version: 66.06
glider: 143
mission: 10
dive: 52
start: 10 27 109 20 36 49
data:
$ID,143
$MISSION,10
$DIVE,52
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,360
$T_MISSION,420
$T_ABORT,720
$T_TURN,300
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$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,200
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.5
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-23893.855
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,127
$PITCH_MAX,4070
$C_PITCH,2390
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,1
$ROLL_MIN,290
$ROLL_MAX,3915
$ROLL_DEG,45
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.025
$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,20
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,8
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$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
$GPS1,203036,6714.122,-5801.278,35,0.9,40,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-66.5
$GPS2,203632,6714.113,-5801.259,11,1.3,11,-38.1
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6703.966,-5810.737
$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,238.1,20000,-16.9,-9.167
$D_GRID,906
$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,13,begin dive
$GC,15,-0.78,-146.0,0.0,0.0,0,103,0.00,0.00,-84.93,0.000,2,0.000,0.000,120,2410,3127,0,0,0,0,0,0
$GC,105,-0.78,-146.0,3.8,-7.7,17,132,9.80,2.75,-7.03,0.000,4,0.308,0.095,2127,810,3400,0,0,0,0,0,0
$GC,149,-0.78,-146.0,14.5,-17.6,25,154,0.00,2.65,0.00,0.000,6,0.000,0.077,2127,2405,3401,0,0,0,0,0,0
$GC,322,-0.78,-146.0,40.5,-15.0,56,328,0.00,2.58,0.00,0.000,4,0.000,0.095,2127,3919,3401,0,0,0,0,0,0
$GC,401,-0.78,-146.0,51.9,-14.1,70,406,0.00,2.45,0.00,0.000,6,0.000,0.066,2128,2419,3401,0,0,0,0,0,0
$GC,576,-0.78,-146.0,74.7,-12.8,101,582,0.00,2.55,0.00,0.000,4,0.000,0.093,2128,3921,3401,0,0,0,0,0,0
$GC,705,-0.78,-146.0,90.8,-12.3,124,711,0.00,2.38,0.00,0.000,6,0.000,0.066,2128,2454,3401,0,0,0,0,0,0
$GC,875,-0.78,-146.0,110.8,-12.2,147,879,0.00,2.47,0.00,0.000,4,0.000,0.094,2128,3918,3402,0,0,0,0,0,0
$GC,913,-0.78,-146.0,115.5,-12.7,150,917,0.00,2.33,0.00,0.000,6,0.000,0.065,2128,2478,3402,0,0,0,0,0,0
$GC,1364,-0.78,-146.0,164.7,-10.1,192,1369,0.00,2.42,0.00,0.000,4,0.000,0.095,2128,3917,3401,0,0,0,0,0,0
$GC,1442,-0.78,-146.0,172.7,-10.5,198,1448,0.00,2.33,0.00,0.000,6,0.000,0.066,2127,2496,3401,0,0,0,0,0,0
$GC,1894,-0.78,-146.0,223.0,-11.2,241,1898,0.00,2.72,0.00,0.000,4,0.000,0.086,2128,813,3400,0,0,0,0,0,0
$GC,1948,-0.78,-146.0,229.4,-12.0,245,1954,0.00,2.72,0.00,0.000,6,0.000,0.079,2128,2490,3400,0,0,0,0,0,0
$GC,2401,-0.78,-146.0,274.8,-9.1,288,2405,0.00,2.75,0.00,0.000,4,0.000,0.086,2128,805,3400,0,0,0,0,0,0
