version: 66.06
glider: 143
mission: 10
dive: 236
start: 12 3 109 7 22 7
data:
$ID,143
$MISSION,10
$DIVE,236
$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,-35716.281
$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,15
$R_STBD_OVSHOOT,17
$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
$GPS1,070331,6647.342,-6000.942,37,1.5,37,-38.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-35.4
$GPS2,072150,6647.049,-6000.751,12,1.1,12,-38.1
$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,116.1,142295,-16.9,-9.167
$D_GRID,687
$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,-146.0,0.0,0.0,0,174,0.00,0.00,-151.45,0.000,6,0.000,0.000,126,2467,3397,0,0,0,0,0,0
$GC,176,-0.73,-146.0,1.2,-0.6,31,193,10.27,2.62,0.00,0.000,4,0.265,0.097,2453,867,3400,0,0,0,0,0,0
$GC,362,-0.26,-146.0,35.0,-20.4,64,368,0.60,2.55,0.00,0.000,6,0.239,0.087,2595,2458,3401,0,0,0,0,0,0
$GC,709,-0.42,-146.0,68.2,-8.1,125,715,0.15,2.88,0.00,0.000,4,0.122,0.100,2536,3913,3402,0,0,0,0,0,0
$GC,777,-0.42,-146.0,76.2,-12.0,137,783,0.00,2.75,0.00,0.000,6,0.000,0.075,2536,2462,3401,0,0,0,0,0,0
$GC,1114,-0.49,-146.0,111.3,-9.9,188,1119,0.00,2.88,0.00,0.000,4,0.000,0.102,2536,3917,3401,0,0,0,0,0,0
$GC,1273,-0.59,-146.0,126.9,-10.0,201,1279,0.12,2.72,0.00,0.000,6,0.124,0.076,2496,2479,3401,0,0,0,0,0,0
$GC,1597,-0.59,-146.0,162.4,-10.3,232,1602,0.00,2.85,0.00,0.000,4,0.000,0.101,2495,3914,3401,0,0,0,0,0,0
$GC,1754,-0.63,-146.0,179.5,-11.3,245,1760,0.00,2.67,0.00,0.000,6,0.000,0.077,2495,2498,3401,0,0,0,0,0,0
$GC,2079,-0.68,-146.0,213.1,-10.5,276,2083,0.00,2.80,0.00,0.000,4,0.000,0.101,2495,3914,3401,0,0,0,0,0,0
$GC,2220,-0.75,-146.0,228.0,-10.6,288,2225,0.15,2.65,0.00,0.000,6,0.120,0.077,2444,2511,3401,0,0,0,0,0,0
$GC,2545,-0.66,-146.0,267.2,-11.0,318,2550,0.12,2.78,0.00,0.000,4,0.232,0.099,2460,3913,3401,0,0,0,0,0,0
$GC,2640,-0.66,-146.0,277.0,-10.1,326,2645,0.00,2.62,0.00,0.000,6,0.000,0.074,2460,2517,3400,0,0,0,0,0,0
$GC,2966,-0.66,-146.0,305.2,-8.6,356,2971,0.00,2.78,0.00,0.000,4,0.000,0.102,2460,3917,3401,0,0,0,0,0,0
$GC,3084,-0.66,-146.0,316.6,-9.7,366,3088,0.00,2.62,0.00,0.000,6,0.000,0.076,2460,2527,3400,0,0,0,0,0,0
$GC,3408,-0.66,-146.0,348.0,-10.2,396,3412,0.00,2.75,0.00,0.000,4,0.000,0.102,2460,3914,3400,0,0,0,0,0,0
$GC,3451,-0.66,-146.0,352.6,-10.3,399,3457,0.00,2.65,0.00,0.000,6,0.000,0.075,2460,2534,3400,0,0,0,0,0,0
$GC,3776,-0.66,-146.0,385.8,-9.5,430,3781,0.00,2.72,0.00,0.000,4,0.000,0.101,2460,3913,3400,0,0,0,0,0,0
