version: 66.06
glider: 143
mission: 10
dive: 178
start: 11 22 109 7 0 37
data:
$ID,143
$MISSION,10
$DIVE,178
$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,578.41736
$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,-33233.836
$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,16
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$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
$GPS1,063001,6700.219,-5722.193,37,2.0,37,-37.6
$_CALLS,5
$_XMS_NAKs,28
$_XMS_TOUTs,2
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-57.2
$GPS2,070017,6700.061,-5722.301,52,2.0,69,-37.6
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$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,112.2,25362,-16.9,-9.167
$D_GRID,788
$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,-146.0,0.0,0.0,0,168,0.00,0.00,-148.10,0.000,2,0.000,0.000,127,2467,2928,0,0,0,0,0,0
$GC,170,-0.73,-146.0,3.3,-7.0,28,202,11.30,2.72,-12.48,0.000,4,0.301,0.100,2447,871,3399,0,0,0,0,0,0
$GC,456,-0.73,-146.0,45.2,-12.1,79,462,0.00,2.62,0.00,0.000,6,0.000,0.080,2447,2463,3403,0,0,0,0,0,0
$GC,800,-0.73,-146.0,87.2,-13.5,140,806,0.00,2.58,0.00,0.000,4,0.000,0.097,2447,3923,3402,0,0,0,0,0,0
$GC,856,-0.73,-146.0,94.8,-13.2,150,863,0.00,2.47,0.00,0.000,6,0.000,0.067,2448,2452,3403,0,0,0,0,0,0
$GC,1189,-0.73,-146.0,133.0,-10.4,185,1194,0.00,2.58,0.00,0.000,4,0.000,0.095,2448,3912,3403,0,0,0,0,0,0
$GC,1233,-0.73,-146.0,137.6,-10.0,188,1239,0.00,2.42,0.00,0.000,6,0.000,0.067,2448,2469,3402,0,0,0,0,0,0
$GC,1558,-0.73,-146.0,168.9,-9.0,219,1562,0.00,2.55,0.00,0.000,4,0.000,0.094,2448,3917,3403,0,0,0,0,0,0
$GC,1624,-0.73,-146.0,175.6,-9.9,224,1630,0.00,2.42,0.00,0.000,6,0.000,0.067,2448,2473,3403,0,0,0,0,0,0
$GC,1949,-0.73,-146.0,206.7,-9.2,255,1953,0.00,2.53,0.00,0.000,4,0.000,0.093,2448,3913,3403,0,0,0,0,0,0
$GC,2056,-0.73,-146.0,216.0,-8.6,264,2060,0.00,2.40,0.00,0.000,6,0.000,0.067,2448,2481,3403,0,0,0,0,0,0
$GC,2386,-0.73,-146.0,242.5,-8.3,295,2390,0.00,2.50,0.00,0.000,4,0.000,0.092,2447,3913,3404,0,0,0,0,0,0
$GC,2504,-0.73,-146.0,252.7,-8.9,305,2508,0.00,2.38,0.00,0.000,6,0.000,0.066,2448,2487,3405,0,0,0,0,0,0
$GC,2829,-0.73,-146.0,277.4,-7.0,335,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2488,3405,0,0,0,0,0,0
$GC,3148,-0.73,-146.0,299.3,-7.4,365,3152,0.00,2.50,0.00,0.000,4,0.000,0.091,2448,3921,3405,0,0,0,0,0,0
$GC,3225,-0.73,-146.0,305.2,-7.6,371,3231,0.00,2.38,0.00,0.000,6,0.000,0.065,2448,2489,3405,0,0,0,0,0,0
$GC,3551,-0.73,-146.0,331.2,-8.3,402,3555,0.00,2.50,0.00,0.000,4,0.000,0.091,2447,3925,3405,0,0,0,0,0,0
$GC,3595,-0.73,-146.0,335.1,-8.6,405,3601,0.00,2.38,0.00,0.000,6,0.000,0.064,2448,2491,3406,0,0,0,0,0,0
