version: 66.06
glider: 143
mission: 10
dive: 182
start: 11 23 109 2 1 37
data:
$ID,143
$MISSION,10
$DIVE,182
$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,-33302.293
$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,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,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
$GPS1,014108,6701.271,-5703.744,54,0.9,61,-37.6
$_CALLS,2
$_XMS_NAKs,25
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-63.2
$GPS2,020119,6701.092,-5703.623,21,1.6,31,-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,110.2,11822,-16.9,-9.167
$D_GRID,701
$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,-146.0,0.0,0.0,0,113,0.00,0.00,-95.22,0.000,2,0.000,0.000,119,2468,3110,0,0,0,0,0,0
$GC,115,-0.73,-146.0,3.9,-7.7,19,142,11.40,2.67,-7.43,0.000,4,0.300,0.096,2443,862,3399,0,0,0,0,0,0
$GC,288,-0.57,-146.0,32.4,-13.3,50,295,0.22,2.60,0.00,0.000,6,0.208,0.073,2499,2458,3403,0,0,0,0,0,0
$GC,633,-0.68,-146.0,66.6,-10.1,111,638,0.00,2.62,0.00,0.000,4,0.000,0.084,2499,858,3402,0,0,0,0,0,0
$GC,684,-0.77,-146.0,71.8,-9.8,120,690,0.17,2.58,0.00,0.000,6,0.101,0.074,2437,2449,3402,0,0,0,0,0,0
$GC,1028,-0.70,-146.0,110.3,-10.7,173,1033,0.00,2.58,0.00,0.000,4,0.000,0.093,2437,3921,3402,0,0,0,0,0,0
$GC,1225,-0.65,-146.0,131.5,-11.0,190,1230,0.17,2.45,0.00,0.000,6,0.211,0.065,2477,2458,3402,0,0,0,0,0,0
$GC,1550,-0.73,-146.0,161.8,-9.9,220,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2458,3401,0,0,0,0,0,0
$GC,1869,-0.82,-146.0,190.0,-9.3,250,1874,0.15,2.55,0.00,0.000,4,0.112,0.087,2413,3913,3401,0,0,0,0,0,0
$GC,1954,-0.71,-146.0,200.4,-13.1,257,1959,0.17,2.42,0.00,0.000,6,0.209,0.063,2453,2454,3401,0,0,0,0,0,0
$GC,2278,-0.71,-146.0,232.4,-9.1,287,2282,0.00,2.55,0.00,0.000,4,0.000,0.088,2453,3921,3402,0,0,0,0,0,0
$GC,2352,-0.71,-146.0,239.4,-9.1,293,2357,0.00,2.42,0.00,0.000,6,0.000,0.062,2454,2460,3402,0,0,0,0,0,0
$GC,2677,-0.71,-146.0,268.5,-8.1,323,2681,0.00,2.55,0.00,0.000,4,0.000,0.087,2454,3916,3403,0,0,0,0,0,0
$GC,2739,-0.76,-146.0,273.5,-8.0,328,2743,0.00,2.40,0.00,0.000,6,0.000,0.061,2454,2465,3402,0,0,0,0,0,0
$GC,3064,-0.81,-146.0,297.0,-7.0,358,3068,0.00,2.53,0.00,0.000,4,0.000,0.087,2454,3917,3404,0,0,0,0,0,0
$GC,3137,-0.86,-146.0,302.4,-7.7,364,3142,0.12,2.38,0.00,0.000,6,0.110,0.060,2411,2478,3403,0,0,0,0,0,0
$GC,3462,-0.77,-146.0,332.5,-9.5,394,3463,0.12,0.00,0.00,0.000,6,0.211,0.000,2438,2478,3404,0,0,0,0,0,0
$GC,3780,-0.77,-146.0,359.8,-9.0,424,3784,0.00,2.50,0.00,0.000,4,0.000,0.086,2438,3917,3404,0,0,0,0,0,0
$GC,3874,-0.77,-146.0,368.9,-9.8,432,3880,0.00,2.38,0.00,0.000,6,0.000,0.060,2438,2473,3404,0,0,0,0,0,0