$GC,2444,-0.78,-146.0,279.0,-9.4,291,2450,0.00,2.72,0.00,0.000,6,0.000,0.077,2128,2489,3400,0,0,0,0,0,0
$GC,2896,-0.78,-146.0,317.7,-9.1,334,2900,0.00,2.35,0.00,0.000,4,0.000,0.094,2128,3913,3400,0,0,0,0,0,0
$GC,2957,-0.78,-146.0,323.4,-9.0,339,2963,0.00,2.28,0.00,0.000,6,0.000,0.064,2128,2483,3400,0,0,0,0,0,0
$GC,3409,-0.78,-146.0,367.3,-9.6,382,3413,0.00,2.38,0.00,0.000,4,0.000,0.092,2127,3914,3401,0,0,0,0,0,0
$GC,3486,-0.78,-146.0,375.0,-9.7,388,3492,0.00,2.30,0.00,0.000,6,0.000,0.064,2128,2491,3400,0,0,0,0,0,0
$GC,3938,-0.78,-146.0,417.2,-8.9,431,3943,0.00,2.35,0.00,0.000,4,0.000,0.091,2128,3913,3401,0,0,0,0,0,0
$GC,3982,-0.78,-146.0,421.4,-9.3,434,3988,0.00,2.28,0.00,0.000,6,0.000,0.063,2128,2499,3401,0,0,0,0,0,0
$GC,4435,-0.78,-146.0,459.4,-8.7,477,4436,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2499,3401,0,0,0,0,0,0
$GC,4881,-0.78,-146.0,497.3,-8.4,519,4885,0.00,2.70,0.00,0.000,4,0.000,0.081,2128,806,3403,0,0,0,0,0,0
$GC,4935,-0.78,-146.0,502.4,-9.2,523,4941,0.00,2.72,0.00,0.000,6,0.000,0.074,2128,2512,3403,0,0,0,0,0,0
$GC,5387,-0.78,-146.0,542.6,-8.7,566,5391,0.00,2.30,0.00,0.000,4,0.000,0.091,2128,3919,3403,0,0,0,0,0,0
$GC,5415,-0.78,-146.0,545.2,-9.2,568,5419,0.00,2.25,0.00,0.000,6,0.000,0.064,2128,2493,3403,0,0,0,0,0,0
$GC,5867,-0.78,-146.0,584.1,-8.7,610,5871,0.00,2.70,0.00,0.000,4,0.000,0.082,2128,801,3403,0,0,0,0,0,0
$GC,5905,-0.78,-146.0,587.7,-9.3,613,5910,0.00,2.72,0.00,0.000,6,0.000,0.075,2128,2503,3404,0,0,0,0,0,0
$GC,6356,-0.78,-146.0,625.5,-8.2,636,6357,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2503,3404,0,0,0,0,0,0
$GC,6785,-0.78,-146.0,660.7,-8.1,650,6786,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2503,3404,0,0,0,0,0,0
$GC,7212,-0.78,-146.0,695.4,-8.1,664,7217,0.00,2.72,0.00,0.000,4,0.000,0.084,2128,812,3403,0,0,0,0,0,0
$GC,7240,-0.78,-146.0,697.7,-8.5,665,7244,0.00,2.70,0.00,0.000,6,0.000,0.077,2128,2498,3404,0,0,0,0,0,0
$GC,7696,-0.78,-146.0,735.7,-8.4,680,7700,0.00,2.33,0.00,0.000,4,0.000,0.094,2128,3915,3404,0,0,0,0,0,0
$GC,7724,-0.78,-146.0,738.0,-8.5,681,7728,0.00,2.25,0.00,0.000,6,0.000,0.065,2128,2491,3403,0,0,0,0,0,0
$GC,8180,-0.78,-146.0,774.9,-8.1,696,8185,0.00,2.70,0.00,0.000,4,0.000,0.084,2128,801,3404,0,0,0,0,0,0
$GC,8235,-0.78,-146.0,779.7,-9.1,697,8241,0.00,2.70,0.00,0.000,6,0.000,0.077,2128,2491,3403,0,0,0,0,0,0
$GC,8670,-0.78,-146.0,814.2,-8.0,712,8671,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2491,3403,0,0,0,0,0,0
$GC,9100,-0.78,-146.0,847.2,-7.5,726,9101,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2491,3403,0,0,0,0,0,0
$GC,9527,-0.78,-146.0,879.6,-7.5,740,9532,0.00,2.72,0.00,0.000,4,0.000,0.086,2128,805,3402,0,0,0,0,0,0
