version: 66.06
glider: 143
mission: 10
dive: 235
start: 12 3 109 3 16 47
data:
$ID,143
$MISSION,10
$DIVE,235
$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,-2
$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,-35700.973
$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,19
$R_STBD_OVSHOOT,15
$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
$GPS1,003117,6645.514,-6002.987,0,6109.5,0,-37.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.27
$_SM_ANGLEo,-2.0
$GPS2,003117,6645.514,-6002.987,0,6109.5,0,-37.8
$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,114.8,144485,-16.9,-9.167
$D_GRID,644
$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,-146.0,0.0,0.0,0,22,0.00,0.00,-4.85,0.000,2,0.000,0.000,2729,364,2611,0,0,0,0,0,0
$GC,25,-0.73,-146.0,10.0,-0.0,1,57,0.82,6.12,-20.52,0.000,4,0.121,0.095,2460,3922,3395,0,0,0,0,0,0
$GC,248,-0.62,-146.0,37.5,-13.7,41,254,0.00,2.75,0.00,0.000,6,0.000,0.074,2460,2458,3396,0,0,0,0,0,0
$GC,594,-0.54,-146.0,85.3,-13.5,102,600,0.22,2.88,0.00,0.000,4,0.227,0.096,2502,3922,3398,0,0,0,0,0,0
$GC,743,-0.63,-146.0,101.8,-10.4,127,748,0.00,2.72,0.00,0.000,6,0.000,0.073,2501,2468,3397,0,0,0,0,0,0
$GC,1068,-0.73,-146.0,134.8,-9.7,157,1073,0.15,2.85,0.00,0.000,4,0.128,0.097,2440,3918,3397,0,0,0,0,0,0
$GC,1154,-0.62,-146.0,145.3,-12.6,164,1159,0.20,2.70,0.00,0.000,6,0.224,0.074,2484,2475,3397,0,0,0,0,0,0
$GC,1479,-0.68,-146.0,175.7,-8.3,194,1483,0.00,2.85,0.00,0.000,4,0.000,0.101,2484,3922,3397,0,0,0,0,0,0
$GC,1556,-0.78,-146.0,182.4,-8.6,200,1563,0.15,2.70,0.00,0.000,6,0.130,0.075,2438,2486,3396,0,0,0,0,0,0
$GC,1881,-0.70,-146.0,219.0,-11.6,231,1886,0.00,2.83,0.00,0.000,4,0.000,0.100,2437,3922,3396,0,0,0,0,0,0
$GC,1965,-0.65,-146.0,228.8,-11.6,238,1970,0.17,2.67,0.00,0.000,6,0.226,0.075,2475,2498,3396,0,0,0,0,0,0
$GC,2290,-0.71,-146.0,259.2,-9.0,268,2295,0.00,2.80,0.00,0.000,4,0.000,0.102,2475,3914,3395,0,0,0,0,0,0
$GC,2409,-0.80,-146.0,269.9,-8.9,278,2415,0.15,2.65,0.00,0.000,6,0.131,0.076,2429,2506,3396,0,0,0,0,0,0
$GC,2734,-0.71,-146.0,303.7,-10.0,308,2739,0.12,2.80,0.00,0.000,4,0.235,0.100,2447,3917,3396,0,0,0,0,0,0
$GC,2829,-0.71,-146.0,313.1,-9.8,316,2834,0.00,2.62,0.00,0.000,6,0.000,0.074,2447,2519,3396,0,0,0,0,0,0
$GC,3153,-0.71,-146.0,342.6,-9.1,346,3158,0.00,2.75,0.00,0.000,4,0.000,0.101,2447,3913,3396,0,0,0,0,0,0
$GC,3288,-0.71,-146.0,355.3,-9.2,357,3293,0.00,2.62,0.00,0.000,6,0.000,0.074,2447,2520,3395,0,0,0,0,0,0