$GC,4198,-0.77,-146.0,399.1,-9.6,463,4202,0.00,2.50,0.00,0.000,4,0.000,0.084,2438,3915,3405,0,0,0,0,0,0
$GC,4236,-0.77,-146.0,402.9,-9.9,466,4243,0.00,2.40,0.00,0.000,6,0.000,0.060,2438,2485,3405,0,0,0,0,0,0
$GC,4561,-0.77,-146.0,430.2,-7.8,497,4562,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2486,3405,0,0,0,0,0,0
$GC,4882,-0.77,-146.0,452.4,-6.8,527,4886,0.00,2.47,0.00,0.000,4,0.000,0.084,2438,3920,3405,0,0,0,0,0,0
$GC,4947,-0.77,-146.0,457.2,-7.4,532,4953,0.00,2.35,0.00,0.000,6,0.000,0.060,2438,2489,3405,0,0,0,0,0,0
$GC,5272,-0.77,-146.0,481.5,-8.0,563,5277,0.00,2.47,0.00,0.000,4,0.000,0.084,2438,3926,3406,0,0,0,0,0,0
$GC,5357,-0.77,-146.0,488.4,-8.0,570,5361,0.00,2.38,0.00,0.000,6,0.000,0.059,2438,2483,3406,0,0,0,0,0,0
$GC,5681,-0.77,-146.0,513.4,-7.3,600,5682,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2484,3406,0,0,0,0,0,0
$GC,6000,-0.77,-146.0,536.4,-7.6,630,6005,0.00,2.47,0.00,0.000,4,0.000,0.084,2438,3916,3406,0,0,0,0,0,0
$GC,6055,-0.77,-146.0,540.5,-7.7,634,6061,0.00,2.35,0.00,0.000,6,0.000,0.060,2439,2487,3406,0,0,0,0,0,0
$GC,6380,-0.77,-146.0,563.9,-7.4,665,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2488,3406,0,0,0,0,0,0
$GC,6700,-0.77,-146.0,587.5,-7.5,695,6704,0.00,2.47,0.00,0.000,4,0.000,0.085,2438,3915,3406,0,0,0,0,0,0
$GC,6778,-0.77,-146.0,593.7,-8.3,702,6782,0.00,2.35,0.00,0.000,6,0.000,0.060,2438,2493,3405,0,0,0,0,0,0
$GC,7115,-0.77,-146.0,617.2,-7.1,718,7117,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2493,3406,0,0,0,0,0,0
$GC,7420,-0.77,-146.0,639.6,-7.5,728,7424,0.00,2.47,0.00,0.000,4,0.000,0.086,2438,3923,3406,0,0,0,0,0,0
$GC,7492,-0.77,-146.0,645.5,-7.8,730,7497,0.00,2.35,0.00,0.000,6,0.000,0.061,2438,2501,3406,0,0,0,0,0,0
$GC,7816,-0.77,-146.0,670.8,-7.9,741,7820,0.00,2.45,0.00,0.000,4,0.000,0.085,2438,3920,3406,0,0,0,0,0,0
$GC,7859,-0.77,-146.0,674.5,-8.5,742,7864,0.00,2.38,0.00,0.000,6,0.000,0.061,2438,2507,3406,0,0,0,0,0,0
$GC,8183,-0.77,-146.0,700.2,-7.7,753,8188,0.00,2.45,0.00,0.000,4,0.000,0.085,2438,3922,3406,0,0,0,0,0,0
$STATE,8192,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8192,begin apogee
$GC,8200,-0.16,0.0,701.1,7.8,753,8325,0.68,0.00,121.78,1.190,6,0.186,0.000,2629,1953,2800,0,0,0,0,0,0
$STATE,8326,end apogee,CONTROL_FINISHED_OK
$STATE,8326,begin climb
$GC,8328,0.73,146.0,703.9,0.0,757,8463,0.95,2.80,124.95,1.140,4,0.133,0.084,2923,356,2202,0,0,0,0,0,0
$GC,8502,0.67,146.0,691.1,10.9,762,8506,0.00,2.67,0.00,0.000,6,0.000,0.061,2923,1954,2199,0,0,0,0,0,0
