version: 66.06
glider: 143
mission: 10
dive: 69
start: 10 31 109 15 6 24
data:
$ID,143
$MISSION,10
$DIVE,69
$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,225
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$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,-25214.215
$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,31
$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,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,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
$GPS1,145937,6658.260,-5810.854,31,1.9,32,-37.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-65.5
$GPS2,150606,6658.226,-5810.848,33,0.8,43,-37.8
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_ADD3_WB
$TGT_LATLONG,6655.000,-5823.000
$TGT_RADIUS,10000.000
$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,228.7,10656,-16.9,-9.167
$D_GRID,973
$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,-146.0,0.0,0.0,0,102,0.00,0.00,-84.75,0.000,2,0.000,0.000,129,2452,3017,0,0,0,0,0,0
$GC,105,-0.73,-146.0,3.0,-5.1,16,132,10.10,2.67,-11.45,0.000,4,0.316,0.099,2150,870,3399,0,0,0,0,0,0
$GC,386,-0.73,-146.0,44.1,-13.5,66,392,0.00,2.65,0.00,0.000,6,0.000,0.083,2150,2458,3402,0,0,0,0,0,0
$GC,730,-0.73,-146.0,81.6,-10.5,127,736,0.00,2.65,0.00,0.000,4,0.000,0.091,2150,872,3402,0,0,0,0,0,0
$GC,989,-0.73,-146.0,111.2,-11.1,165,993,0.00,2.65,0.00,0.000,6,0.000,0.084,2150,2473,3402,0,0,0,0,0,0
$GC,1313,-0.73,-146.0,144.0,-9.9,195,1317,0.00,2.67,0.00,0.000,4,0.000,0.092,2150,865,3402,0,0,0,0,0,0
$GC,1569,-0.73,-146.0,172.2,-10.4,217,1576,0.00,2.62,0.00,0.000,6,0.000,0.084,2150,2464,3401,0,0,0,0,0,0
$GC,1894,-0.73,-146.0,202.0,-8.6,248,1899,0.00,2.65,0.00,0.000,4,0.000,0.093,2150,866,3400,0,0,0,0,0,0
$GC,2151,-0.73,-146.0,225.6,-8.7,270,2158,0.00,2.62,0.00,0.000,6,0.000,0.084,2150,2465,3400,0,0,0,0,0,0
$GC,2476,-0.73,-146.0,251.9,-8.5,301,2480,0.00,2.62,0.00,0.000,4,0.000,0.092,2150,872,3400,0,0,0,0,0,0
$GC,2732,-0.73,-146.0,278.0,-10.7,323,2739,0.00,2.62,0.00,0.000,6,0.000,0.084,2150,2475,3400,0,0,0,0,0,0
$GC,3057,-0.73,-146.0,308.8,-9.6,354,3062,0.00,2.65,0.00,0.000,4,0.000,0.091,2150,866,3400,0,0,0,0,0,0
$GC,3314,-0.73,-146.0,336.3,-10.8,376,3321,0.00,2.65,0.00,0.000,6,0.000,0.083,2150,2490,3401,0,0,0,0,0,0
$GC,3641,-0.73,-146.0,366.9,-8.6,407,3646,0.00,2.62,0.00,0.000,4,0.000,0.091,2150,868,3400,0,0,0,0,0,0
$GC,3897,-0.73,-146.0,391.3,-8.6,429,3903,0.00,2.60,0.00,0.000,6,0.000,0.083,2150,2464,3400,0,0,0,0,0,0
$GC,4222,-0.73,-146.0,417.6,-7.6,460,4227,0.00,2.60,0.00,0.000,4,0.000,0.090,2150,871,3400,0,0,0,0,0,0
