version: 66.06
glider: 143
mission: 10
dive: 175
start: 11 21 109 16 1 26
data:
$ID,143
$MISSION,10
$DIVE,175
$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,325
$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,-33043.855
$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,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
$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,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,20
$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
$GPS1,155301,6703.001,-5708.246,39,1.5,39,-37.6
$_CALLS,1
$_XMS_NAKs,26
$_XMS_TOUTs,2
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-56.2
$GPS2,160107,6703.010,-5708.384,30,1.6,30,-37.6
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_ADD4_WB
$TGT_LATLONG,6659.000,-5735.000
$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,247.9,20655,-16.9,-9.167
$D_GRID,724
$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,14,-0.73,-146.0,0.0,0.0,0,170,0.00,0.00,-152.27,0.000,2,0.000,0.000,126,2461,3163,0,0,0,0,0,0
$GC,173,-0.73,-146.0,3.8,-7.3,29,196,11.00,2.65,-5.62,0.000,4,0.293,0.093,2448,862,3396,0,0,0,0,0,0
$GC,437,-0.73,-146.0,44.9,-13.5,76,442,0.00,2.60,0.00,0.000,6,0.000,0.074,2448,2463,3399,0,0,0,0,0,0
$GC,779,-0.73,-146.0,86.5,-11.2,137,785,0.00,2.53,0.00,0.000,4,0.000,0.092,2448,3915,3400,0,0,0,0,0,0
$GC,886,-0.73,-146.0,98.1,-11.2,156,892,0.00,2.45,0.00,0.000,6,0.000,0.064,2448,2448,3399,0,0,0,0,0,0
$GC,1212,-0.73,-146.0,131.6,-9.8,188,1216,0.00,2.55,0.00,0.000,4,0.000,0.091,2448,3912,3399,0,0,0,0,0,0
$GC,1277,-0.73,-146.0,138.4,-10.0,193,1283,0.00,2.40,0.00,0.000,6,0.000,0.064,2448,2467,3399,0,0,0,0,0,0
$GC,1602,-0.73,-146.0,172.5,-10.8,224,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2467,3399,0,0,0,0,0,0
$GC,1920,-0.73,-146.0,204.5,-9.9,254,1925,0.00,2.53,0.00,0.000,4,0.000,0.090,2448,3920,3399,0,0,0,0,0,0
$GC,1998,-0.73,-146.0,211.9,-9.1,260,2004,0.00,2.40,0.00,0.000,6,0.000,0.064,2448,2469,3399,0,0,0,0,0,0
$GC,2323,-0.73,-146.0,242.1,-9.3,291,2327,0.00,2.50,0.00,0.000,4,0.000,0.089,2448,3913,3399,0,0,0,0,0,0
$GC,2355,-0.73,-146.0,245.3,-9.8,293,2361,0.00,2.35,0.00,0.000,6,0.000,0.063,2448,2486,3399,0,0,0,0,0,0
$GC,2680,-0.73,-146.0,272.7,-7.8,324,2684,0.00,2.47,0.00,0.000,4,0.000,0.089,2448,3916,3399,0,0,0,0,0,0
$GC,2707,-0.73,-146.0,274.9,-7.9,326,2711,0.00,2.35,0.00,0.000,6,0.000,0.063,2448,2496,3400,0,0,0,0,0,0
$GC,3037,-0.73,-146.0,300.4,-7.4,357,3042,0.00,2.60,0.00,0.000,4,0.000,0.081,2448,866,3400,0,0,0,0,0,0
$GC,3060,-0.73,-146.0,302.2,-7.9,358,3067,0.00,2.60,0.00,0.000,6,0.000,0.071,2448,2495,3400,0,0,0,0,0,0
$GC,3384,-0.73,-146.0,326.9,-7.7,389,3388,0.00,2.42,0.00,0.000,4,0.000,0.088,2448,3918,3401,0,0,0,0,0,0