$GC,8816,0.61,146.0,655.2,11.6,772,8818,0.15,0.00,0.00,0.000,6,0.197,0.000,2889,1954,2194,0,0,0,0,0,0
$GC,9120,0.65,146.0,625.1,9.9,782,9121,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1954,2194,0,0,0,0,0,0
$GC,9427,0.65,146.0,594.1,10.2,794,9432,0.00,2.70,0.00,0.000,4,0.000,0.078,2890,3546,2192,0,0,0,0,0,0
$GC,9466,0.65,146.0,589.9,11.7,797,9471,0.00,2.67,0.00,0.000,6,0.000,0.067,2900,1953,2192,0,0,0,0,0,0
$GC,9790,0.65,146.0,556.1,10.5,827,9791,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1954,2192,0,0,0,0,0,0
$GC,10109,0.65,146.0,522.1,11.1,857,10110,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1954,2192,0,0,0,0,0,0
$GC,10430,0.65,146.0,488.2,10.4,887,10435,0.00,2.70,0.00,0.000,4,0.000,0.080,2900,3546,2192,0,0,0,0,0,0
$GC,10473,0.65,146.0,483.2,10.9,890,10479,0.00,2.65,0.00,0.000,6,0.000,0.068,2912,1956,2191,0,0,0,0,0,0
$GC,10798,0.65,146.0,448.8,10.4,921,10799,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1957,2191,0,0,0,0,0,0
$GC,11118,0.65,146.0,416.4,10.0,951,11119,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1957,2190,0,0,0,0,0,0
$GC,11437,0.65,146.0,386.0,9.3,981,11441,0.00,2.67,0.00,0.000,4,0.000,0.081,2912,3539,2191,0,0,0,0,0,0
$GC,11468,0.65,146.0,382.6,10.1,983,11475,0.00,2.65,0.00,0.000,6,0.000,0.069,2924,1949,2191,0,0,0,0,0,0
$GC,11795,0.65,146.0,347.9,10.9,1014,11799,0.00,2.55,0.00,0.000,4,0.000,0.088,2935,350,2191,0,0,0,0,0,0
$GC,11838,0.59,146.0,342.5,12.4,1017,11845,0.20,2.47,0.00,0.000,6,0.184,0.064,2886,1959,2191,0,0,0,0,0,0
$GC,12164,0.69,146.0,312.4,9.5,1048,12168,0.00,2.65,0.00,0.000,4,0.000,0.080,2886,3539,2191,0,0,0,0,0,0
$GC,12247,0.69,146.0,303.4,11.1,1055,12252,0.00,2.62,0.00,0.000,6,0.000,0.069,2895,1963,2190,0,0,0,0,0,0
$GC,12572,0.76,146.0,267.5,11.4,1085,12574,0.12,0.00,0.00,0.000,6,0.105,0.000,2944,1964,2190,0,0,0,0,0,0
$GC,12890,0.69,146.0,225.5,12.7,1115,12892,0.12,0.00,0.00,0.000,6,0.196,0.000,2916,1964,2190,0,0,0,0,0,0
$GC,13208,0.69,146.0,190.1,10.4,1145,13213,0.00,2.55,0.00,0.000,4,0.000,0.087,2925,360,2190,0,0,0,0,0,0
$GC,13236,0.69,146.0,187.1,10.8,1147,13240,0.00,2.47,0.00,0.000,6,0.000,0.064,2925,1967,2190,0,0,0,0,0,0
$GC,13560,0.69,146.0,153.7,10.2,1177,13564,0.00,2.62,0.00,0.000,4,0.000,0.079,2925,3536,2190,0,0,0,0,0,0
$GC,13592,0.64,146.0,150.1,10.5,1179,13598,0.15,2.62,0.00,0.000,6,0.193,0.068,2902,1958,2191,0,0,0,0,0,0
$GC,13917,0.74,146.0,120.7,9.3,1210,13918,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1959,2190,0,0,0,0,0,0
$GC,14239,0.90,187.3,94.3,7.4,1246,14281,0.22,2.78,31.27,0.781,4,0.091,0.078,2981,3546,2035,0,0,0,0,0,0
