version: 66.06
glider: 143
mission: 10
dive: 373
start: 12 24 109 22 54 56
data:
$ID,143
$MISSION,10
$DIVE,373
$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,90
$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,-43367.531
$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,2700
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,24
$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
$GPS1,224836,6716.957,-5736.425,38,1.7,38,-38.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-69.7
$GPS2,225438,6716.954,-5736.452,14,1.4,14,-38.1
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6716.954,-5708.489
$TGT_RADIUS,1852.000
$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,128.1,20000,-16.9,-9.167
$D_GRID,594
$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,-146.0,0.0,0.0,0,114,0.00,0.00,-95.05,0.000,2,0.000,0.000,129,2703,3065,0,0,0,0,0,0
$GC,117,-0.73,-146.0,3.2,-4.6,19,144,11.73,2.45,-9.68,0.000,4,0.304,0.096,2449,1084,3397,0,0,0,0,0,0
$GC,200,-0.73,-146.0,16.0,-12.0,34,206,0.00,2.38,0.00,0.000,6,0.000,0.074,2449,2687,3399,0,0,0,0,0,0
$GC,542,-0.73,-146.0,51.0,-9.8,95,548,0.00,3.00,0.00,0.000,4,0.000,0.093,2449,3930,3400,0,0,5,0,0,0
$GC,784,-0.73,-146.0,76.4,-10.5,138,790,0.00,2.85,0.00,0.000,6,0.000,0.066,2450,2697,3400,0,0,4,0,0,0
$GC,1128,-0.78,-146.0,109.8,-10.2,191,1133,0.00,3.00,0.00,0.000,4,0.000,0.091,2450,3922,3398,0,0,4,0,0,0
$GC,1281,-0.84,-146.0,125.0,-9.5,204,1286,0.00,2.83,0.00,0.000,6,0.000,0.067,2450,2690,3398,0,0,5,0,0,0
$GC,1608,-0.91,-146.0,155.9,-9.1,234,1614,0.17,3.00,0.00,0.000,4,0.115,0.092,2387,3924,3398,0,0,6,0,0,0
$GC,1783,-0.81,-146.0,177.5,-11.5,249,1788,0.17,2.88,0.00,0.000,6,0.209,0.067,2427,2693,3397,0,0,3,0,0,0
$GC,2107,-0.81,-146.0,206.2,-8.1,279,2112,0.00,3.00,0.00,0.000,4,0.000,0.091,2427,3932,3396,0,0,4,0,0,0
$GC,2238,-0.81,-146.0,217.3,-8.7,290,2242,0.00,2.85,0.00,0.000,6,0.000,0.064,2427,2688,3396,0,0,4,0,0,0
$GC,2562,-0.81,-146.0,246.1,-8.9,320,2567,0.00,3.00,0.00,0.000,4,0.000,0.089,2427,3933,3395,0,0,4,0,0,0
$GC,2758,-0.81,-146.0,263.4,-8.9,337,2763,0.00,2.83,0.00,0.000,6,0.000,0.063,2427,2701,3396,0,0,4,0,0,0
$GC,3083,-0.81,-146.0,291.0,-7.9,367,3088,0.00,2.95,0.00,0.000,4,0.000,0.087,2427,3928,3397,0,0,5,0,0,0
$GC,3261,-0.81,-146.0,306.6,-8.9,382,3268,0.00,2.80,0.00,0.000,6,0.000,0.062,2427,2702,3397,0,0,4,0,0,0
$GC,3587,-0.86,-146.0,331.9,-7.4,413,3592,0.00,2.95,0.00,0.000,4,0.000,0.086,2427,3928,3398,0,0,5,0,0,0
$GC,3775,-0.90,-146.0,347.0,-8.5,429,3780,0.00,2.83,0.00,0.000,6,0.000,0.061,2427,2690,3398,0,0,4,0,0,0
$GC,4099,-0.95,-146.0,371.2,-7.5,459,4105,0.15,2.97,0.00,0.000,4,0.115,0.083,2363,3923,3399,0,0,4,0,0,0
$GC,4290,-0.78,-146.0,391.1,-10.8,475,4297,0.30,2.80,0.00,0.000,6,0.205,0.061,2434,2697,3399,0,0,4,0,0,0
$GC,4616,-0.85,-146.0,416.0,-7.6,506,4621,0.00,2.95,0.00,0.000,4,0.000,0.084,2434,3922,3400,0,0,4,0,0,0
$GC,4814,-0.93,-146.0,431.9,-8.4,523,4820,0.15,2.78,0.00,0.000,6,0.117,0.061,2386,2702,3400,0,0,3,0,0,0
