version: 66.06
glider: 143
mission: 10
dive: 183
start: 11 23 109 6 31 32
data:
$ID,143
$MISSION,10
$DIVE,183
$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,-33323.719
$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,17
$R_STBD_OVSHOOT,24
$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
$GPS1,061725,6701.968,-5700.648,67,1.9,67,-37.6
$_CALLS,1
$_XMS_NAKs,32
$_XMS_TOUTs,3
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-61.9
$GPS2,063114,6701.865,-5700.955,18,1.4,18,-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,114.9,9589,-16.9,-9.167
$D_GRID,679
$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,-146.0,0.0,0.0,0,98,0.00,0.00,-80.55,0.000,2,0.000,0.000,129,2470,2898,0,0,0,0,0,0
$GC,100,-0.73,-146.0,3.4,-6.8,16,132,10.88,2.65,-14.85,0.000,4,0.286,0.093,2448,870,3397,0,0,0,0,0,0
$GC,256,-0.60,-146.0,27.0,-15.1,44,262,0.20,2.58,0.00,0.000,6,0.215,0.074,2496,2453,3399,0,0,0,0,0,0
$GC,601,-0.68,-146.0,61.6,-8.0,105,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2453,3399,0,0,0,0,0,0
$GC,944,-0.78,-146.0,90.5,-8.4,166,950,0.17,2.58,0.00,0.000,4,0.102,0.088,2425,3920,3399,0,0,0,0,0,0
$GC,991,-0.65,-146.0,95.9,-12.3,174,997,0.22,2.47,0.00,0.000,6,0.210,0.063,2478,2443,3399,0,0,0,0,0,0
$GC,1318,-0.70,-146.0,126.5,-8.5,208,1323,0.00,2.58,0.00,0.000,4,0.000,0.088,2478,3912,3399,0,0,0,0,0,0
$GC,1396,-0.77,-146.0,133.4,-9.1,214,1403,0.12,2.42,0.00,0.000,6,0.116,0.063,2437,2462,3399,0,0,0,0,0,0
$GC,1721,-0.72,-146.0,168.0,-10.3,245,1725,0.00,2.55,0.00,0.000,4,0.000,0.088,2436,3920,3399,0,0,0,0,0,0
$GC,1753,-0.65,-146.0,171.6,-10.5,247,1760,0.17,2.42,0.00,0.000,6,0.212,0.062,2476,2464,3399,0,0,0,0,0,0
$GC,2078,-0.74,-146.0,199.7,-8.4,278,2083,0.00,2.53,0.00,0.000,4,0.000,0.087,2476,3913,3399,0,0,0,0,0,0
$GC,2122,-0.84,-146.0,203.7,-8.5,281,2129,0.17,2.42,0.00,0.000,6,0.103,0.061,2417,2454,3399,0,0,0,0,0,0
$GC,2447,-0.74,-146.0,238.0,-10.2,312,2449,0.15,0.00,0.00,0.000,6,0.214,0.000,2450,2454,3399,0,0,0,0,0,0
$GC,2766,-0.74,-146.0,265.7,-8.3,342,2770,0.00,2.55,0.00,0.000,4,0.000,0.087,2450,3921,3399,0,0,0,0,0,0
$GC,2877,-0.74,-146.0,275.2,-8.2,351,2882,0.00,2.40,0.00,0.000,6,0.000,0.061,2451,2469,3399,0,0,0,0,0,0
$GC,3204,-0.74,-146.0,300.4,-7.7,382,3208,0.00,2.50,0.00,0.000,4,0.000,0.086,2450,3913,3399,0,0,0,0,0,0
$GC,3310,-0.74,-146.0,309.2,-8.4,391,3314,0.00,2.38,0.00,0.000,6,0.000,0.061,2451,2478,3400,0,0,0,0,0,0
$GC,3634,-0.74,-146.0,334.4,-7.9,421,3638,0.00,2.47,0.00,0.000,4,0.000,0.084,2451,3913,3401,0,0,0,0,0,0
