version: 66.06
glider: 143
mission: 10
dive: 179
start: 11 22 109 12 4 11
data:
$ID,143
$MISSION,10
$DIVE,179
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,360
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$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,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,325
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-33267.535
$T_RSLEEP,60
$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,0.045000002
$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,20
$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,0
$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,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$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
$GPS1,114831,6659.213,-5717.639,36,1.9,37,-37.6
$_CALLS,3
$_XMS_NAKs,17
$_XMS_TOUTs,1
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-54.8
$GPS2,120349,6659.021,-5717.554,13,1.4,31,-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,108.5,22579,-16.9,-9.167
$D_GRID,786
$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,-146.0,0.0,0.0,0,166,0.00,0.00,-146.73,0.000,2,0.000,0.000,125,2473,2974,0,0,0,0,0,0
$GC,168,-0.73,-146.0,3.2,-5.7,29,200,11.02,2.72,-11.25,0.000,4,0.292,0.098,2446,875,3399,0,0,0,0,0,0
$GC,341,-0.56,-146.0,37.7,-15.0,60,347,0.22,2.62,0.00,0.000,6,0.214,0.079,2501,2462,3402,0,0,0,0,0,0
$GC,686,-0.66,-146.0,67.9,-9.1,121,691,0.00,2.58,0.00,0.000,4,0.000,0.097,2501,3921,3402,0,0,0,0,0,0
$GC,748,-0.79,-146.0,74.4,-10.1,132,755,0.20,2.45,0.00,0.000,6,0.101,0.067,2432,2464,3402,0,0,0,0,0,0
$GC,1091,-0.71,-146.0,114.6,-10.1,181,1095,0.00,2.55,0.00,0.000,4,0.000,0.094,2432,3914,3401,0,0,0,0,0,0
$GC,1179,-0.65,-146.0,123.7,-9.8,188,1186,0.20,2.40,0.00,0.000,6,0.210,0.068,2479,2483,3402,0,0,0,0,0,0
$GC,1504,-0.74,-146.0,152.8,-8.9,219,1509,0.00,2.53,0.00,0.000,4,0.000,0.094,2478,3913,3401,0,0,0,0,0,0
$GC,1571,-0.84,-146.0,158.6,-8.4,224,1577,0.20,2.40,0.00,0.000,6,0.103,0.067,2412,2478,3402,0,0,0,0,0,0
$GC,1895,-0.72,-146.0,193.9,-11.3,255,1897,0.17,0.00,0.00,0.000,6,0.212,0.000,2452,2479,3402,0,0,0,0,0,0
$GC,2217,-0.72,-146.0,223.9,-9.3,285,2218,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2479,3403,0,0,0,0,0,0
$GC,2534,-0.72,-146.0,253.6,-8.7,315,2538,0.00,2.53,0.00,0.000,4,0.000,0.092,2452,3922,3403,0,0,0,0,0,0
$GC,2573,-0.72,-146.0,257.0,-8.4,318,2577,0.00,2.40,0.00,0.000,6,0.000,0.066,2452,2481,3403,0,0,0,0,0,0
$GC,2897,-0.72,-146.0,282.5,-7.8,348,2901,0.00,2.50,0.00,0.000,4,0.000,0.091,2452,3913,3403,0,0,0,0,0,0
$GC,2936,-0.72,-146.0,285.6,-7.6,351,2940,0.00,2.38,0.00,0.000,6,0.000,0.065,2452,2486,3403,0,0,0,0,0,0