$GC,3920,-0.73,-146.0,362.9,-8.9,436,3921,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2492,3405,0,0,0,0,0,0
$GC,4238,-0.73,-146.0,391.1,-8.5,466,4243,0.00,2.50,0.00,0.000,4,0.000,0.091,2448,3925,3405,0,0,0,0,0,0
$GC,4293,-0.73,-146.0,396.1,-9.1,470,4300,0.00,2.38,0.00,0.000,6,0.000,0.064,2447,2489,3406,0,0,0,0,0,0
$GC,4618,-0.73,-146.0,422.6,-7.9,501,4619,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2490,3405,0,0,0,0,0,0
$GC,4939,-0.73,-146.0,447.1,-7.8,531,4943,0.00,2.50,0.00,0.000,4,0.000,0.091,2448,3920,3406,0,0,0,0,0,0
$GC,4993,-0.73,-146.0,451.8,-8.5,535,4999,0.00,2.38,0.00,0.000,6,0.000,0.065,2448,2488,3405,0,0,0,0,0,0
$GC,5318,-0.73,-146.0,477.6,-8.2,566,5322,0.00,2.50,0.00,0.000,4,0.000,0.091,2447,3921,3405,0,0,0,0,0,0
$GC,5357,-0.73,-146.0,480.8,-8.3,569,5361,0.00,2.38,0.00,0.000,6,0.000,0.065,2448,2493,3405,0,0,0,0,0,0
$GC,5682,-0.73,-146.0,507.0,-7.9,599,5683,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2493,3405,0,0,0,0,0,0
$GC,6001,-0.73,-146.0,532.9,-7.9,629,6006,0.00,2.47,0.00,0.000,4,0.000,0.092,2447,3913,3405,0,0,0,0,0,0
$GC,6046,-0.73,-146.0,536.7,-8.6,632,6052,0.00,2.35,0.00,0.000,6,0.000,0.066,2448,2504,3405,0,0,0,0,0,0
$GC,6372,-0.73,-146.0,562.8,-8.1,663,6373,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2504,3405,0,0,0,0,0,0
$GC,6689,-0.73,-146.0,589.1,-8.2,693,6690,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2505,3405,0,0,0,0,0,0
$GC,7011,-0.73,-146.0,615.4,-7.9,712,7015,0.00,2.47,0.00,0.000,4,0.000,0.093,2448,3920,3405,0,0,0,0,0,0
$GC,7077,-0.73,-146.0,620.6,-7.8,714,7081,0.00,2.40,0.00,0.000,6,0.000,0.066,2448,2503,3405,0,0,0,0,0,0
$GC,7411,-0.73,-146.0,645.8,-7.4,725,7413,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2503,3405,0,0,0,0,0,0
$GC,7718,-0.73,-146.0,668.1,-7.2,735,7722,0.00,2.47,0.00,0.000,4,0.000,0.093,2448,3914,3405,0,0,0,0,0,0
$GC,7772,-0.73,-146.0,672.3,-7.7,736,7778,0.00,2.35,0.00,0.000,6,0.000,0.066,2448,2500,3405,0,0,0,0,0,0
$GC,8085,-0.73,-146.0,694.8,-7.2,747,8087,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2501,3405,0,0,0,0,0,0
$GC,8392,-0.73,-146.0,716.7,-7.3,757,8393,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2501,3405,0,0,0,0,0,0
$GC,8698,-0.73,-146.0,738.8,-7.4,767,8699,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2501,3405,0,0,0,0,0,0
$GC,9003,-0.73,-146.0,761.7,-7.5,777,9007,0.00,2.47,0.00,0.000,4,0.000,0.093,2448,3912,3405,0,0,0,0,0,0
$GC,9058,-0.73,-146.0,766.2,-8.6,778,9065,0.00,2.33,0.00,0.000,6,0.000,0.066,2448,2513,3404,0,0,0,0,0,0
$STATE,9369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9369,begin apogee