$GC,3677,-0.74,-146.0,338.0,-7.8,424,3683,0.00,2.38,0.00,0.000,6,0.000,0.060,2451,2473,3401,0,0,0,0,0,0
$GC,4003,-0.78,-146.0,365.1,-8.7,455,4004,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2473,3401,0,0,0,0,0,0
$GC,4323,-0.83,-146.0,393.1,-8.7,485,4327,0.00,2.50,0.00,0.000,4,0.000,0.084,2451,3917,3401,0,0,0,0,0,0
$GC,4412,-0.83,-146.0,401.2,-8.9,493,4417,0.00,2.38,0.00,0.000,6,0.000,0.059,2451,2475,3402,0,0,0,0,0,0
$GC,4737,-0.88,-146.0,428.7,-8.2,523,4742,0.15,2.53,0.00,0.000,4,0.104,0.083,2388,3923,3402,0,0,0,0,0,0
$GC,4765,-0.74,-146.0,431.5,-10.4,525,4771,0.25,2.38,0.00,0.000,6,0.212,0.059,2448,2482,3401,0,0,0,0,0,0
$GC,5090,-0.74,-146.0,457.4,-8.0,555,5091,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2483,3402,0,0,0,0,0,0
$GC,5410,-0.79,-146.0,483.7,-8.5,585,5414,0.00,2.47,0.00,0.000,4,0.000,0.084,2448,3915,3402,0,0,0,0,0,0
$GC,5465,-0.84,-146.0,488.7,-8.8,589,5471,0.00,2.35,0.00,0.000,6,0.000,0.058,2448,2486,3402,0,0,0,0,0,0
$GC,5790,-0.89,-146.0,515.7,-8.1,620,5795,0.15,2.50,0.00,0.000,4,0.109,0.082,2387,3925,3402,0,0,0,0,0,0
$GC,5830,-0.71,-146.0,519.5,-10.7,623,5835,0.28,2.35,0.00,0.000,6,0.208,0.058,2455,2493,3402,0,0,0,0,0,0
$GC,6154,-0.78,-146.0,544.5,-7.6,653,6159,0.00,2.45,0.00,0.000,4,0.000,0.084,2455,3913,3402,0,0,0,0,0,0
$GC,6195,-0.86,-146.0,547.4,-7.3,656,6199,0.15,2.35,0.00,0.000,6,0.107,0.059,2404,2488,3402,0,0,0,0,0,0
$GC,6519,-0.77,-146.0,578.3,-9.6,686,6524,0.15,2.47,0.00,0.000,4,0.207,0.082,2429,3914,3402,0,0,0,0,0,0
$GC,6558,-0.77,-146.0,581.9,-8.8,689,6563,0.00,2.33,0.00,0.000,6,0.000,0.058,2428,2498,3402,0,0,0,0,0,0
$GC,6890,-0.77,-146.0,611.3,-8.6,712,6891,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2499,3402,0,0,0,0,0,0
$GC,7196,-0.77,-146.0,637.5,-8.5,722,7200,0.00,2.45,0.00,0.000,4,0.000,0.084,2428,3913,3402,0,0,0,0,0,0
$GC,7273,-0.77,-146.0,644.6,-8.8,724,7277,0.00,2.38,0.00,0.000,6,0.000,0.060,2428,2499,3402,0,0,0,0,0,0
$GC,7597,-0.77,-146.0,673.0,-9.0,735,7601,0.00,2.45,0.00,0.000,6,0.000,0.084,2428,3918,3402,0,0,0,0,0,0
$STATE,7602,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7602,begin apogee
$GC,7610,-0.16,0.0,673.5,9.0,735,7734,0.73,0.00,120.50,1.171,6,0.186,0.000,2629,1944,2800,0,0,0,0,0,0
$STATE,7735,end apogee,CONTROL_FINISHED_OK
$STATE,7735,begin climb
$GC,7737,0.73,146.0,677.8,0.0,739,7870,0.95,2.75,124.43,1.122,4,0.131,0.084,2924,368,2203,0,0,0,0,0,0
$GC,7933,0.66,146.0,663.1,11.3,745,7937,0.00,2.65,0.00,0.000,6,0.000,0.061,2924,1958,2197,0,0,0,0,0,0
$GC,8259,0.60,146.0,627.4,11.1,756,8261,0.17,0.00,0.00,0.000,6,0.193,0.000,2884,1958,2194,0,0,0,0,0,0