$GC,4480,-0.73,-146.0,439.3,-8.1,482,4486,0.00,2.60,0.00,0.000,6,0.000,0.082,2150,2473,3401,0,0,0,0,0,0
$GC,4805,-0.73,-146.0,463.7,-7.2,513,4809,0.00,2.62,0.00,0.000,4,0.000,0.090,2150,869,3401,0,0,0,0,0,0
$GC,5061,-0.73,-146.0,484.8,-8.2,535,5067,0.00,2.60,0.00,0.000,6,0.000,0.081,2150,2472,3401,0,0,0,0,0,0
$GC,5386,-0.73,-146.0,509.1,-7.7,566,5390,0.00,2.62,0.00,0.000,4,0.000,0.090,2150,866,3401,0,0,0,0,0,0
$GC,5643,-0.73,-146.0,531.4,-8.9,588,5649,0.00,2.60,0.00,0.000,6,0.000,0.081,2150,2470,3402,0,0,0,0,0,0
$GC,5968,-0.73,-146.0,557.8,-8.1,619,5973,0.00,2.62,0.00,0.000,4,0.000,0.089,2150,866,3402,0,0,0,0,0,0
$GC,6225,-0.73,-146.0,580.8,-9.2,641,6232,0.00,2.62,0.00,0.000,6,0.000,0.081,2150,2463,3402,0,0,0,0,0,0
$GC,6569,-0.73,-146.0,608.0,-8.0,668,6574,0.00,2.60,0.00,0.000,4,0.000,0.089,2150,868,3402,0,0,0,0,0,0
$GC,6827,-0.73,-146.0,630.1,-8.9,675,6833,0.00,2.60,0.00,0.000,6,0.000,0.081,2150,2470,3402,0,0,0,0,0,0
$GC,7139,-0.73,-146.0,653.4,-7.4,686,7144,0.00,2.60,0.00,0.000,4,0.000,0.089,2150,872,3402,0,0,0,0,0,0
$GC,7397,-0.73,-146.0,674.9,-8.1,693,7402,0.00,2.58,0.00,0.000,6,0.000,0.081,2150,2464,3402,0,0,0,0,0,0
$GC,7709,-0.73,-146.0,698.3,-7.4,704,7713,0.00,2.60,0.00,0.000,4,0.000,0.089,2150,869,3402,0,0,0,0,0,0
$GC,7966,-0.73,-146.0,719.5,-8.2,711,7972,0.00,2.60,0.00,0.000,6,0.000,0.081,2149,2472,3402,0,0,0,0,0,0
$GC,8278,-0.73,-146.0,743.5,-7.7,722,8282,0.00,2.60,0.00,0.000,4,0.000,0.089,2150,872,3402,0,0,0,0,0,0
$GC,8535,-0.73,-146.0,763.9,-7.6,729,8541,0.00,2.58,0.00,0.000,6,0.000,0.081,2150,2465,3403,0,0,0,0,0,0
$GC,8847,-0.73,-146.0,787.2,-7.4,740,8851,0.00,2.60,0.00,0.000,4,0.000,0.089,2150,866,3402,0,0,0,0,0,0
$GC,9103,-0.73,-146.0,808.5,-8.0,747,9109,0.00,2.58,0.00,0.000,6,0.000,0.081,2150,2462,3402,0,0,0,0,0,0
$GC,9416,-0.73,-146.0,831.9,-7.5,758,9420,0.00,2.60,0.00,0.000,4,0.000,0.090,2150,867,3402,0,0,0,0,0,0
$GC,9672,-0.73,-146.0,852.6,-8.4,765,9678,0.00,2.58,0.00,0.000,6,0.000,0.081,2150,2463,3402,0,0,0,0,0,0
$GC,9985,-0.73,-146.0,874.4,-7.0,776,9989,0.00,2.60,0.00,0.000,4,0.000,0.090,2150,868,3403,0,0,0,0,0,0
$GC,10242,-0.73,-146.0,894.2,-7.5,783,10248,0.00,2.58,0.00,0.000,6,0.000,0.081,2150,2462,3403,0,0,0,0,0,0
$GC,10554,-0.73,-146.0,916.5,-7.3,794,10558,0.00,2.60,0.00,0.000,4,0.000,0.090,2150,866,3402,0,0,0,0,0,0
$GC,10811,-0.73,-146.0,937.3,-7.7,801,10817,0.00,2.60,0.00,0.000,6,0.000,0.081,2150,2472,3402,0,0,0,0,0,0
$GC,11123,-0.73,-146.0,959.7,-7.2,812,11128,0.00,2.62,0.00,0.000,4,0.000,0.090,2150,862,3402,0,0,0,0,0,0
$STATE,11294,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11294,begin apogee