$GC,3820,-0.71,-146.0,390.3,-9.9,434,3825,0.00,2.62,0.00,0.000,6,0.000,0.074,2460,2521,3400,0,0,0,0,0,0
$GC,4145,-0.76,-146.0,422.3,-9.7,464,4149,0.00,2.72,0.00,0.000,4,0.000,0.100,2460,3921,3400,0,0,0,0,0,0
$GC,4252,-0.82,-146.0,432.3,-8.8,473,4258,0.08,2.58,0.00,0.000,6,0.097,0.074,2427,2550,3400,0,0,0,0,0,0
$GC,4583,-0.77,-146.0,465.9,-9.9,504,4588,0.00,2.70,0.00,0.000,4,0.000,0.100,2427,3913,3400,0,0,0,0,0,0
$GC,4638,-0.72,-146.0,471.5,-10.3,508,4644,0.12,2.58,0.00,0.000,6,0.222,0.074,2452,2545,3400,0,0,0,0,0,0
$GC,4964,-0.77,-146.0,499.1,-7.7,539,4969,0.00,2.72,0.00,0.000,4,0.000,0.100,2452,3924,3400,0,0,0,0,0,0
$GC,5009,-0.83,-146.0,502.8,-7.8,542,5014,0.00,2.58,0.00,0.000,6,0.000,0.074,2452,2558,3400,0,0,0,0,0,0
$GC,5333,-0.89,-146.0,526.6,-7.3,573,5339,0.15,2.70,0.00,0.000,4,0.123,0.096,2397,3920,3401,0,0,0,0,0,0
$GC,5411,-0.75,-146.0,534.2,-10.0,579,5418,0.20,2.55,0.00,0.000,6,0.219,0.071,2441,2562,3401,0,0,0,0,0,0
$GC,5736,-0.75,-146.0,560.2,-8.1,610,5740,0.00,2.67,0.00,0.000,4,0.000,0.097,2441,3918,3401,0,0,0,0,0,0
$GC,5780,-0.75,-146.0,563.8,-8.4,613,5785,0.00,2.55,0.00,0.000,6,0.000,0.071,2442,2562,3401,0,0,0,0,0,0
$GC,6104,-0.75,-146.0,590.8,-8.5,644,6105,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2563,3402,0,0,0,0,0,0
$GC,6436,-0.75,-146.0,618.7,-8.3,662,6440,0.00,2.67,0.00,0.000,4,0.000,0.097,2441,3920,3402,0,0,0,0,0,0
$GC,6485,-0.81,-146.0,623.2,-9.3,663,6489,0.00,2.53,0.00,0.000,6,0.000,0.071,2442,2573,3402,0,0,0,0,0,0
$GC,6805,-0.86,-146.0,649.2,-7.8,674,6806,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2574,3403,0,0,0,0,0,0
$GC,7110,-0.86,-146.0,673.1,-7.7,684,7111,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2574,3403,0,0,0,0,0,0
$STATE,7291,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7291,begin apogee
$GC,7296,-0.16,0.0,687.0,7.5,690,7423,0.70,0.00,123.60,1.220,6,0.186,0.000,2632,1941,2800,0,0,0,0,0,0
$STATE,7424,end apogee,CONTROL_FINISHED_OK
$STATE,7424,begin climb
$GC,7426,0.73,146.0,689.7,0.0,694,7564,0.98,2.72,129.05,1.162,4,0.136,0.096,2925,365,2203,0,0,0,0,0,0
$GC,7655,0.64,146.0,669.8,12.7,701,7659,0.00,2.55,0.00,0.000,6,0.000,0.071,2924,1961,2198,0,0,0,0,0,0
$GC,7979,0.58,146.0,634.7,10.5,712,7984,0.20,3.08,0.00,0.000,4,0.201,0.086,2877,3540,2195,0,0,0,0,0,0
$GC,8028,0.58,146.0,629.4,10.0,713,8033,0.00,3.05,0.00,0.000,6,0.000,0.078,2888,1951,2193,0,0,0,0,0,0