$GC,3261,-0.72,-146.0,310.9,-8.7,381,3262,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2487,3404,0,0,0,0,0,0
$GC,3581,-0.77,-146.0,338.6,-8.6,411,3582,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2487,3404,0,0,0,0,0,0
$GC,3899,-0.82,-146.0,364.7,-7.7,441,3900,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2487,3405,0,0,0,0,0,0
$GC,4220,-0.87,-146.0,390.7,-8.4,471,4226,0.15,0.00,0.00,0.000,6,0.112,0.000,2399,2487,3405,0,0,0,0,0,0
$GC,4545,-0.75,-146.0,425.6,-10.8,502,4550,0.17,2.50,0.00,0.000,4,0.214,0.087,2430,3916,3405,0,0,0,0,0,0
$GC,4663,-0.75,-146.0,437.5,-9.8,512,4667,0.00,2.38,0.00,0.000,6,0.000,0.063,2430,2479,3405,0,0,0,0,0,0
$GC,4987,-0.75,-146.0,467.7,-9.2,542,4988,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2479,3405,0,0,0,0,0,0
$GC,5307,-0.75,-146.0,496.3,-8.8,572,5311,0.00,2.53,0.00,0.000,4,0.000,0.090,2430,3926,3405,0,0,0,0,0,0
$GC,5385,-0.75,-146.0,503.8,-9.6,578,5391,0.00,2.38,0.00,0.000,6,0.000,0.064,2430,2487,3405,0,0,0,0,0,0
$GC,5710,-0.75,-146.0,533.2,-9.1,609,5714,0.00,2.47,0.00,0.000,4,0.000,0.090,2430,3914,3405,0,0,0,0,0,0
$GC,5748,-0.75,-146.0,536.9,-9.2,612,5753,0.00,2.35,0.00,0.000,6,0.000,0.064,2430,2494,3405,0,0,0,0,0,0
$GC,6072,-0.75,-146.0,567.2,-9.7,642,6077,0.00,2.47,0.00,0.000,4,0.000,0.090,2430,3915,3405,0,0,0,0,0,0
$GC,6116,-0.75,-146.0,571.4,-9.4,645,6122,0.00,2.35,0.00,0.000,6,0.000,0.064,2430,2493,3405,0,0,0,0,0,0
$GC,6461,-0.75,-146.0,603.5,-9.4,676,6462,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2494,3405,0,0,0,0,0,0
$GC,6768,-0.75,-146.0,631.5,-9.1,686,6772,0.00,2.47,0.00,0.000,4,0.000,0.091,2430,3915,3405,0,0,0,0,0,0
$GC,6817,-0.75,-146.0,636.0,-9.0,687,6821,0.00,2.35,0.00,0.000,6,0.000,0.065,2430,2498,3404,0,0,0,0,0,0
$GC,7135,-0.75,-146.0,662.4,-8.2,698,7136,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2498,3405,0,0,0,0,0,0
$GC,7442,-0.75,-146.0,687.4,-8.2,708,7443,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2499,3404,0,0,0,0,0,0
$GC,7747,-0.75,-146.0,712.2,-8.1,718,7748,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2499,3404,0,0,0,0,0,0
$GC,8053,-0.75,-146.0,737.1,-8.0,728,8055,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2499,3404,0,0,0,0,0,0
$GC,8360,-0.75,-146.0,762.8,-8.6,738,8364,0.00,2.47,0.00,0.000,4,0.000,0.092,2430,3914,3403,0,0,0,0,0,0
$GC,8397,-0.75,-146.0,766.4,-9.4,739,8402,0.00,2.38,0.00,0.000,6,0.000,0.066,2430,2506,3403,0,0,0,0,0,0
$STATE,8541,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8541,begin apogee
$GC,8547,-0.16,0.0,778.9,8.6,744,8674,0.75,0.00,123.38,1.276,6,0.187,0.000,2634,1940,2800,0,0,0,0,0,0
$STATE,8674,end apogee,CONTROL_FINISHED_OK
$STATE,8675,begin climb