$GC,9565,-0.78,-146.0,882.8,-8.3,741,9569,0.00,2.70,0.00,0.000,6,0.000,0.077,2128,2491,3402,0,0,0,0,0,0
$STATE,9888,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9888,begin apogee
$GC,9894,-0.18,0.0,908.0,7.8,752,10021,0.70,0.00,123.72,1.357,6,0.192,0.000,2325,1597,2800,0,0,0,0,0,0
$STATE,10022,end apogee,CONTROL_FINISHED_OK
$STATE,10022,begin climb
$GC,10024,0.78,146.0,910.9,0.0,756,10159,1.05,0.00,129.05,1.298,6,0.131,0.000,2636,1597,2204,0,0,0,0,0,0
$GC,10574,0.78,146.0,848.9,13.1,774,10578,0.00,2.72,0.00,0.000,4,0.000,0.082,2636,3200,2193,0,0,0,0,0,0
$GC,10661,0.78,146.0,836.5,14.0,776,10668,0.00,2.70,0.00,0.000,6,0.000,0.079,2648,1604,2192,0,0,0,0,0,0
$GC,11097,0.78,146.0,776.8,14.0,791,11101,0.00,2.65,0.00,0.000,4,0.000,0.086,2648,3191,2191,0,0,0,0,0,0
$GC,11168,0.78,146.0,766.1,14.7,793,11172,0.00,2.62,0.00,0.000,6,0.000,0.081,2660,1612,2190,0,0,0,0,0,0
$GC,11620,0.78,146.0,701.3,14.1,808,11624,0.00,2.62,0.00,0.000,4,0.000,0.087,2659,3194,2190,0,0,0,0,0,0
$GC,11719,0.78,146.0,686.4,14.0,811,11723,0.00,2.60,0.00,0.000,6,0.000,0.081,2671,1622,2189,0,0,0,0,0,0
$GC,12176,0.78,146.0,618.9,14.9,826,12181,0.00,2.60,0.00,0.000,4,0.000,0.086,2671,3202,2189,0,0,0,0,0,0
$GC,12248,0.78,146.0,607.7,15.5,828,12254,0.12,2.58,0.00,0.000,6,0.212,0.081,2650,1631,2188,0,0,0,0,0,0
$GC,12705,0.78,146.0,547.5,12.8,866,12709,0.00,2.58,0.00,0.000,4,0.000,0.087,2650,3203,2188,0,0,0,0,0,0
$GC,12799,0.78,146.0,534.9,13.6,874,12803,0.00,2.55,0.00,0.000,6,0.000,0.081,2659,1643,2187,0,0,0,0,0,0
$GC,13250,0.78,146.0,477.5,12.7,916,13255,0.00,2.53,0.00,0.000,4,0.000,0.084,2659,3194,2188,0,0,0,0,0,0
$GC,13305,0.78,146.0,470.0,13.5,920,13311,0.00,2.55,0.00,0.000,6,0.000,0.079,2671,1648,2188,0,0,0,0,0,0
$GC,13757,0.78,146.0,409.0,13.7,963,13762,0.00,2.53,0.00,0.000,4,0.000,0.084,2670,3203,2188,0,0,0,0,0,0
$GC,13811,0.78,146.0,401.1,14.3,967,13818,0.10,2.55,0.00,0.000,6,0.206,0.079,2645,1655,2187,0,0,0,0,0,0
$GC,14264,0.78,146.0,346.0,12.5,1010,14268,0.00,2.50,0.00,0.000,4,0.000,0.084,2645,3199,2187,0,0,0,0,0,0
$GC,14307,0.78,146.0,340.2,13.7,1013,14313,0.00,2.50,0.00,0.000,6,0.000,0.078,2654,1650,2187,0,0,0,0,0,0
$GC,14759,0.78,146.0,281.2,12.8,1056,14763,0.00,2.50,0.00,0.000,4,0.000,0.084,2654,3192,2187,0,0,0,0,0,0
$GC,14946,0.78,146.0,256.2,12.6,1072,14950,0.00,2.47,0.00,0.000,6,0.000,0.078,2665,1659,2187,0,0,0,0,0,0
$GC,15397,0.78,146.0,200.4,12.3,1114,15401,0.00,2.50,0.00,0.000,4,0.000,0.083,2665,3205,2187,0,0,0,0,0,0
$GC,15429,0.78,146.0,196.1,13.2,1116,15435,0.08,2.53,0.00,0.000,6,0.200,0.077,2645,1661,2187,0,0,0,0,0,0
$GC,15883,0.78,146.0,147.7,10.7,1159,15887,0.00,2.47,0.00,0.000,4,0.000,0.081,2645,3198,2187,0,0,0,0,0,0