$GC,8348,0.67,159.8,601.3,8.6,724,8367,0.00,3.05,11.40,1.052,4,0.000,0.087,2888,3537,2147,0,0,0,0,0,0
$GC,8401,0.67,159.8,596.1,11.2,727,8406,0.00,3.00,0.00,0.000,6,0.000,0.078,2901,1957,2147,0,0,0,0,0,0
$GC,8725,0.67,159.8,564.4,9.6,757,8730,0.00,3.03,0.00,0.000,4,0.000,0.087,2901,3543,2146,0,0,0,0,0,0
$GC,8757,0.67,159.8,561.0,11.0,759,8763,0.00,2.97,0.00,0.000,6,0.000,0.078,2914,1965,2145,0,0,0,0,0,0
$GC,9083,0.67,159.8,527.6,10.1,790,9087,0.00,3.00,0.00,0.000,4,0.000,0.089,2914,3540,2145,0,0,0,0,0,0
$GC,9149,0.56,159.8,519.9,12.0,795,9155,0.22,2.95,0.00,0.000,6,0.202,0.079,2874,1972,2144,0,0,0,0,0,0
$GC,9474,0.74,200.7,493.4,7.4,826,9518,0.17,3.05,35.83,1.081,4,0.114,0.087,2930,3541,1979,0,0,0,0,0,0
$GC,9548,0.64,200.7,485.5,12.7,833,9553,0.20,3.00,0.00,0.000,6,0.205,0.078,2898,1976,1977,0,0,0,0,0,0
$GC,9873,0.72,202.2,454.5,9.1,863,9877,0.00,3.00,0.00,0.000,4,0.000,0.087,2898,3546,1974,0,0,0,0,0,0
$GC,9922,0.72,202.2,449.4,10.8,867,9927,0.00,2.95,0.00,0.000,6,0.000,0.077,2908,1983,1973,0,0,0,0,0,0
$GC,10247,0.78,202.2,417.0,10.2,897,10248,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,1984,1973,0,0,0,0,0,0
$GC,10567,0.84,202.2,384.8,10.1,927,10572,0.15,2.97,0.00,0.000,4,0.104,0.088,2961,3538,1973,0,0,0,0,0,0
$GC,10629,0.68,202.2,376.4,14.6,932,10635,0.25,2.90,0.00,0.000,6,0.203,0.077,2914,1992,1972,0,0,0,0,0,0
$GC,10954,0.77,204.0,344.4,9.1,962,10958,0.00,2.92,0.00,0.000,4,0.000,0.087,2914,3539,1972,0,0,0,0,0,0
$GC,11003,0.77,204.0,339.0,10.9,966,11008,0.00,2.90,0.00,0.000,6,0.000,0.077,2924,1990,1972,0,0,0,0,0,0
$GC,11329,0.84,204.0,306.8,9.7,996,11331,0.12,0.00,0.00,0.000,6,0.115,0.000,2968,1991,1973,0,0,0,0,0,0
$GC,11646,0.79,204.0,272.0,10.9,1026,11650,0.00,2.50,0.00,0.000,4,0.000,0.098,2979,355,1972,0,0,0,0,0,0
$GC,11667,0.70,204.0,269.6,11.0,1027,11674,0.25,2.42,0.00,0.000,6,0.196,0.074,2918,1992,1972,0,0,0,0,0,0
$GC,11992,0.84,225.4,242.4,8.3,1058,12023,0.15,2.95,20.77,0.940,4,0.112,0.088,2968,3542,1879,0,0,0,0,0,0
$GC,12074,0.73,225.4,233.1,13.2,1065,12081,0.22,2.92,0.00,0.000,6,0.198,0.080,2928,1997,1878,0,0,0,0,0,0
$GC,12399,0.87,225.4,202.9,9.5,1096,12405,0.12,2.97,0.00,0.000,4,0.127,0.090,2967,3539,1876,0,0,0,0,0,0
$GC,12462,0.79,225.4,195.3,12.5,1101,12467,0.15,2.90,0.00,0.000,6,0.201,0.081,2945,2006,1876,0,0,0,0,0,0
$GC,12787,0.92,256.0,167.2,7.9,1131,12822,0.12,3.00,26.98,0.912,4,0.127,0.090,2984,3533,1755,0,0,0,0,0,0
$GC,12856,0.83,256.0,160.0,11.9,1137,12862,0.15,2.92,0.00,0.000,6,0.206,0.080,2964,2007,1754,0,0,0,0,0,0