$GC,8562,0.66,146.0,598.9,9.4,766,8566,0.00,2.70,0.00,0.000,4,0.000,0.077,2884,3541,2193,0,0,0,0,0,0
$GC,8589,0.66,146.0,596.1,10.0,768,8594,0.00,2.67,0.00,0.000,6,0.000,0.065,2894,1951,2192,0,0,0,0,0,0
$GC,8913,0.66,146.0,564.9,9.9,798,8915,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1952,2192,0,0,0,0,0,0
$GC,9235,0.66,146.0,532.8,10.2,828,9239,0.00,2.70,0.00,0.000,4,0.000,0.078,2894,3542,2192,0,0,0,0,0,0
$GC,9300,0.66,146.0,525.1,11.2,833,9307,0.00,2.65,0.00,0.000,6,0.000,0.067,2906,1950,2191,0,0,0,0,0,0
$GC,9625,0.66,146.0,491.3,10.6,864,9626,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1951,2191,0,0,0,0,0,0
$GC,9945,0.66,146.0,458.2,10.0,894,9949,0.00,2.70,0.00,0.000,4,0.000,0.079,2906,3545,2191,0,0,0,0,0,0
$GC,9995,0.62,146.0,452.6,11.5,898,10000,0.12,2.65,0.00,0.000,6,0.199,0.067,2891,1955,2190,0,0,0,0,0,0
$GC,10319,0.68,146.0,420.3,10.2,928,10324,0.00,2.55,0.00,0.000,4,0.000,0.087,2900,355,2190,0,0,0,0,0,0
$GC,10343,0.73,146.0,418.0,9.9,929,10348,0.00,2.50,0.00,0.000,6,0.000,0.064,2900,1969,2190,0,0,0,0,0,0
$GC,10667,0.73,146.0,385.0,10.5,960,10671,0.00,2.62,0.00,0.000,4,0.000,0.080,2900,3535,2190,0,0,0,0,0,0
$GC,10739,0.73,146.0,376.8,11.5,966,10744,0.00,2.62,0.00,0.000,6,0.000,0.068,2912,1963,2190,0,0,0,0,0,0
$GC,11063,0.73,146.0,341.4,10.9,996,11064,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,1963,2190,0,0,0,0,0,0
$GC,11383,0.73,146.0,308.1,10.9,1026,11388,0.00,2.67,0.00,0.000,4,0.000,0.080,2913,3543,2190,0,0,0,0,0,0
$GC,11433,0.67,146.0,302.3,11.4,1030,11438,0.00,2.62,0.00,0.000,6,0.000,0.068,2925,1968,2190,0,0,0,0,0,0
$GC,11757,0.67,146.0,267.6,10.3,1060,11758,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,1969,2190,0,0,0,0,0,0
$GC,12077,0.67,146.0,236.5,9.6,1090,12081,0.00,2.65,0.00,0.000,4,0.000,0.080,2925,3535,2190,0,0,0,0,0,0
$GC,12109,0.59,146.0,233.1,9.7,1092,12115,0.22,2.60,0.00,0.000,6,0.189,0.067,2881,1970,2190,0,0,0,0,0,0
$GC,12434,0.80,203.1,210.5,6.8,1123,12486,0.20,2.72,44.25,0.861,4,0.094,0.079,2952,3546,1970,0,0,0,0,0,0
$GC,12531,0.70,203.1,199.6,12.8,1132,12537,0.20,2.67,0.00,0.000,6,0.189,0.067,2917,1976,1966,0,0,0,0,0,0
$GC,12856,0.76,203.1,163.1,11.7,1162,12861,0.00,2.60,0.00,0.000,4,0.000,0.085,2927,359,1964,0,0,0,0,0,0
$GC,12888,0.82,203.1,159.0,12.9,1164,12894,0.00,2.53,0.00,0.000,6,0.000,0.062,2927,1984,1963,0,0,0,0,0,0
$GC,13214,0.86,203.1,120.6,11.6,1195,13219,0.12,2.62,0.00,0.000,4,0.110,0.077,2973,3546,1963,0,0,0,0,0,0
$GC,13257,0.74,203.1,114.1,14.6,1198,13264,0.22,2.62,0.00,0.000,6,0.189,0.067,2928,1981,1962,0,0,0,0,0,0
