version: 66.06
glider: 143
mission: 10
dive: 96
start: 11 7 109 0 35 48
data:
$ID,143
$MISSION,10
$DIVE,96
$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,-2
$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,-25854.785
$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,15
$R_STBD_OVSHOOT,17
$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
$GPS1,002737,6643.112,-5952.859,128,0.9,128,-38.0
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,1
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-64.6
$GPS2,003528,6643.071,-5952.725,12,1.2,12,-38.0
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6644.000,-6026.000
$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,357.0,24403,-16.9,-9.167
$D_GRID,703
$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,13,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,86,0.00,0.00,-68.30,0.000,2,0.000,0.000,130,2465,2708,0,0,0,0,0,0
$GC,89,-0.73,-146.0,3.4,-6.3,13,127,10.20,2.75,-19.42,0.000,4,0.318,0.105,2147,861,3399,0,0,0,0,0,0
$GC,267,-0.73,-146.0,36.1,-16.1,45,272,0.00,2.70,0.00,0.000,6,0.000,0.086,2147,2461,3402,0,0,0,0,0,0
$GC,609,-0.73,-146.0,85.6,-13.2,106,615,0.00,2.50,0.00,0.000,4,0.000,0.104,2147,3911,3402,0,0,0,0,0,0
$GC,710,-0.73,-146.0,99.6,-14.0,124,716,0.00,2.40,0.00,0.000,6,0.000,0.075,2147,2468,3402,0,0,0,0,0,0
$GC,1034,-0.73,-146.0,142.3,-13.3,155,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2468,3402,0,0,0,0,0,0
$GC,1354,-0.73,-146.0,181.7,-12.0,185,1358,0.00,2.50,0.00,0.000,4,0.000,0.103,2147,3920,3402,0,0,0,0,0,0
$GC,1465,-0.73,-146.0,195.5,-12.3,194,1471,0.00,2.40,0.00,0.000,6,0.000,0.076,2146,2463,3402,0,0,0,0,0,0
$GC,1789,-0.73,-146.0,230.2,-9.8,225,1794,0.00,2.65,0.00,0.000,4,0.000,0.095,2147,867,3402,0,0,0,0,0,0
$GC,1839,-0.73,-146.0,235.2,-10.1,229,1843,0.00,2.62,0.00,0.000,6,0.000,0.086,2146,2461,3402,0,0,0,0,0,0
$GC,2165,-0.73,-146.0,265.0,-9.0,259,2169,0.00,2.47,0.00,0.000,4,0.000,0.104,2146,3912,3402,0,0,0,0,0,0
$GC,2208,-0.73,-146.0,269.2,-9.4,262,2214,0.00,2.40,0.00,0.000,6,0.000,0.077,2147,2454,3402,0,0,0,0,0,0
$GC,2532,-0.73,-146.0,299.3,-9.4,293,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2455,3402,0,0,0,0,0,0
$GC,2853,-0.73,-146.0,328.5,-8.7,323,2857,0.00,2.62,0.00,0.000,4,0.000,0.096,2147,863,3401,0,0,0,0,0,0
$GC,2903,-0.73,-146.0,333.0,-8.4,327,2907,0.00,2.62,0.00,0.000,6,0.000,0.087,2146,2461,3401,0,0,0,0,0,0
$GC,3227,-0.73,-146.0,360.1,-8.1,357,3228,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2461,3401,0,0,0,0,0,0