$GC,3612,-0.71,-146.0,384.4,-8.2,388,3617,0.00,2.75,0.00,0.000,4,0.000,0.101,2447,3917,3396,0,0,0,0,0,0
$GC,3668,-0.71,-146.0,389.2,-9.0,393,3672,0.00,2.62,0.00,0.000,6,0.000,0.076,2447,2533,3395,0,0,0,0,0,0
$GC,3993,-0.71,-146.0,416.4,-8.2,423,3994,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2534,3395,0,0,0,0,0,0
$GC,4312,-0.71,-146.0,443.4,-9.1,453,4317,0.00,2.75,0.00,0.000,4,0.000,0.101,2447,3921,3395,0,0,0,0,0,0
$GC,4414,-0.76,-146.0,453.2,-10.1,461,4419,0.00,2.60,0.00,0.000,6,0.000,0.074,2447,2538,3395,0,0,0,0,0,0
$GC,4739,-0.81,-146.0,482.9,-8.6,492,4743,0.00,2.72,0.00,0.000,4,0.000,0.100,2447,3917,3395,0,0,0,0,0,0
$GC,4845,-0.87,-146.0,492.5,-9.6,501,4850,0.12,2.60,0.00,0.000,6,0.131,0.074,2407,2534,3395,0,0,0,0,0,0
$GC,5170,-0.79,-146.0,523.1,-9.0,531,5174,0.00,2.72,0.00,0.000,4,0.000,0.099,2407,3916,3395,0,0,0,0,0,0
$GC,5213,-0.70,-146.0,527.2,-9.6,534,5219,0.22,2.58,0.00,0.000,6,0.215,0.074,2459,2545,3395,0,0,0,0,0,0
$GC,5544,-0.81,-146.0,550.6,-7.4,565,5549,0.00,2.70,0.00,0.000,4,0.000,0.097,2459,3914,3396,0,0,0,0,0,0
$GC,5606,-0.91,-146.0,555.9,-7.4,570,5611,0.20,2.58,0.00,0.000,6,0.117,0.072,2395,2541,3396,0,0,0,0,0,0
$GC,5930,-0.82,-146.0,589.8,-11.2,600,5935,0.12,2.70,0.00,0.000,4,0.216,0.094,2413,3914,3396,0,0,0,0,0,0
$GC,6019,-0.76,-146.0,599.0,-9.9,607,6026,0.12,2.55,0.00,0.000,6,0.219,0.071,2438,2554,3396,0,0,0,0,0,0
$GC,6343,-0.81,-146.0,625.9,-8.2,619,6348,0.00,2.67,0.00,0.000,4,0.000,0.096,2438,3915,3397,0,0,0,0,0,0
$GC,6439,-0.87,-146.0,633.5,-8.1,622,6444,0.00,2.55,0.00,0.000,6,0.000,0.071,2439,2553,3397,0,0,0,0,0,0
$STATE,6589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6589,begin apogee
$GC,6595,-0.16,0.0,645.6,7.9,627,6720,0.73,0.00,121.78,1.191,6,0.193,0.000,2633,1949,2799,0,0,0,0,0,0
$STATE,6721,end apogee,CONTROL_FINISHED_OK
$STATE,6721,begin climb
$GC,6723,0.73,146.0,648.5,0.0,631,6860,0.98,2.75,128.88,1.134,4,0.143,0.095,2923,363,2201,0,0,0,0,0,0
$GC,6910,0.66,146.0,634.5,11.6,637,6914,0.00,2.58,0.00,0.000,6,0.000,0.071,2922,1951,2197,0,0,0,0,0,0
$GC,7245,0.59,146.0,600.0,10.1,648,7251,0.17,3.10,0.00,0.000,4,0.202,0.088,2881,3546,2193,0,0,0,0,0,0
$GC,7296,0.59,146.0,595.1,9.3,651,7301,0.00,3.08,0.00,0.000,6,0.000,0.078,2892,1947,2192,0,0,0,0,0,0
$GC,7621,0.66,155.3,567.2,8.8,681,7635,0.00,3.10,7.40,0.955,4,0.000,0.088,2892,3535,2166,0,0,0,0,0,0
$GC,7697,0.66,155.3,559.4,10.6,688,7702,0.00,3.00,0.00,0.000,6,0.000,0.078,2904,1953,2165,0,0,0,0,0,0