$GC,8677,0.73,146.0,782.0,0.0,748,8812,0.95,0.00,128.38,1.216,6,0.137,0.000,2912,1940,2203,0,0,0,0,0,0
$GC,9137,0.73,146.0,743.1,9.4,763,9141,0.00,2.85,0.00,0.000,4,0.000,0.084,2912,3545,2193,0,0,0,0,0,0
$GC,9169,0.67,146.0,739.7,10.3,764,9174,0.00,2.75,0.00,0.000,6,0.000,0.071,2924,1958,2192,0,0,0,0,0,0
$GC,9498,0.67,146.0,706.9,10.0,775,9499,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,1958,2191,0,0,0,0,0,0
$GC,9804,0.67,146.0,676.3,10.0,785,9806,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,1959,2191,0,0,0,0,0,0
$GC,10110,0.67,146.0,645.2,10.3,795,10115,0.00,2.72,0.00,0.000,4,0.000,0.086,2924,3541,2191,0,0,0,0,0,0
$GC,10138,0.59,146.0,642.2,10.9,796,10143,0.22,2.70,0.00,0.000,6,0.199,0.074,2882,1948,2189,0,0,0,0,0,0
$GC,10475,0.70,158.9,613.0,8.6,807,10486,0.00,0.00,9.52,1.060,6,0.000,0.000,2883,1949,2152,0,0,0,0,0,0
$GC,10786,0.83,173.5,585.8,8.6,827,10808,0.22,2.78,14.00,1.098,4,0.097,0.087,2960,3542,2092,0,0,0,0,0,0
$GC,10847,0.65,173.5,577.7,13.9,832,10853,0.28,2.70,0.00,0.000,6,0.200,0.074,2906,1958,2089,0,0,0,0,0,0
$GC,11171,0.65,173.5,545.3,9.7,863,11172,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,1959,2088,0,0,0,0,0,0
$GC,11491,0.70,173.5,514.3,10.0,893,11493,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,1959,2088,0,0,0,0,0,0
$GC,11810,0.76,173.5,483.0,9.9,923,11811,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1959,2087,0,0,0,0,0,0
$GC,12129,0.80,173.5,449.8,10.5,953,12131,0.12,0.00,0.00,0.000,6,0.114,0.000,2949,1959,2087,0,0,0,0,0,0
$GC,12447,0.72,173.5,409.5,12.5,983,12449,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1959,2087,0,0,0,0,0,0
$GC,12766,0.63,173.5,370.5,12.3,1013,12768,0.22,0.00,0.00,0.000,6,0.193,0.000,2893,1959,2084,0,0,0,0,0,0
$GC,13083,0.71,173.5,337.9,10.2,1043,13084,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1959,2085,0,0,0,0,0,0
$GC,13403,0.79,173.5,305.8,9.9,1073,13405,0.15,0.00,0.00,0.000,6,0.101,0.000,2947,1959,2085,0,0,0,0,0,0
$GC,13721,0.72,173.5,265.1,13.1,1103,13725,0.00,2.60,0.00,0.000,4,0.000,0.094,2959,360,2085,0,0,0,0,0,0
$GC,13748,0.61,173.5,261.7,12.2,1105,13754,0.28,2.55,0.00,0.000,6,0.186,0.071,2889,1977,2085,0,0,0,0,0,0
$GC,14073,0.74,191.6,233.4,8.4,1135,14095,0.12,2.67,15.23,0.880,4,0.117,0.086,2931,3542,2018,0,0,0,0,0,0
$GC,14158,0.69,191.6,223.0,13.7,1142,14164,0.12,2.67,0.00,0.000,6,0.199,0.074,2916,1958,2016,0,0,0,0,0,0
$GC,14482,0.74,191.6,187.9,10.5,1173,14483,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1959,2016,0,0,0,0,0,0
$GC,14800,0.80,191.6,154.6,10.4,1203,14802,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1959,2016,0,0,0,0,0,0
$GC,15119,0.86,191.6,122.4,10.6,1233,15121,0.15,0.00,0.00,0.000,6,0.104,0.000,2968,1959,2016,0,0,0,0,0,0