$GC,16004,0.78,146.0,134.2,10.7,1169,16010,0.00,2.47,0.00,0.000,6,0.000,0.077,2654,1683,2188,0,0,0,0,0,0
$GC,16462,0.78,146.0,90.7,9.6,1221,16468,0.00,2.45,0.00,0.000,4,0.000,0.083,2654,3206,2188,0,0,0,0,0,0
$GC,16581,0.79,148.4,79.5,9.1,1242,16586,0.00,2.45,0.00,0.000,6,0.000,0.077,2664,1682,2187,0,0,0,0,0,0
$GC,16755,0.81,168.7,64.8,8.3,1273,16776,0.00,0.00,16.75,0.782,6,0.000,0.000,2665,1682,2111,0,0,0,0,0,0
$GC,16945,0.82,176.0,47.9,8.9,1307,16961,0.00,2.50,7.45,0.722,4,0.000,0.081,2665,3195,2080,0,0,0,0,0,0
$GC,17000,0.82,176.0,42.2,9.7,1317,17006,0.00,2.42,0.00,0.000,6,0.000,0.077,2675,1710,2079,0,0,0,0,0,0
$GC,17175,0.88,220.4,27.0,7.3,1348,17217,0.00,2.58,36.53,0.772,4,0.000,0.083,2676,3202,1900,0,0,0,0,0,0
$GC,17301,0.88,220.4,14.3,11.1,1371,17307,0.00,2.45,0.00,0.000,6,0.000,0.076,2686,1723,1896,0,0,0,0,0,0
$STATE,17412,end climb,SURFACE_DEPTH_REACHED
$STATE,17412,begin surface coast
$FINISH,0.3,1.013290
$STATE,17431,end surface coast,CONTROL_FINISHED_OK
$STATE,17431,begin surface
$SM_CCo,17447,41.42,0.755,0,0,1678,275.23
$SM_GC,1.07,0.00,0.00,41.42,0.000,0.000,0.755,130,2401,1678,-7.06,0.03,275.23
$RAFOS_CLK,1144
$RAFOS,6,1256690949,0.833333,0.819167,72,71,68,0,0,0,603,220,184,0,0,0
$RAFOS,5,1256690471,0.700000,0.686389,115,59,56,0,0,0,585,196,215,0,0,0
$RAFOS,4,1256689986,0.566667,0.551667,62,59,56,0,0,0,147,183,115,0,0,0
$RAFOS,3,1256689501,0.433333,0.416944,67,65,54,0,0,0,198,156,121,0,0,0
$RAFOS,2,1256689026,0.300000,0.285000,66,64,62,0,0,0,218,193,157,0,0,0
$RAFOS,1,1256688544,0.166667,0.151111,61,59,56,0,0,0,220,117,187,0,0,0
$RAFOS,0,1256688061,0.033333,0.016944,64,61,58,0,0,0,163,179,191,0,0,0
$RAFOS,6,1256676546,20.833334,20.818333,122,67,56,0,0,0,629,205,115,0,0,0
$RAFOS,5,1256676062,20.700001,20.683889,96,63,56,0,0,0,645,215,197,0,0,0
$RAFOS,3,1256675102,20.433332,20.417223,65,63,61,0,0,0,212,187,201,0,0,0
$RAFOS_FIX,6711.594238,-5805.788086,271009,202000,2,109,8.29
$IRIDIUM_FIX,6647.44,-5809.70,210199,151538
$TT8_MAMPS,0.026845
$HUMID,48.07
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.00
$XPDR_PINGS,3
$24V_AH,22.7,20.781
$10V_AH,10.2,9.959
$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,19.325,159.775,313.500,41.425,0.000,23.334,43.405,175.662,0.750,0.000,13.424,2368.390,12210.815,526.442,2342.526,427.643,0.000,1735.276,0.000,2304.619,3240.000,0.532,0.000
$DEVICE_MAMPS,307.567,95.108,1356.823,754.728,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1016.511,975.251,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150560
$DATA_FILE_SIZE,56766,1394
$CAP_FILE_SIZE,160539,0
$CFSIZE,260165632,247107584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.2
$GPS,281009,013055,6712.396,-5804.945,72,1.4,72,-38.1