$GC,8021,0.66,155.3,526.5,10.4,718,8026,0.00,3.03,0.00,0.000,4,0.000,0.088,2904,3541,2164,0,0,0,0,0,0
$GC,8076,0.61,155.3,520.0,11.4,722,8083,0.12,2.95,0.00,0.000,6,0.210,0.078,2892,1971,2164,0,0,0,0,0,0
$GC,8401,0.68,166.7,490.4,8.7,753,8422,0.00,2.97,11.35,1.006,4,0.000,0.087,2892,3539,2118,0,0,0,0,0,0
$GC,8471,0.68,166.7,483.9,9.6,759,8478,0.00,2.95,0.00,0.000,6,0.000,0.078,2902,1971,2117,0,0,0,0,0,0
$GC,8797,0.76,183.2,456.6,8.5,790,8819,0.10,3.00,15.40,1.019,4,0.131,0.087,2939,3540,2051,0,0,0,0,0,0
$GC,8864,0.64,183.2,448.9,12.7,796,8870,0.22,2.97,0.00,0.000,6,0.202,0.078,2899,1974,2049,0,0,0,0,0,0
$GC,9189,0.72,183.2,415.9,10.6,826,9194,0.00,2.97,0.00,0.000,4,0.000,0.087,2899,3540,2049,0,0,0,0,0,0
$GC,9220,0.72,183.2,412.1,11.9,828,9227,0.00,2.92,0.00,0.000,6,0.000,0.076,2909,1978,2049,0,0,0,0,0,0
$GC,9546,0.78,183.2,379.1,9.8,859,9547,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,1979,2049,0,0,0,0,0,0
$GC,9866,0.86,183.2,350.5,9.4,889,9871,0.17,3.00,0.00,0.000,4,0.104,0.088,2970,3548,2048,0,0,0,0,0,0
$GC,9921,0.66,183.2,343.2,14.2,893,9928,0.32,2.92,0.00,0.000,6,0.209,0.077,2904,1985,2049,0,0,0,0,0,0
$GC,10247,0.82,222.5,315.2,7.5,924,10289,0.15,3.00,33.70,0.975,4,0.119,0.087,2953,3540,1892,0,0,0,0,0,0
$GC,10335,0.74,222.5,306.3,11.8,932,10341,0.15,2.95,0.00,0.000,6,0.199,0.077,2933,1990,1890,0,0,0,0,0,0
$GC,10659,0.81,222.5,275.5,9.8,962,10661,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,1991,1887,0,0,0,0,0,0
$GC,10979,0.88,222.5,246.4,9.4,992,10985,0.12,2.97,0.00,0.000,4,0.127,0.089,2972,3539,1887,0,0,0,0,0,0
$GC,11019,0.77,222.5,241.9,11.7,995,11025,0.20,2.92,0.00,0.000,6,0.205,0.079,2938,1985,1887,0,0,0,0,0,0
$GC,11344,0.88,247.9,211.4,8.1,1025,11369,0.12,0.00,22.55,0.923,6,0.129,0.000,2976,1985,1789,0,0,0,0,0,0
$GC,11683,0.88,247.9,175.3,10.6,1057,11688,0.00,2.97,0.00,0.000,4,0.000,0.090,2976,3538,1785,0,0,0,0,0,0
$GC,11738,0.80,247.9,168.6,12.5,1061,11744,0.17,2.92,0.00,0.000,6,0.201,0.080,2949,1992,1785,0,0,0,0,0,0
$GC,12063,0.92,256.0,135.5,8.8,1092,12078,0.12,3.00,7.68,0.829,4,0.131,0.091,2987,3539,1755,0,0,0,0,0,0
$GC,12111,0.82,256.0,130.5,10.5,1096,12118,0.20,2.92,0.00,0.000,6,0.198,0.081,2954,1992,1755,0,0,0,0,0,0
$GC,12437,0.95,262.1,102.5,8.9,1127,12452,0.12,3.00,6.93,0.802,4,0.130,0.092,2991,3534,1730,0,0,0,0,0,0
$GC,12492,0.87,262.1,96.1,12.1,1134,12498,0.12,2.90,0.00,0.000,6,0.209,0.082,2978,2006,1730,0,0,0,0,0,0