$GC,13594,0.81,212.6,78.4,8.8,1247,13610,0.00,2.67,7.78,0.703,4,0.000,0.078,2927,3533,1932,0,0,0,0,0,0
$GC,13656,0.81,212.6,72.6,10.2,1258,13662,0.00,2.58,0.00,0.000,6,0.000,0.067,2938,1993,1931,0,0,0,0,0,0
$GC,14001,0.91,213.0,42.2,9.1,1319,14006,0.15,0.00,0.00,0.000,6,0.104,0.000,2992,1993,1931,0,0,0,0,0,0
$FREEZE,9.00,0.771,-1.824,0,1,0
$FREEZE,8.08,0.772,-1.823,0,1,0
$FREEZE,7.35,0.772,-1.822,0,1,0
$FREEZE,6.44,0.769,-1.822,0,1,0
$FREEZE,5.74,0.768,-1.821,0,1,0
$FREEZE,4.96,0.765,-1.821,0,1,0
$FREEZE,4.39,0.762,-1.820,0,1,0
$FREEZE,3.72,0.760,-1.820,0,1,0
$FREEZE,3.05,0.764,-1.819,0,1,0
$GC,14344,0.80,213.0,3.0,12.5,1380,14350,0.17,0.00,0.00,0.000,6,0.194,0.000,2951,1994,1930,0,0,0,0,0,0
$FREEZE,1.43,0.762,-1.818,0,1,0
$STATE,14354,end climb,SURFACE_DEPTH_REACHED
$STATE,14354,begin surface coast
$FREEZE,1.05,0.758,-1.818,0,1,0
$FREEZE,0.84,0.760,-1.818,0,1,0
$FREEZE,0.49,0.795,-1.772,0,1,0
$FINISH,0.5,1.025942
$STATE,14372,end surface coast,CONTROL_FINISHED_OK
$STATE,14372,begin surface
$SM_CCo,14389,71.55,0.732,0,0,1474,325.02
$SM_GC,1.39,0.00,0.00,71.55,0.000,0.000,0.732,129,2472,1474,-8.00,0.34,325.02
$RAFOS_CLK,915
$RAFOS,6,1258966145,8.833333,8.818055,67,66,56,0,0,0,181,825,170,0,0,0
$RAFOS,5,1258965664,8.700000,8.684444,60,59,59,0,0,0,119,154,199,0,0,0
$RAFOS,4,1258965210,8.566667,8.558333,59,57,56,0,0,0,225,207,197,0,0,0
$RAFOS,3,1258964717,8.433333,8.421389,62,59,59,0,0,0,184,167,199,0,0,0
$RAFOS,2,1258964228,8.300000,8.285556,65,61,55,0,0,0,115,169,137,0,0,0
$RAFOS,1,1258963746,8.166667,8.151667,65,58,57,0,0,0,219,199,166,0,0,0
$RAFOS,0,1258963266,8.033334,8.018333,59,57,56,0,0,0,191,208,166,0,0,0
$RAFOS_FIX,6658.312012,-5724.716309,221109,080822,3,82,0.60
$IRIDIUM_FIX,6631.12,-5705.96,170299,020248
$TT8_MAMPS,0.026845
$HUMID,46.96
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,17.80
$XPDR_PINGS,3
$ALTIM_TOP_PING,20.0,20.0
$ALTIM_BOTTOM_PING,550.9,137.1
$24V_AH,22.9,42.333
$10V_AH,10.2,21.573
$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,24.600,143.625,296.950,71.550,0.000,24.289,43.410,607.335,2.750,0.000,20.794,2376.211,9192.479,519.356,2270.382,922.289,0.000,1695.320,0.000,2227.322,2520.000,16.261,0.000
$DEVICE_MAMPS,286.091,92.807,1171.209,732.485,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1018.948,954.898,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152440
$DATA_FILE_SIZE,53611,1385
$CAP_FILE_SIZE,175817,0
$CFSIZE,260165632,235757568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1470.0
$GPS,231109,103400,6701.982,-5658.623,40,0.9,40,-37.6