$GC,15446,0.77,191.6,81.9,11.4,1276,15451,0.00,2.60,0.00,0.000,4,0.000,0.091,2980,351,2016,0,0,0,0,0,0
$GC,15486,0.67,191.6,76.7,12.7,1283,15492,0.28,2.55,0.00,0.000,6,0.181,0.069,2909,1974,2016,0,0,0,0,0,0
$GC,15833,0.97,279.8,48.5,5.5,1344,15910,0.25,2.72,70.82,0.768,4,0.092,0.081,3003,3536,1657,0,0,0,0,0,0
$GC,16030,0.85,279.8,26.3,12.8,1380,16036,0.20,2.67,0.00,0.000,6,0.192,0.073,2969,1978,1651,0,0,0,0,0,0
$FREEZE,8.56,0.355,-1.817,0,5,1
$FREEZE,8.17,0.356,-1.817,0,5,1
$FREEZE,7.86,0.355,-1.817,0,5,1
$FREEZE,7.66,0.354,-1.817,0,5,1
$FREEZE,7.35,0.352,-1.816,0,5,1
$FREEZE,6.90,0.352,-1.816,0,5,1
$FREEZE,6.10,0.359,-1.815,0,5,1
$STATE,16216,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,16216,begin subsurface finish
$FINISH1,6.1,1.026511,48
$GC,16223,0.06,48.0,6.1,-6.7,1413,16265,0.88,0.00,-37.90,0.000,6,0.164,0.000,2712,1954,2606,0,0,0,0,0,0
$FINISH2,3.5
$STATE,16265,end subsurface finish,CONTROL_FINISHED_OK
$STATE,16266,begin surface
$RAFOS_CLK,1079
$RAFOS,3,1258907104,16.433332,16.417778,60,60,58,0,0,0,169,204,195,0,0,0
$RAFOS,2,1258906621,16.299999,16.283611,59,57,57,0,0,0,203,190,165,0,0,0
$RAFOS,1,1258906143,16.166666,16.150833,67,64,59,0,0,0,210,131,165,0,0,0
$RAFOS,0,1258905665,16.033333,16.018055,59,57,54,0,0,0,189,211,112,0,0,0
$RAFOS,6,1258894144,12.833333,12.817778,65,59,57,0,0,0,198,792,212,0,0,0
$RAFOS,5,1258893663,12.700000,12.684167,147,72,66,0,0,0,598,198,211,0,0,0
$RAFOS,4,1258893185,12.566667,12.551389,62,61,59,0,0,0,218,145,119,0,0,0
$RAFOS,3,1258892708,12.433333,12.418889,64,59,55,0,0,0,208,177,152,0,0,0
$RAFOS,2,1258892221,12.300000,12.283611,64,59,58,0,0,0,177,165,152,0,0,0
$RAFOS,1,1258891745,12.166667,12.151389,69,59,59,0,0,0,201,189,179,0,0,0
$RAFOS_FIX,6658.312012,-5724.716309,221109,080822,3,82,0.60
$IRIDIUM_FIX,6631.12,-5718.20,160299,121222
$TT8_MAMPS,0.029146
$HUMID,48.50
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,17.70
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.3,17.4
$ALTIM_BOTTOM_PING,702.3,91.4
$24V_AH,22.7,41.789
$10V_AH,10.1,21.247
$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,17.550,97.675,361.325,0.000,0.000,81.291,125.367,400.027,3.750,0.000,33.069,2331.905,11166.320,537.569,2253.623,880.865,0.000,1705.638,0.000,2201.904,3960.000,21.419,0.000
$DEVICE_MAMPS,292.227,174.876,1276.288,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1041.470,996.674,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,153436
$DATA_FILE_SIZE,56724,1421
$CAP_FILE_SIZE,169057,0
$CFSIZE,260165632,236003328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.7
$GPS,221109,120349,6659.021,-5717.554,13,1.4,31,-37.6