$GC,11300,-0.16,0.0,973.4,8.1,817,11429,0.62,0.00,124.72,1.406,6,0.196,0.000,2328,1951,2800,0,0,0,0,0,0
$STATE,11429,end apogee,CONTROL_FINISHED_OK
$STATE,11429,begin climb
$GC,11432,0.73,146.0,976.2,0.0,821,11573,0.98,3.08,131.48,1.347,4,0.135,0.091,2614,3527,2202,0,0,0,0,0,0
$GC,11824,0.73,146.0,933.2,13.1,833,11829,0.00,2.72,0.00,0.000,6,0.000,0.078,2626,1954,2194,0,0,0,0,0,0
$GC,12160,0.73,146.0,892.7,12.1,844,12164,0.00,2.78,0.00,0.000,4,0.000,0.094,2626,3545,2192,0,0,0,0,0,0
$GC,12416,0.73,146.0,858.3,13.0,851,12423,0.00,2.67,0.00,0.000,6,0.000,0.080,2638,1947,2191,0,0,0,0,0,0
$GC,12729,0.73,146.0,818.6,12.6,862,12733,0.00,2.70,0.00,0.000,4,0.000,0.094,2638,3537,2190,0,0,0,0,0,0
$GC,12986,0.73,146.0,782.7,13.9,869,12992,0.00,2.65,0.00,0.000,6,0.000,0.080,2650,1938,2189,0,0,0,0,0,0
$GC,13298,0.73,146.0,741.0,13.4,880,13303,0.00,2.70,0.00,0.000,4,0.000,0.094,2650,3542,2189,0,0,0,0,0,0
$GC,13555,0.73,146.0,703.7,14.2,887,13562,0.15,2.62,0.00,0.000,6,0.218,0.080,2630,1949,2188,0,0,0,0,0,0
$GC,13867,0.73,146.0,666.2,11.9,898,13872,0.00,2.65,0.00,0.000,4,0.000,0.091,2630,3538,2188,0,0,0,0,0,0
$GC,14124,0.73,146.0,632.0,12.9,905,14130,0.00,2.60,0.00,0.000,6,0.000,0.080,2639,1949,2188,0,0,0,0,0,0
$GC,14437,0.73,146.0,593.2,12.3,918,14442,0.00,2.65,0.00,0.000,4,0.000,0.092,2639,3545,2188,0,0,0,0,0,0
$GC,14694,0.73,146.0,558.4,13.8,940,14700,0.00,2.60,0.00,0.000,6,0.000,0.078,2651,1949,2187,0,0,0,0,0,0
$GC,15020,0.73,146.0,515.6,13.4,971,15024,0.00,2.62,0.00,0.000,4,0.000,0.091,2651,3536,2187,0,0,0,0,0,0
$GC,15276,0.73,146.0,478.9,13.7,993,15283,0.15,2.60,0.00,0.000,6,0.212,0.078,2630,1936,2187,0,0,0,0,0,0
$GC,15601,0.73,146.0,442.1,10.8,1024,15606,0.00,2.65,0.00,0.000,4,0.000,0.091,2629,3542,2187,0,0,0,0,0,0
$GC,15858,0.73,146.0,411.7,11.7,1046,15865,0.00,2.60,0.00,0.000,6,0.000,0.077,2639,1939,2187,0,0,0,0,0,0
$GC,16183,0.73,146.0,375.8,11.7,1077,16187,0.00,2.65,0.00,0.000,4,0.000,0.091,2639,3547,2187,0,0,0,0,0,0
$GC,16439,0.73,146.0,343.2,13.7,1099,16445,0.00,2.60,0.00,0.000,6,0.000,0.077,2651,1940,2187,0,0,0,0,0,0
$GC,16764,0.73,146.0,305.0,11.5,1130,16769,0.00,2.65,0.00,0.000,4,0.000,0.091,2651,3548,2187,0,0,0,0,0,0
$GC,17022,0.73,146.0,269.9,13.2,1152,17029,0.15,2.58,0.00,0.000,6,0.209,0.077,2629,1954,2187,0,0,0,0,0,0
$GC,17347,0.73,146.0,235.8,10.3,1183,17351,0.00,2.60,0.00,0.000,4,0.000,0.090,2629,3538,2187,0,0,0,0,0,0
$GC,17603,0.73,146.0,206.2,10.5,1205,17610,0.00,2.60,0.00,0.000,6,0.000,0.077,2639,1930,2187,0,0,0,0,0,0
$GC,17928,0.73,146.0,172.3,10.0,1236,17932,0.00,2.65,0.00,0.000,4,0.000,0.091,2639,3543,2187,0,0,0,0,0,0