$GC,3418,-0.73,-146.0,329.6,-7.8,392,3422,0.00,2.35,0.00,0.000,6,0.000,0.061,2448,2483,3401,0,0,0,0,0,0
$GC,3748,-0.73,-146.0,354.4,-7.5,423,3752,0.00,2.45,0.00,0.000,4,0.000,0.087,2448,3910,3401,0,0,0,0,0,0
$GC,3780,-0.73,-146.0,357.0,-8.1,425,3786,0.00,2.33,0.00,0.000,6,0.000,0.061,2448,2490,3401,0,0,0,0,0,0
$GC,4105,-0.73,-146.0,381.3,-7.5,456,4106,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2490,3402,0,0,0,0,0,0
$GC,4424,-0.73,-146.0,403.8,-6.6,486,4429,0.00,2.45,0.00,0.000,4,0.000,0.085,2448,3918,3402,0,0,0,0,0,0
$GC,4469,-0.73,-146.0,407.0,-6.6,489,4474,0.00,2.33,0.00,0.000,6,0.000,0.060,2448,2496,3402,0,0,0,0,0,0
$GC,4793,-0.73,-146.0,429.3,-7.0,520,4797,0.00,2.42,0.00,0.000,4,0.000,0.085,2448,3912,3403,0,0,0,0,0,0
$GC,4825,-0.73,-146.0,431.5,-7.0,522,4832,0.00,2.28,0.00,0.000,6,0.000,0.059,2448,2516,3403,0,0,0,0,0,0
$GC,5150,-0.73,-146.0,455.3,-7.5,553,5154,0.00,2.62,0.00,0.000,4,0.000,0.078,2448,865,3403,0,0,0,0,0,0
$GC,5178,-0.73,-146.0,457.6,-8.8,555,5182,0.00,2.62,0.00,0.000,6,0.000,0.070,2449,2518,3403,0,0,0,0,0,0
$GC,5502,-0.73,-146.0,483.6,-8.3,585,5506,0.00,2.38,0.00,0.000,4,0.000,0.086,2448,3912,3402,0,0,0,0,0,0
$GC,5557,-0.73,-146.0,488.3,-8.3,589,5563,0.00,2.28,0.00,0.000,6,0.000,0.059,2448,2518,3403,0,0,0,0,0,0
$GC,5882,-0.73,-146.0,514.9,-8.4,620,5883,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2519,3403,0,0,0,0,0,0
$GC,6202,-0.73,-146.0,540.6,-8.2,650,6203,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2519,3403,0,0,0,0,0,0
$GC,6520,-0.73,-146.0,565.2,-7.6,680,6525,0.00,2.40,0.00,0.000,4,0.000,0.084,2448,3918,3404,0,0,0,0,0,0
$GC,6548,-0.73,-146.0,567.4,-7.7,682,6552,0.00,2.28,0.00,0.000,6,0.000,0.059,2449,2523,3404,0,0,0,0,0,0
$GC,6873,-0.73,-146.0,592.3,-7.9,712,6877,0.00,2.62,0.00,0.000,4,0.000,0.077,2448,872,3404,0,0,0,0,0,0
$GC,6912,-0.73,-146.0,595.4,-8.7,715,6916,0.00,2.62,0.00,0.000,6,0.000,0.069,2448,2526,3404,0,0,0,0,0,0
$GC,7247,-0.73,-146.0,621.9,-7.8,729,7251,0.00,2.35,0.00,0.000,4,0.000,0.085,2448,3914,3404,0,0,0,0,0,0
$GC,7315,-0.73,-146.0,627.2,-7.8,731,7319,0.00,2.25,0.00,0.000,6,0.000,0.059,2448,2533,3404,0,0,0,0,0,0
$GC,7649,-0.73,-146.0,651.9,-7.6,742,7651,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2534,3404,0,0,0,0,0,0
$GC,7955,-0.73,-146.0,675.4,-7.9,752,7960,0.00,2.65,0.00,0.000,4,0.000,0.077,2448,869,3404,0,0,0,0,0,0
$GC,7982,-0.73,-146.0,677.9,-9.3,753,7987,0.00,2.65,0.00,0.000,6,0.000,0.070,2448,2539,3404,0,0,0,0,0,0
$GC,8317,-0.73,-146.0,702.7,-7.5,764,8318,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2539,3404,0,0,0,0,0,0
$STATE,8620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8620,begin apogee