$GC,12837,1.02,309.8,65.0,7.2,1195,12889,0.12,3.08,41.40,0.857,4,0.130,0.092,3015,3539,1536,0,0,0,0,0,0
$GC,12934,0.96,309.8,56.0,10.6,1213,12940,0.00,2.95,0.00,0.000,6,0.000,0.082,3028,2014,1534,0,0,0,0,0,0
$GC,13280,0.96,346.3,17.3,7.6,1274,13317,0.00,2.62,30.83,0.819,4,0.000,0.102,3039,359,1386,0,0,0,0,0,0
$FREEZE,8.55,-1.765,-1.754,2,30,2
$FREEZE,7.99,-1.765,-1.753,2,30,2
$FREEZE,7.26,-1.765,-1.753,2,30,2
$FREEZE,6.55,-1.765,-1.752,2,30,2
$FREEZE,5.88,-1.765,-1.750,2,30,2
$FREEZE,5.26,-1.765,-1.751,2,30,2
$FREEZE,4.53,-1.766,-1.751,2,30,2
$FREEZE,3.84,-1.765,-1.750,2,30,2
$FREEZE,3.02,-1.765,-1.749,2,30,2
$FREEZE,2.29,-1.765,-1.749,2,30,2
$FREEZE,1.33,-1.765,-1.748,2,30,2
$STATE,13411,end climb,SURFACE_DEPTH_REACHED
$STATE,13411,begin surface coast
$FREEZE,0.59,-1.770,-1.748,2,30,2
$FREEZE,0.55,-2.059,-1.706,2,30,2
$FINISH,0.6,1.025088
$STATE,13423,end surface coast,CONTROL_FINISHED_OK
$STATE,13423,begin surface
$SM_CCo,13504,0.00,0.000,0,0,1377,349.06
$SM_GC,1.47,8.73,0.00,0.00,0.087,0.000,0.000,127,2467,1377,-7.98,0.20,349.06
$RAFOS_CLK,946
$RAFOS,6,1259815745,4.833333,4.818056,107,60,59,0,0,0,781,201,145,0,0,0
$RAFOS,5,1259815268,4.700000,4.685555,98,65,64,0,0,0,887,179,207,0,0,0
$RAFOS,4,1259814784,4.566667,4.551111,107,64,55,0,0,0,683,151,197,0,0,0
$RAFOS,3,1259814303,4.433333,4.417500,106,57,56,0,0,0,771,145,166,0,0,0
$RAFOS,2,1259813823,4.300000,4.284167,83,60,58,0,0,0,656,211,120,0,0,0
$RAFOS,1,1259813348,4.166667,4.152222,107,61,59,0,0,0,510,191,203,0,0,0
$RAFOS,0,1259812864,4.033333,4.017778,107,55,54,0,0,0,648,203,194,0,0,0
$RAFOS_FIX,6645.652832,-6001.670410,031209,040416,7,102,0.07
$IRIDIUM_FIX,6620.33,-5850.01,230299,080832
$TT8_MAMPS,0.026845
$HUMID,49.80
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,16.30
$XPDR_PINGS,9
$ALTIM_TOP_PING,19.9,19.4
$ALTIM_BOTTOM_PING,600.6,95.3
$24V_AH,22.5,49.333
$10V_AH,10.1,25.722
$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,15.975,174.275,427.875,0.000,0.000,0.000,0.000,0.000,4.750,0.000,0.000,2288.224,8390.805,513.970,2207.443,176.391,0.000,1667.149,0.000,2176.138,2520.000,20.892,0.000
$DEVICE_MAMPS,235.469,102.011,1191.151,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,963.736,903.579,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152568
$DATA_FILE_SIZE,50414,1300
$CAP_FILE_SIZE,158121,0
$CFSIZE,260165632,231432192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.0
$GPS,031209,070331,6647.342,-6000.942,37,1.5,37,-38.1