$GC,9375,-0.16,0.0,789.7,7.7,789,9502,0.68,0.00,124.00,1.288,6,0.188,0.000,2632,1950,2800,0,0,0,0,0,0
$STATE,9503,end apogee,CONTROL_FINISHED_OK
$STATE,9503,begin climb
$GC,9505,0.73,146.0,792.3,0.0,793,9638,0.98,0.00,129.45,1.230,6,0.141,0.000,2913,1950,2204,0,0,0,0,0,0
$GC,9932,0.73,146.0,754.5,10.3,807,9933,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,1950,2195,0,0,0,0,0,0
$GC,10238,0.73,146.0,722.8,10.4,817,10243,0.00,2.80,0.00,0.000,4,0.000,0.087,2913,3543,2192,0,0,0,0,0,0
$GC,10287,0.73,146.0,717.1,11.6,818,10292,0.00,2.72,0.00,0.000,6,0.000,0.073,2925,1948,2191,0,0,0,0,0,0
$GC,10600,0.73,146.0,683.4,10.6,828,10601,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,1949,2191,0,0,0,0,0,0
$GC,10905,0.73,146.0,651.0,10.5,838,10910,0.00,2.75,0.00,0.000,4,0.000,0.087,2925,3547,2191,0,0,0,0,0,0
$GC,10927,0.73,146.0,648.7,11.3,838,10934,0.00,2.70,0.00,0.000,6,0.000,0.074,2937,1952,2190,0,0,0,0,0,0
$GC,11239,0.73,146.0,615.1,10.5,849,11240,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1953,2190,0,0,0,0,0,0
$GC,11551,0.73,146.0,582.0,10.4,869,11555,0.00,2.60,0.00,0.000,4,0.000,0.094,2949,361,2190,0,0,0,0,0,0
$GC,11579,0.73,146.0,579.0,11.0,871,11583,0.00,2.53,0.00,0.000,6,0.000,0.071,2949,1955,2190,0,0,0,0,0,0
$GC,11903,0.73,146.0,542.7,11.4,901,11907,0.00,2.70,0.00,0.000,4,0.000,0.087,2949,3542,2190,0,0,0,0,0,0
$GC,11934,0.73,146.0,538.9,11.9,903,11941,0.15,2.70,0.00,0.000,6,0.209,0.075,2929,1943,2189,0,0,0,0,0,0
$GC,12261,0.73,146.0,505.8,10.4,934,12262,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,1943,2189,0,0,0,0,0,0
$GC,12579,0.73,146.0,472.5,9.9,964,12583,0.00,2.75,0.00,0.000,4,0.000,0.088,2928,3543,2189,0,0,0,0,0,0
$GC,12606,0.73,146.0,469.4,11.1,966,12611,0.00,2.67,0.00,0.000,6,0.000,0.075,2938,1956,2189,0,0,0,0,0,0
$GC,12930,0.73,146.0,434.4,10.5,996,12932,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1957,2189,0,0,0,0,0,0
$GC,13250,0.73,146.0,401.1,10.1,1026,13255,0.00,2.75,0.00,0.000,4,0.000,0.089,2938,3546,2188,0,0,0,0,0,0
$GC,13289,0.73,146.0,396.9,11.1,1029,13293,0.00,2.67,0.00,0.000,6,0.000,0.076,2951,1960,2189,0,0,0,0,0,0
$GC,13613,0.73,146.0,362.2,11.2,1059,13614,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,1960,2189,0,0,0,0,0,0
$GC,13932,0.73,146.0,324.9,12.0,1089,13933,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,1960,2189,0,0,0,0,0,0
$GC,14252,0.73,146.0,286.3,12.1,1119,14253,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,1960,2189,0,0,0,0,0,0
$GC,14570,0.73,146.0,248.0,11.9,1149,14571,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,1961,2188,0,0,0,0,0,0