$GC,8626,-0.16,0.0,725.1,7.1,774,8751,0.65,0.00,121.43,1.211,6,0.181,0.000,2630,1944,2800,0,0,0,0,0,0
$STATE,8752,end apogee,CONTROL_FINISHED_OK
$STATE,8752,begin climb
$GC,8753,0.73,146.0,726.6,0.0,778,8885,0.95,0.00,125.57,1.158,6,0.130,0.000,2914,1944,2204,0,0,0,0,0,0
$GC,9181,0.73,146.0,685.1,10.8,792,9185,0.00,2.80,0.00,0.000,4,0.000,0.078,2915,3546,2196,0,0,0,0,0,0
$GC,9218,0.73,146.0,680.9,11.8,793,9223,0.00,2.72,0.00,0.000,6,0.000,0.065,2926,1954,2195,0,0,0,0,0,0
$GC,9548,0.73,146.0,642.6,11.9,804,9549,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,1955,2194,0,0,0,0,0,0
$GC,9854,0.73,146.0,608.1,11.2,814,9858,0.00,2.67,0.00,0.000,4,0.000,0.078,2927,3538,2193,0,0,0,0,0,0
$GC,9887,0.73,146.0,604.2,12.1,815,9891,0.00,2.65,0.00,0.000,6,0.000,0.067,2939,1950,2192,0,0,0,0,0,0
$GC,10216,0.73,146.0,565.8,11.8,843,10220,0.00,2.55,0.00,0.000,4,0.000,0.087,2951,361,2192,0,0,0,0,0,0
$GC,10247,0.73,146.0,561.6,13.2,845,10254,0.00,2.55,0.00,0.000,6,0.000,0.064,2951,1966,2191,0,0,0,0,0,0
$GC,10572,0.73,146.0,521.6,12.2,876,10577,0.00,2.60,0.00,0.000,4,0.000,0.087,2962,360,2192,0,0,0,0,0,0
$GC,10595,0.73,146.0,518.7,12.4,877,10601,0.15,2.50,0.00,0.000,6,0.200,0.064,2929,1963,2192,0,0,0,0,0,0
$GC,10919,0.73,146.0,483.8,10.3,908,10923,0.00,2.62,0.00,0.000,4,0.000,0.081,2928,3535,2191,0,0,0,0,0,0
$GC,10939,0.73,146.0,481.4,10.6,909,10945,0.00,2.62,0.00,0.000,6,0.000,0.068,2938,1949,2191,0,0,0,0,0,0
$GC,11264,0.73,146.0,448.0,10.1,940,11268,0.00,2.55,0.00,0.000,4,0.000,0.088,2950,363,2191,0,0,0,0,0,0
$GC,11291,0.73,146.0,445.1,10.7,942,11295,0.00,2.47,0.00,0.000,6,0.000,0.066,2950,1952,2191,0,0,0,0,0,0
$GC,11615,0.73,146.0,407.9,11.8,972,11616,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,1952,2191,0,0,0,0,0,0
$GC,11934,0.73,146.0,369.8,12.1,1002,11939,0.00,2.58,0.00,0.000,4,0.000,0.090,2962,363,2190,0,0,0,0,0,0
$GC,11966,0.73,146.0,365.6,12.0,1004,11973,0.10,2.50,0.00,0.000,6,0.189,0.067,2923,1939,2190,0,0,0,0,0,0
$GC,12292,0.73,146.0,332.7,10.2,1035,12293,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1939,2190,0,0,0,0,0,0
$GC,12612,0.73,146.0,299.3,10.3,1065,12613,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1939,2190,0,0,0,0,0,0
$GC,12932,0.73,146.0,266.1,10.6,1095,12933,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1939,2190,0,0,0,0,0,0
$GC,13248,0.73,146.0,232.1,11.2,1125,13253,0.00,2.58,0.00,0.000,4,0.000,0.089,2933,353,2190,0,0,0,0,0,0
$GC,13298,0.73,146.0,226.2,11.6,1129,13302,0.00,2.47,0.00,0.000,6,0.000,0.066,2933,1945,2190,0,0,0,0,0,0
$GC,13622,0.73,146.0,189.4,11.4,1159,13627,0.00,2.65,0.00,0.000,4,0.000,0.082,2933,3538,2190,0,0,0,0,0,0
$GC,13643,0.73,146.0,186.8,12.3,1160,13650,0.00,2.65,0.00,0.000,6,0.000,0.070,2945,1933,2190,0,0,0,0,0,0