$GC,3547,-0.73,-146.0,385.2,-8.1,387,3551,0.00,2.65,0.00,0.000,4,0.000,0.097,2147,869,3400,0,0,0,0,0,0
$GC,3586,-0.73,-146.0,388.8,-9.3,390,3590,0.00,2.62,0.00,0.000,6,0.000,0.086,2147,2464,3400,0,0,0,0,0,0
$GC,3910,-0.73,-146.0,415.2,-7.6,420,3912,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2464,3400,0,0,0,0,0,0
$GC,4230,-0.73,-146.0,442.5,-8.9,450,4234,0.00,2.45,0.00,0.000,4,0.000,0.102,2147,3915,3400,0,0,0,0,0,0
$GC,4251,-0.73,-146.0,444.6,-8.9,451,4257,0.00,2.38,0.00,0.000,6,0.000,0.074,2147,2455,3400,0,0,0,0,0,0
$GC,4575,-0.73,-146.0,472.0,-8.4,482,4576,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2455,3400,0,0,0,0,0,0
$GC,4895,-0.73,-146.0,497.4,-7.9,512,4900,0.00,2.47,0.00,0.000,4,0.000,0.100,2147,3912,3401,0,0,0,0,0,0
$GC,4962,-0.73,-146.0,503.1,-8.4,517,4968,0.00,2.38,0.00,0.000,6,0.000,0.073,2147,2453,3401,0,0,0,0,0,0
$GC,5289,-0.73,-146.0,527.8,-6.8,548,5293,0.00,2.58,0.00,0.000,4,0.000,0.091,2147,869,3402,0,0,0,0,0,0
$GC,5340,-0.73,-146.0,531.7,-7.5,552,5344,0.00,2.58,0.00,0.000,6,0.000,0.081,2147,2453,3402,0,0,0,0,0,0
$GC,5664,-0.73,-146.0,556.9,-7.9,582,5668,0.00,2.45,0.00,0.000,4,0.000,0.098,2147,3915,3402,0,0,0,0,0,0
$GC,5696,-0.73,-146.0,559.9,-8.5,584,5702,0.00,2.38,0.00,0.000,6,0.000,0.071,2146,2447,3402,0,0,0,0,0,0
$GC,6021,-0.73,-146.0,586.6,-8.1,615,6022,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2448,3403,0,0,0,0,0,0
$GC,6345,-0.73,-146.0,614.6,-9.7,636,6349,0.00,2.47,0.00,0.000,4,0.000,0.098,2146,3913,3403,0,0,0,0,0,0
$GC,6478,-0.73,-146.0,627.6,-10.2,640,6482,0.00,2.38,0.00,0.000,6,0.000,0.071,2147,2441,3403,0,0,0,0,0,0
$GC,6813,-0.73,-146.0,656.7,-8.8,651,6814,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2442,3403,0,0,0,0,0,0
$GC,7120,-0.73,-146.0,681.0,-7.6,661,7124,0.00,2.47,0.00,0.000,4,0.000,0.097,2147,3910,3403,0,0,0,0,0,0
$GC,7147,-0.73,-146.0,683.4,-8.4,662,7151,0.00,2.35,0.00,0.000,6,0.000,0.071,2147,2454,3404,0,0,0,0,0,0
$STATE,7387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7387,begin apogee
$GC,7392,-0.16,0.0,704.2,7.7,670,7517,0.68,0.00,121.45,1.233,6,0.195,0.000,2334,1949,2800,0,0,0,0,0,0
$STATE,7518,end apogee,CONTROL_FINISHED_OK
$STATE,7518,begin climb
$GC,7520,0.73,146.0,706.8,0.0,674,7657,0.95,2.97,126.28,1.176,4,0.139,0.094,2624,375,2203,0,0,0,0,0,0
$GC,7709,0.73,146.0,693.2,10.0,680,7713,0.00,2.78,0.00,0.000,6,0.000,0.072,2624,1950,2198,0,0,0,0,0,0
$GC,8042,0.73,146.0,655.4,11.6,691,8047,0.00,2.75,0.00,0.000,4,0.000,0.088,2624,3546,2194,0,0,0,0,0,0