$GC,14889,0.73,146.0,210.3,11.1,1179,14891,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,1961,2189,0,0,0,0,0,0
$GC,15208,0.73,146.0,178.4,9.7,1209,15209,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,1960,2189,0,0,0,0,0,0
$GC,15528,0.73,146.0,145.0,11.2,1239,15529,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,1960,2189,0,0,0,0,0,0
$GC,15845,0.73,153.7,112.8,8.8,1269,15854,0.00,0.00,4.93,0.674,6,0.000,0.000,2951,1960,2173,0,0,0,0,0,0
$GC,16185,0.76,172.4,77.8,8.4,1319,16208,0.00,2.67,16.48,0.802,4,0.000,0.094,2962,358,2096,0,0,0,0,0,0
$GC,16231,0.76,173.6,73.4,9.1,1327,16237,0.00,2.53,0.00,0.000,6,0.000,0.071,2962,1958,2096,0,0,0,0,0,0
$GC,16575,0.78,193.9,40.7,8.3,1388,16601,0.00,2.75,18.50,0.780,4,0.000,0.086,2962,3536,2007,0,0,0,0,0,0
$GC,16703,0.78,193.9,26.5,12.0,1411,16710,0.12,2.67,0.00,0.000,6,0.194,0.075,2946,1966,2005,0,0,0,0,0,0
$STATE,16921,end climb,SURFACE_DEPTH_REACHED
$STATE,16922,begin surface coast
$FINISH,0.4,1.004238
$STATE,16946,end surface coast,CONTROL_FINISHED_OK
$STATE,16946,begin surface
$SM_CCo,16963,215.50,0.724,0,0,442,578.42
$SM_GC,0.91,0.00,0.00,215.50,0.000,0.000,0.724,128,2471,442,-8.00,0.31,578.42
$RAFOS_CLK,1202
$RAFOS,6,1258879743,8.833333,8.817500,83,65,57,0,0,0,782,190,152,0,0,0
$RAFOS,5,1258879264,8.700000,8.684444,91,59,58,0,0,0,576,145,214,0,0,0
$RAFOS,4,1258878788,8.566667,8.552222,73,65,64,0,0,0,780,208,137,0,0,0
$RAFOS,3,1258878308,8.433333,8.418889,61,58,58,0,0,0,150,196,209,0,0,0
$RAFOS,2,1258877821,8.300000,8.283611,62,57,55,0,0,0,220,202,127,0,0,0
$RAFOS,1,1258877346,8.166667,8.151667,64,63,60,0,0,0,182,213,200,0,0,0
$RAFOS,0,1258876868,8.033334,8.018888,62,58,54,0,0,0,221,187,119,0,0,0
$RAFOS_FIX,6658.312012,-5724.716309,221109,080822,3,82,0.60
$IRIDIUM_FIX,6636.54,-6007.75,160299,070712
$TT8_MAMPS,0.026845
$HUMID,45.86
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,17.50
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.8,18.7
$ALTIM_BOTTOM_PING,750.2,61.5
$24V_AH,22.7,41.640
$10V_AH,10.1,21.162
$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,21.500,118.625,293.350,215.500,0.000,132.158,262.559,835.523,4.250,0.000,70.513,2612.520,11684.859,728.323,2347.132,1624.524,0.000,1902.377,0.000,2261.451,2520.000,24.168,0.000
$DEVICE_MAMPS,300.664,100.477,1287.793,724.048,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1059.843,1031.118,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,190248
$DATA_FILE_SIZE,56685,1454
$CAP_FILE_SIZE,182515,0
$CFSIZE,260165632,236097536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.7
$CURRENT,0.155,194.3,1
$GPS,221109,114831,6659.213,-5717.639,36,1.9,37,-37.6