$GC,5138,-0.84,-146.0,462.6,-9.4,553,5144,0.12,2.97,0.00,0.000,4,0.203,0.085,2413,3922,3400,0,0,4,0,0,0
$GC,5279,-0.84,-146.0,475.5,-9.4,565,5284,0.00,2.80,0.00,0.000,6,0.000,0.061,2413,2699,3401,0,0,4,0,0,0
$GC,5603,-0.84,-146.0,504.7,-8.7,595,5608,0.00,3.00,0.00,0.000,4,0.000,0.086,2413,3935,3401,0,0,4,0,0,0
$GC,5756,-0.84,-146.0,518.0,-8.5,608,5761,0.00,2.83,0.00,0.000,6,0.000,0.061,2413,2698,3401,0,0,4,0,0,0
$GC,6081,-0.84,-146.0,546.7,-8.9,638,6086,0.00,2.97,0.00,0.000,4,0.000,0.085,2413,3930,3401,0,0,4,0,0,0
$GC,6195,-0.84,-146.0,556.0,-8.4,647,6201,0.00,2.80,0.00,0.000,6,0.000,0.061,2413,2699,3401,0,0,5,0,0,0
$GC,6519,-0.84,-146.0,583.3,-8.4,678,6524,0.00,2.97,0.00,0.000,4,0.000,0.085,2413,3928,3401,0,0,4,0,0,0
$STATE,6646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6646,begin apogee
$GC,6656,-0.16,0.0,594.3,9.2,689,6783,0.80,0.00,123.20,1.126,6,0.186,0.000,2630,2003,2800,0,0,0,0,0,0
$STATE,6786,end apogee,CONTROL_FINISHED_OK
$STATE,6786,begin climb
$GC,6788,0.73,146.0,597.8,0.0,702,6924,0.95,2.05,128.38,1.070,4,0.130,0.089,2921,409,2203,0,0,0,0,0,0
$GC,6980,0.65,146.0,581.7,11.6,720,6986,0.00,1.90,0.00,0.000,6,0.000,0.060,2921,2025,2200,0,0,0,0,0,0
$GC,7305,0.57,146.0,544.9,10.8,751,7315,0.20,3.80,0.00,0.000,4,0.207,0.077,2859,3592,2195,0,0,7,0,0,0
$GC,7455,0.57,146.0,530.1,10.0,764,7462,0.00,3.78,0.00,0.000,6,0.000,0.070,2874,2003,2195,0,0,4,0,0,0
$GC,7780,0.66,146.0,501.0,9.2,795,7790,0.00,3.75,0.00,0.000,4,0.000,0.078,2874,3594,2194,0,0,7,0,0,0
$GC,7913,0.66,146.0,487.1,10.1,807,7923,0.00,3.80,0.00,0.000,6,0.000,0.072,2891,1991,2193,0,0,3,0,0,0
$GC,8241,0.66,146.0,454.7,9.4,838,8251,0.00,3.75,0.00,0.000,4,0.000,0.078,2891,3589,2193,0,0,7,0,0,0
$GC,8405,0.61,146.0,436.6,11.3,852,8411,0.00,3.70,0.00,0.000,6,0.000,0.072,2907,1993,2193,0,0,3,0,0,0
$GC,8729,0.61,146.0,404.0,9.8,883,8738,0.00,3.75,0.00,0.000,4,0.000,0.078,2908,3588,2193,0,0,5,0,0,0
$GC,8886,0.51,146.0,385.9,11.7,897,8897,0.28,3.72,0.00,0.000,6,0.206,0.072,2859,2002,2193,0,0,3,0,0,0
$GC,9215,0.71,179.4,359.3,7.8,928,9251,0.20,3.85,27.48,0.960,4,0.107,0.080,2927,3588,2067,0,0,3,0,0,0
$GC,9404,0.59,179.4,335.3,13.6,945,9414,0.25,3.78,0.00,0.000,6,0.203,0.072,2885,1994,2063,0,0,3,0,0,0
$GC,9733,0.70,186.2,303.3,8.9,976,9747,0.00,3.80,6.50,0.804,4,0.000,0.079,2885,3579,2039,0,0,4,0,0,0
$GC,9878,0.70,186.2,288.1,11.0,989,9887,0.00,3.75,0.00,0.000,6,0.000,0.072,2900,1991,2039,0,0,3,0,0,0
$GC,10206,0.75,186.2,252.4,11.0,1020,10215,0.00,3.75,0.00,0.000,4,0.000,0.078,2899,3590,2039,0,0,5,0,0,0
$GC,10339,0.75,186.2,236.0,12.6,1032,10349,0.00,3.75,0.00,0.000,6,0.000,0.072,2916,1999,2039,0,0,3,0,0,0
$GC,10667,0.75,186.2,198.2,11.5,1063,10677,0.00,3.72,0.00,0.000,4,0.000,0.078,2916,3583,2038,0,0,5,0,0,0
$GC,10803,0.69,186.2,182.4,11.9,1075,10812,0.00,3.75,0.00,0.000,6,0.000,0.071,2933,1988,2038,0,0,3,0,0,0
$GC,11131,0.69,186.2,142.4,12.3,1106,11140,0.00,3.75,0.00,0.000,4,0.000,0.077,2933,3588,2038,0,0,5,0,0,0
