0.075,2890,1936,2143,0,0,4,0,0,0
$GC,9721,0.66,160.5,459.6,9.7,886,9730,0.00,3.72,0.00,0.000,4,0.000,0.081,2890,3532,2143,0,0,5,0,0,0
$GC,9878,0.66,160.5,442.7,11.3,900,9883,0.00,3.70,0.00,0.000,6,0.000,0.076,2906,1946,2143,0,0,4,0,0,0
$GC,10202,0.66,160.5,408.5,10.5,930,10207,0.00,3.72,0.00,0.000,4,0.000,0.082,2907,3533,2143,0,0,4,0,0,0
$GC,10344,0.58,160.5,392.2,11.5,942,10354,0.17,3.70,0.00,0.000,6,0.209,0.076,2884,1945,2142,0,0,4,0,0,0
$GC,10673,0.67,160.5,361.2,9.3,973,10678,0.00,3.70,0.00,0.000,4,0.000,0.081,2884,3532,2142,0,0,5,0,0,0
$GC,10838,0.67,160.5,344.4,9.9,987,10844,0.00,3.70,0.00,0.000,6,0.000,0.076,2898,1942,2142,0,0,4,0,0,0
$GC,11162,0.67,160.5,314.1,9.6,1017,11168,0.00,3.72,0.00,0.000,4,0.000,0.081,2898,3532,2142,0,0,5,0,0,0
$GC,11318,0.67,160.5,297.0,11.1,1030,11325,0.00,3.70,0.00,0.000,6,0.000,0.075,2914,1940,2142,0,0,4,0,0,0
$GC,11643,0.67,160.5,262.8,10.3,1061,11649,0.00,3.72,0.00,0.000,4,0.000,0.081,2914,3532,2142,0,0,4,0,0,0
$GC,11786,0.59,160.5,246.9,11.4,1073,11796,0.20,3.70,0.00,0.000,6,0.206,0.075,2885,1941,2142,0,0,4,0,0,0
$GC,12115,0.73,182.9,216.9,8.2,1104,12146,0.12,3.72,20.25,0.874,4,0.131,0.080,2926,3537,2052,0,0,5,0,0,0
$GC,12315,0.66,182.9,193.0,12.1,1122,12325,0.17,3.72,0.00,0.000,6,0.206,0.075,2904,1948,2050,0,0,4,0,0,0
$GC,12643,0.75,182.9,161.1,9.8,1153,12653,0.00,3.75,0.00,0.000,4,0.000,0.081,2903,3536,2049,0,0,5,0,0,0
$GC,12777,0.75,182.9,147.3,10.1,1165,12783,0.00,3.72,0.00,0.000,6,0.000,0.076,2918,1944,2049,0,0,4,0,0,0
$GC,13102,0.82,182.9,116.1,9.8,1195,13112,0.12,3.78,0.00,0.000,4,0.114,0.081,2964,3536,2049,0,0,4,0,0,0
$GC,13298,0.68,182.9,91.1,12.5,1218,13304,0.28,3.72,0.00,0.000,6,0.200,0.077,2913,1947,2049,0,0,4,0,0,0
$GC,13644,0.84,220.4,63.3,7.6,1279,13686,0.15,3.78,31.70,0.816,4,0.124,0.084,2962,3526,1900,0,0,6,0,0,0
$GC,13844,0.76,220.4,40.0,12.4,1315,13851,0.17,3.75,0.00,0.000,6,0.202,0.078,2939,1945,1896,0,0,4,0,0,0
$FREEZE,8.66,-1.087,-1.825,0,2,0
$FREEZE,8.31,-1.090,-1.824,0,2,0
$FREEZE,7.86,-1.091,-1.824,0,2,0
$FREEZE,7.25,-1.081,-1.823,0,2,0
$FREEZE,6.68,-1.094,-1.823,0,2,0
$FREEZE,5.67,-1.091,-1.822,0,2,0
$FREEZE,4.97,-1.090,-1.822,0,2,0
$FREEZE,4.46,-1.086,-1.821,0,2,0
$GC,14191,0.83,233.8,6.7,8.6,1376,14215,0.00,3.75,12.07,0.765,4,0.000,0.083,2939,3536,1845,0,0,5,0,0,0
$FREEZE,3.56,-1.091,-1.821,0,2,0
$FREEZE,3.07,-1.090,-1.820,0,2,0
$FREEZE,2.52,-1.084,-1.820,0,2,0
$FREEZE,1.92,-1.082,-1.820,0,2,0
$STATE,14236,end climb,SURFACE_DEPTH_REACHED
$STATE,14237,begin surface coast
$FREEZE,1.48,-1.086,-1.819,0,2,0
$FREEZE,1.14,-1.078,-1.819,0,2,0
$FREEZE,0.72,-1.074,-1.069,0,2,0
$FREEZE,0.60,-1.247,-1.807,0,2,0
$FINISH,0.6,1.026520
$STATE,14259,end surface coast,CONTROL_FINISHED_OK
$STATE,14259,begin surface
$SM_CCo,14279,73.70,0.765,0,0,1475,325.02
$SM_GC,1.45,0.00,0.00,73.70,0.000,0.000,0.765,131,2463,1475,-8.00,0.08,325.02
$RAFOS_CLK,960
$RAFOS,6,1261514942,20.833334,20.817223,67,64,58,0,0,0,742,201,138,0,0,0
$RAFOS,5,1261514461,20.700001,20.683611,123,61,56,0,0,0,635,198,152,0,0,0
$RAFOS,4,1261513990,20.566668,20.552778,59,55,55,0,0,0,120,171,202,0,0,0
$RAFOS,3,1261513511,20.433332,20.419722,59,59,56,0,0,0,171,216,147,0,0,0
$RAFOS,2,1261513025,20.299999,20.284721,59,58,58,0,0,0,163,190,216,0,0,0
$RAFOS,1,1261512549,20.166666,20.152500,65,59,56,0,0,0,213,198,154,0,0,0
$RAFOS,0,1261512062,20.033333,20.017221,65,64,57,0,0,0,179,135,114,0,0,0
$RAFOS_FIX,6711.341797,-5731.735840,221209,202056,2,95,1.18
$IRIDIUM_FIX,6647.44,-5727.90,180399,191955
$TT8_MAMPS,0.027612
$HUMID,48.22
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.50
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.9,19.5
$ALTIM_BOTTOM_PING,651.9,31.1
$24V_AH,22.1,66.514
$10V_AH,10.0,35.505
$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,24.425,176.400,334.375,73.700,0.000,81.682,111.774,344.332,3.500,0.000,12.477,2375.378,8705.712,612.192,2659.199,820.235,0.000,1947.070,0.000,2607.004,2520.000,19.485,0.000
$DEVICE_MAMPS,299.130,107.380,1171.976,765.466,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1025.254,964.616,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152460
$DATA_FILE_SIZE,53616,1388
$CAP_FILE_SIZE,169992,0
$CFSIZE,260165632,221896704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,171,0,0
$SOUNDSPEED,1458.2
$GPS,221209,234930,6712.685,-5726.351,44,1.4,44,-37.9