$GC,14294,0.74,187.3,88.2,13.2,1256,14300,0.25,2.65,0.00,0.000,6,0.192,0.068,2932,1971,2034,0,0,0,0,0,0
$GC,14640,0.81,187.3,52.6,11.9,1317,14645,0.00,2.60,0.00,0.000,4,0.000,0.086,2942,352,2031,0,0,0,0,0,0
$GC,14668,0.86,187.3,48.7,12.9,1322,14674,0.00,2.53,0.00,0.000,6,0.000,0.064,2942,1975,2031,0,0,0,0,0,0
$GC,15013,0.96,209.7,15.4,8.2,1383,15040,0.17,2.67,18.50,0.726,4,0.101,0.086,3015,356,1943,0,0,0,0,0,0
$FREEZE,8.65,0.628,-1.822,0,1,0
$FREEZE,8.07,0.629,-1.822,0,1,0
$FREEZE,7.62,0.628,-1.821,0,1,0
$FREEZE,6.59,0.627,-1.821,0,1,0
$FREEZE,6.00,0.627,-1.820,0,1,0
$FREEZE,5.09,0.625,-1.820,0,1,0
$FREEZE,4.36,0.626,-1.819,0,1,0
$FREEZE,3.55,0.625,-1.818,0,1,0
$GC,15114,0.57,209.7,3.5,14.5,1401,15120,0.52,2.55,0.00,0.000,6,0.176,0.067,2874,1976,1940,0,0,0,0,0,0
$FREEZE,1.35,0.625,-1.817,0,1,0
$STATE,15125,end climb,SURFACE_DEPTH_REACHED
$STATE,15125,begin surface coast
$FREEZE,1.23,0.614,-1.817,0,1,0
$FREEZE,1.09,0.619,-1.816,0,1,0
$FINISH,1.1,1.026567
$STATE,15138,end surface coast,CONTROL_FINISHED_OK
$STATE,15138,begin surface
$SM_CCo,15155,78.75,0.721,0,0,1474,325.02
$SM_GC,1.25,0.00,0.00,78.75,0.000,0.000,0.721,130,2467,1474,-8.00,0.20,325.02
$RAFOS_CLK,991
$RAFOS,6,1258951751,4.833333,4.819722,71,58,58,0,0,0,201,183,166,0,0,0
$RAFOS,5,1258951262,4.700000,4.683889,64,61,60,0,0,0,637,215,171,0,0,0
$RAFOS,4,1258950784,4.566667,4.551111,59,56,51,0,0,0,202,218,185,0,0,0
$RAFOS,3,1258950325,4.433333,4.423611,67,59,55,0,0,0,161,195,140,0,0,0
$RAFOS,2,1258949847,4.300000,4.290833,65,55,54,0,0,0,194,212,119,0,0,0
$RAFOS,1,1258949357,4.166667,4.154722,61,59,59,0,0,0,208,191,219,0,0,0
$RAFOS,0,1258948870,4.033333,4.019444,62,60,59,0,0,0,186,145,170,0,0,0
$RAFOS_FIX,6658.312012,-5724.716309,221109,080822,3,82,0.60
$IRIDIUM_FIX,6631.12,-5705.96,170299,010119
$TT8_MAMPS,0.026845
$HUMID,46.88
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,18.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,19.8
$ALTIM_BOTTOM_PING,600.2,119.0
$24V_AH,22.9,42.184
$10V_AH,10.2,21.489
$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,24.125,138.450,296.500,78.750,0.000,54.514,69.925,847.864,2.750,0.000,34.127,2407.883,9955.230,530.203,2309.486,1232.282,0.000,1712.655,0.000,2253.663,2520.000,17.977,0.000
$DEVICE_MAMPS,299.897,95.875,1190.384,720.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1032.071,969.006,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152404
$DATA_FILE_SIZE,53547,1405
$CAP_FILE_SIZE,182381,0
$CFSIZE,260165632,235798528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.9
$GPS,231109,061725,6701.968,-5700.648,67,1.9,67,-37.6