$GC,11220,0.60,186.2,130.4,13.7,1114,11230,0.28,3.75,0.00,0.000,6,0.202,0.071,2884,1993,2038,0,0,3,0,0,0
$GC,11549,0.78,212.0,101.0,8.1,1145,11581,0.17,3.80,22.65,0.791,4,0.112,0.077,2944,3595,1934,0,0,4,0,0,0
$GC,11750,0.72,212.0,76.1,12.5,1179,11757,0.15,3.78,0.00,0.000,6,0.206,0.071,2929,1998,1933,0,0,3,0,0,0
$GC,12095,0.86,234.8,45.1,8.2,1240,12127,0.12,3.75,20.38,0.752,4,0.124,0.077,2970,3589,1841,0,0,6,0,0,0
$GC,12256,0.77,234.8,25.7,12.5,1269,12263,0.20,3.78,0.00,0.000,6,0.197,0.070,2941,2001,1839,0,0,3,0,0,0
$FREEZE,8.85,-1.639,-1.823,0,1,0
$FREEZE,8.22,-1.658,-1.822,0,1,0
$FREEZE,7.79,-1.661,-1.821,0,1,0
$FREEZE,7.17,-1.659,-1.821,0,1,0
$FREEZE,6.76,-1.670,-1.820,0,1,0
$FREEZE,6.18,-1.672,-1.820,0,1,0
$FREEZE,5.66,-1.677,-1.819,0,1,0
$FREEZE,5.14,-1.675,-1.819,0,1,0
$FREEZE,4.62,-1.667,-1.818,0,1,0
$FREEZE,4.10,-1.677,-1.818,0,1,0
$FREEZE,3.55,-1.687,-1.818,0,1,0
$FREEZE,3.06,-1.688,-1.817,0,1,0
$FREEZE,2.56,-1.690,-1.817,0,1,0
$FREEZE,2.00,-1.695,-1.816,0,1,0
$FREEZE,1.48,-1.705,-1.816,0,1,0
$STATE,12510,end climb,SURFACE_DEPTH_REACHED
$STATE,12510,begin surface coast
$FREEZE,0.72,-1.700,-1.815,0,1,0
$FREEZE,0.54,-1.746,-1.041,0,1,0
$FREEZE,0.54,-1.736,-1.150,0,1,0
$FREEZE,0.46,-1.733,-1.041,0,1,0
$FINISH,0.5,1.015360
$STATE,12533,end surface coast,CONTROL_FINISHED_OK
$STATE,12533,begin surface
$SM_CCo,12551,60.17,0.736,0,0,1474,325.02
$SM_GC,1.50,0.00,0.00,60.17,0.000,0.000,0.736,125,2687,1474,-8.02,-0.37,325.02
$RAFOS_CLK,800
$RAFOS,6,1261702143,0.833333,0.817500,108,65,65,0,0,0,722,209,152,0,0,0
$RAFOS,5,1261701664,0.700000,0.684444,123,63,60,0,0,0,634,171,194,0,0,0
$RAFOS,4,1261701183,0.566667,0.550833,106,59,57,0,0,0,815,208,228,0,0,0
$RAFOS,3,1261700706,0.433333,0.418333,61,54,53,0,0,0,182,202,154,0,0,0
$RAFOS,2,1261700230,0.300000,0.286111,64,60,60,0,0,0,174,185,225,0,0,0
$RAFOS,1,1261699749,0.166667,0.152500,62,57,54,0,0,0,209,228,171,0,0,0
$RAFOS,0,1261699265,0.033333,0.018056,63,61,59,0,0,0,179,162,151,0,0,0
$RAFOS_FIX,6714.339844,-5738.620117,251209,000040,3,112,0.78
$IRIDIUM_FIX,6641.98,-5532.35,200399,191907
$TT8_MAMPS,0.026845
$HUMID,46.65
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.20
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.7,19.0
$ALTIM_BOTTOM_PING,550.2,78.8
$24V_AH,22.3,68.289
$10V_AH,10.1,36.596
$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,24.650,169.700,328.575,60.175,0.000,28.008,39.660,165.434,3.250,0.000,15.569,2241.569,7304.089,572.588,2386.806,469.769,0.000,1796.255,0.000,2338.307,2520.000,16.090,0.000
$DEVICE_MAMPS,303.732,95.875,1125.956,736.320,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,961.366,910.829,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152624
$DATA_FILE_SIZE,53555,1318
$CAP_FILE_SIZE,152386,0
$CFSIZE,260165632,220860416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,201,0,0
$SOUNDSPEED,1463.2
$GPS,251209,022637,6716.821,-5734.401,30,1.0,30,-38.1