$GC,8065,0.73,146.0,652.8,11.0,691,8072,0.00,2.75,0.00,0.000,6,0.000,0.076,2636,1939,2193,0,0,0,0,0,0
$GC,8377,0.73,146.0,615.6,11.8,702,8381,0.00,2.67,0.00,0.000,4,0.000,0.096,2648,358,2192,0,0,0,0,0,0
$GC,8414,0.73,146.0,610.9,12.9,703,8418,0.00,2.62,0.00,0.000,6,0.000,0.074,2648,1951,2192,0,0,0,0,0,0
$GC,8743,0.73,146.0,569.0,13.2,727,8747,0.00,2.67,0.00,0.000,4,0.000,0.089,2648,3545,2192,0,0,0,0,0,0
$GC,8792,0.73,146.0,561.8,14.3,731,8797,0.15,2.67,0.00,0.000,6,0.206,0.077,2628,1938,2191,0,0,0,0,0,0
$GC,9116,0.73,146.0,524.9,11.7,761,9120,0.00,2.62,0.00,0.000,4,0.000,0.097,2637,360,2191,0,0,0,0,0,0
$GC,9155,0.73,146.0,520.5,12.8,764,9160,0.00,2.58,0.00,0.000,6,0.000,0.074,2636,1948,2191,0,0,0,0,0,0
$GC,9479,0.73,146.0,483.4,10.9,794,9484,0.00,2.65,0.00,0.000,4,0.000,0.091,2636,3540,2191,0,0,0,0,0,0
$GC,9529,0.73,146.0,477.4,11.8,798,9534,0.00,2.62,0.00,0.000,6,0.000,0.077,2649,1948,2190,0,0,0,0,0,0
$GC,9854,0.73,146.0,440.7,11.7,828,9858,0.00,2.67,0.00,0.000,4,0.000,0.090,2649,3546,2190,0,0,0,0,0,0
$GC,9904,0.73,146.0,434.1,13.6,832,9910,0.15,2.60,0.00,0.000,6,0.206,0.077,2628,1965,2190,0,0,0,0,0,0
$GC,10229,0.73,146.0,397.2,11.2,862,10233,0.00,2.62,0.00,0.000,4,0.000,0.090,2627,3539,2190,0,0,0,0,0,0
$GC,10279,0.73,146.0,391.5,11.5,866,10283,0.00,2.53,0.00,0.000,6,0.000,0.077,2636,1996,2190,0,0,0,0,0,0
$GC,10603,0.73,146.0,355.5,10.5,896,10605,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,1996,2190,0,0,0,0,0,0
$GC,10923,0.73,146.0,322.3,10.1,926,10928,0.00,2.70,0.00,0.000,4,0.000,0.097,2649,355,2190,0,0,0,0,0,0
$GC,11000,0.73,146.0,313.6,10.9,932,11006,0.00,2.62,0.00,0.000,6,0.000,0.074,2649,1996,2190,0,0,0,0,0,0
$GC,11325,0.73,146.0,281.9,9.9,963,11329,0.00,2.70,0.00,0.000,4,0.000,0.097,2661,364,2190,0,0,0,0,0,0
$GC,11363,0.73,146.0,278.0,10.3,966,11368,0.15,2.60,0.00,0.000,6,0.197,0.074,2626,1987,2190,0,0,0,0,0,0
$GC,11688,0.75,163.6,250.5,8.4,996,11709,0.00,2.62,13.65,0.910,4,0.000,0.091,2626,3533,2131,0,0,0,0,0,0
$GC,11743,0.75,163.6,245.3,9.9,1001,11747,0.00,2.55,0.00,0.000,6,0.000,0.078,2635,1988,2130,0,0,0,0,0,0
$GC,12067,0.78,189.6,217.5,8.1,1031,12098,0.00,2.72,22.55,0.921,4,0.000,0.091,2635,3551,2025,0,0,0,0,0,0
$GC,12155,0.78,189.6,209.2,10.0,1039,12159,0.00,2.58,0.00,0.000,6,0.000,0.080,2647,2015,2023,0,0,0,0,0,0
$GC,12479,0.80,210.5,179.6,8.3,1069,12503,0.00,2.85,18.23,0.899,4,0.000,0.100,2659,369,1941,0,0,0,0,0,0
$GC,12525,0.81,211.3,175.4,9.1,1073,12531,0.00,2.72,0.00,0.000,6,0.000,0.075,2659,2016,1939,0,0,0,0,0,0