$GC,13968,0.73,146.0,149.6,11.3,1191,13969,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,1934,2190,0,0,0,0,0,0
$GC,14287,0.73,146.0,114.8,10.2,1221,14291,0.00,2.53,0.00,0.000,4,0.000,0.089,2956,359,2190,0,0,0,0,0,0
$GC,14325,0.73,146.0,110.7,10.6,1224,14330,0.12,2.47,0.00,0.000,6,0.196,0.065,2928,1956,2190,0,0,0,0,0,0
$GC,14661,0.77,185.2,83.9,7.5,1272,14698,0.00,2.67,29.33,0.783,4,0.000,0.081,2928,3542,2045,0,0,0,0,0,0
$GC,14757,0.78,190.0,76.0,9.0,1289,14769,0.00,2.65,5.20,0.627,6,0.000,0.069,2938,1957,2025,0,0,0,0,0,0
$GC,15108,0.84,241.3,46.2,7.0,1351,15155,0.00,2.72,41.55,0.764,4,0.000,0.077,2938,3533,1815,0,0,0,0,0,0
$GC,15185,0.91,299.6,41.0,6.7,1365,15239,0.10,2.65,47.17,0.740,6,0.124,0.066,2983,1968,1578,0,0,0,0,0,0
$STATE,15496,end climb,SURFACE_DEPTH_REACHED
$STATE,15496,begin surface coast
$FINISH,0.5,1.026532
$STATE,15508,end surface coast,CONTROL_FINISHED_OK
$STATE,15508,begin surface
$SM_CCo,15525,18.10,0.715,0,0,1474,325.02
$SM_GC,1.08,0.00,0.00,18.10,0.000,0.000,0.715,123,2464,1474,-8.02,0.11,325.02
$RAFOS_CLK,978
$RAFOS,1,1258834143,20.166666,20.150833,67,66,53,0,0,0,194,212,144,0,0,0
$RAFOS,0,1258833668,20.033333,20.018888,59,55,54,0,0,0,215,202,119,0,0,0
$RAFOS,6,1258822151,16.833334,16.819723,88,64,63,0,0,0,746,209,153,0,0,0
$RAFOS,5,1258821666,16.700001,16.684999,91,67,65,0,0,0,590,215,147,0,0,0
$RAFOS,4,1258821183,16.566668,16.550833,65,57,56,0,0,0,134,168,190,0,0,0
$RAFOS,3,1258820705,16.433332,16.418056,69,57,56,0,0,0,195,172,152,0,0,0
$RAFOS,2,1258820230,16.299999,16.286112,59,58,56,0,0,0,148,218,205,0,0,0
$RAFOS,1,1258819743,16.166666,16.150833,60,57,56,0,0,0,171,151,190,0,0,0
$RAFOS,0,1258819306,16.033333,16.029444,67,61,59,0,0,0,216,175,227,0,0,0
$RAFOS_FIX,6702.849121,-5712.809082,211109,161656,2,90,1.17
$IRIDIUM_FIX,6631.12,-5701.34,150299,121242
$TT8_MAMPS,0.029913
$HUMID,47.51
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,17.80
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.5,18.7
$24V_AH,22.9,41.047
$10V_AH,10.2,20.873
$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,21.600,148.000,370.250,18.100,0.000,23.505,31.984,289.124,1.500,0.000,31.774,2507.809,10097.177,583.005,2273.941,567.526,0.000,1773.354,0.000,2226.254,3600.000,2.623,0.000
$DEVICE_MAMPS,292.994,92.807,1211.093,714.844,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1045.539,979.012,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,187864
$DATA_FILE_SIZE,56746,1423
$CAP_FILE_SIZE,162518,0
$CFSIZE,260165632,236433408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1468.4
$CURRENT,0.194,318.3,1
$GPS,211109,202225,6702.587,-5713.896,59,1.2,59,-37.6