$GC,13180,0.91,258.6,127.1,9.1,1168,13182,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2008,1751,0,0,0,0,0,0
$GC,13501,1.05,277.2,98.9,8.4,1199,13528,0.20,2.97,18.73,0.872,4,0.113,0.092,3027,3537,1669,0,0,0,0,0,0
$GC,13575,0.90,277.2,90.4,12.3,1212,13581,0.25,2.92,0.00,0.000,6,0.203,0.082,2982,2013,1668,0,0,0,0,0,0
$GC,13920,1.00,277.2,59.3,9.9,1273,13924,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2015,1664,0,0,0,0,0,0
$GC,14262,1.08,277.2,24.9,9.7,1334,14268,0.17,2.97,0.00,0.000,4,0.116,0.094,3037,3540,1663,0,0,0,0,0,0
$GC,14320,0.93,277.2,18.5,11.5,1344,14326,0.22,2.90,0.00,0.000,6,0.206,0.084,2996,2022,1663,0,0,0,0,0,0
$FREEZE,8.95,-1.762,-1.758,2,1,0
$STATE,14434,end climb,FINISH_DEPTH_REACHED
$STATE,14434,begin subsurface finish
$FINISH1,9.0,1.025745,85
$GC,14440,0.10,85.3,9.0,-7.6,1364,14477,0.90,2.50,-26.90,0.000,4,0.166,0.114,2733,365,2457,0,0,0,0,0,0
$FINISH2,7.6
$STATE,14477,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14478,begin surface
$RAFOS_CLK,1017
$RAFOS,6,1259830151,8.833333,8.819722,61,59,51,0,0,0,195,751,207,0,0,0
$RAFOS,5,1259829664,8.700000,8.684444,107,69,58,0,0,0,897,209,134,0,0,0
$RAFOS,4,1259829183,8.566667,8.550834,97,70,64,0,0,0,671,190,121,0,0,0
$RAFOS,3,1259828706,8.433333,8.418333,89,59,54,0,0,0,735,154,183,0,0,0
$RAFOS,2,1259828227,8.300000,8.285277,163,66,61,0,0,0,618,224,208,0,0,0
$RAFOS,1,1259827751,8.166667,8.153055,159,61,60,0,0,0,496,159,214,0,0,0
$RAFOS,0,1259827267,8.033334,8.018611,115,64,55,0,0,0,640,196,220,0,0,0
$RAFOS_FIX,6644.035645,-5958.902832,031209,080806,6,122,1.56
$IRIDIUM_FIX,6620.33,-5958.37,270299,070748
$TT8_MAMPS,0.027612
$HUMID,50.59
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,16.00
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.9,20.3
$ALTIM_BOTTOM_PING,600.8,128.1
$24V_AH,22.5,49.500
$10V_AH,10.1,25.810
$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,17.900,171.625,366.350,0.000,0.000,48.955,64.336,695.317,4.000,0.000,14.683,2332.968,9193.641,575.753,2324.328,1146.523,0.000,1804.433,0.000,2277.619,2520.000,17.987,0.000
$DEVICE_MAMPS,265.382,139.594,1220.297,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1010.085,957.142,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152432
$DATA_FILE_SIZE,53531,1371
$CAP_FILE_SIZE,183649,0
$CFSIZE,260165632,231333888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.8
$GPS,031209,082306,6644.036,-5958.903,0,6121.7,0,-38.1