$GC,18184,0.73,146.0,143.3,10.3,1258,18192,0.00,2.62,0.00,0.000,6,0.000,0.077,2651,1922,2187,0,0,0,0,0,0
$GC,18509,0.75,165.7,113.2,8.3,1289,18532,0.00,2.67,14.57,0.831,4,0.000,0.091,2651,3535,2123,0,0,0,0,0,0
$GC,18786,0.75,165.8,87.6,9.2,1325,18792,0.12,2.60,0.00,0.000,6,0.206,0.079,2635,1946,2122,0,0,0,0,0,0
$GC,19130,0.78,191.0,57.8,8.1,1386,19158,0.00,2.78,21.70,0.818,4,0.000,0.092,2635,3548,2019,0,0,0,0,0,0
$GC,19411,0.78,191.0,32.3,9.2,1436,19416,0.00,2.65,0.00,0.000,6,0.000,0.080,2645,1944,2015,0,0,0,0,0,0
$GC,19755,0.78,192.5,3.3,9.1,1497,19760,0.00,2.67,0.00,0.000,4,0.000,0.094,2644,3543,2012,0,0,0,0,0,0
$STATE,19770,end climb,SURFACE_DEPTH_REACHED
$STATE,19770,begin surface coast
$FINISH,0.3,1.026416
$STATE,19793,end surface coast,CONTROL_FINISHED_OK
$STATE,19793,begin surface
$SM_CCo,19811,66.10,0.791,0,0,1678,275.23
$SM_GC,1.14,0.00,0.00,66.10,0.000,0.000,0.791,125,2450,1678,-7.08,-0.28,275.23
$RAFOS_CLK,1318
$RAFOS,3,1257020706,20.433332,20.418333,91,63,57,0,0,0,818,197,140,0,0,0
$RAFOS,2,1257020221,20.299999,20.283611,58,57,56,0,0,0,221,152,130,0,0,0
$RAFOS,1,1257019745,20.166666,20.151388,67,65,60,0,0,0,840,827,190,0,0,0
$RAFOS,0,1257019266,20.033333,20.018333,74,57,56,0,0,0,953,185,171,0,0,0
$RAFOS,6,1257007741,16.833334,16.816944,112,69,65,0,0,0,691,168,212,0,0,0
$RAFOS,5,1257007263,16.700001,16.684166,81,60,60,0,0,0,601,210,181,0,0,0
$RAFOS,4,1257006787,16.566668,16.551945,99,60,59,0,0,0,650,146,215,0,0,0
$RAFOS,3,1257006301,16.433332,16.416945,97,56,56,0,0,0,844,215,143,0,0,0
$RAFOS,2,1257005821,16.299999,16.283611,67,61,60,0,0,0,133,213,188,0,0,0
$RAFOS,1,1257005346,16.166666,16.151667,58,57,54,0,0,0,185,164,215,0,0,0
$RAFOS,0,1257004864,16.033333,16.017778,60,58,57,0,0,0,203,142,220,0,0,0
$RAFOS_FIX,6657.513672,-5812.066895,311009,161628,4,97,0.28
$IRIDIUM_FIX,6625.71,-5806.66,250199,090957
$TT8_MAMPS,0.029913
$HUMID,48.93
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,16.50
$XPDR_PINGS,4
$24V_AH,22.5,23.257
$10V_AH,10.2,11.591
$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,19.675,182.825,292.475,66.100,0.000,28.425,31.913,173.068,1.000,0.000,44.881,2972.990,12672.139,562.341,3594.183,468.192,0.000,2285.873,0.000,3491.893,4320.000,0.530,0.000
$DEVICE_MAMPS,316.004,98.943,1405.911,790.777,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1090.202,1064.186,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188272
$DATA_FILE_SIZE,56744,1504
$CAP_FILE_SIZE,202466,0
$CFSIZE,260165632,244781056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.0
$CURRENT,0.152,306.9,1
$GPS,311009,203924,6657.568,-5808.966,36,1.2,36,-37.8