$GC,12850,0.81,211.3,144.1,9.5,1104,12854,0.00,2.55,0.00,0.000,4,0.000,0.092,2659,3537,1936,0,0,0,0,0,0
$GC,12893,0.81,211.3,139.4,10.9,1107,12900,0.00,2.58,0.00,0.000,6,0.000,0.081,2670,2017,1935,0,0,0,0,0,0
$GC,13218,0.81,211.3,107.1,9.6,1138,13222,0.00,2.78,0.00,0.000,4,0.000,0.101,2683,359,1934,0,0,0,0,0,0
$GC,13267,0.81,211.3,101.9,10.2,1142,13272,0.12,2.70,0.00,0.000,6,0.202,0.077,2655,2015,1934,0,0,0,0,0,0
$GC,13610,0.83,228.7,72.0,8.4,1200,13632,0.00,2.83,15.57,0.860,4,0.000,0.100,2665,358,1866,0,0,0,0,0,0
$GC,13689,0.83,228.7,64.5,9.7,1214,13694,0.00,2.70,0.00,0.000,6,0.000,0.078,2665,2003,1864,0,0,0,0,0,0
$GC,14033,0.85,248.5,36.5,8.3,1275,14060,0.00,2.67,17.75,0.841,4,0.000,0.094,2665,3536,1784,0,0,0,0,0,0
$GC,14174,0.87,264.4,24.5,8.5,1300,14196,0.00,2.53,14.35,0.818,6,0.000,0.082,2676,2036,1720,0,0,0,0,0,0
$STATE,14469,end climb,SURFACE_DEPTH_REACHED
$STATE,14469,begin surface coast
$FINISH,0.7,1.025153
$STATE,14494,end surface coast,CONTROL_FINISHED_OK
$STATE,14494,begin surface
$SM_CCo,14511,6.97,0.759,0,0,1678,275.23
$SM_GC,2.26,0.00,0.00,6.97,0.000,0.000,0.759,123,2461,1678,-7.09,0.03,275.23
$RAFOS_CLK,980
$RAFOS,3,1257567902,4.433333,4.417222,61,57,55,0,0,0,208,196,160,0,0,0
$RAFOS,2,1257567429,4.300000,4.285833,64,59,59,0,0,0,125,213,599,0,0,0
$RAFOS,1,1257566943,4.166667,4.150833,98,67,56,0,0,0,540,215,188,0,0,0
$RAFOS,0,1257566465,4.033333,4.018055,99,66,61,0,0,0,647,188,174,0,0,0
$RAFOS,6,1257554947,0.833333,0.818611,56,53,51,0,0,0,210,184,115,0,0,0
$RAFOS,5,1257554463,0.700000,0.684167,55,54,50,0,0,0,152,191,135,0,0,0
$RAFOS,2,1257553025,0.300000,0.284722,67,65,61,0,0,0,598,218,173,0,0,0
$RAFOS_FIX,6639.917969,-5959.720215,071109,000022,3,107,0.00
$IRIDIUM_FIX,6614.97,-5946.96,310199,202020
$TT8_MAMPS,0.029146
$HUMID,49.21
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.30
$XPDR_PINGS,5
$24V_AH,22.7,27.317
$10V_AH,10.2,14.304
$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,19.925,157.625,349.825,6.975,0.000,27.347,43.849,279.536,1.250,0.000,13.552,2485.874,9199.957,508.852,2236.311,565.530,0.000,1682.868,0.000,2212.574,2520.000,0.529,0.000
$DEVICE_MAMPS,318.305,105.079,1232.569,759.330,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1008.377,944.181,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188076
$DATA_FILE_SIZE,53535,1357
$CAP_FILE_SIZE,157455,0
$CFSIZE,260165632,242450432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.9
$CURRENT,0.050,320.8,1
$GPS,071109,044055,6644.756,-5956.366,126,1.3,126,-38.0