version: 66.06
glider: 143
mission: 10
dive: 252
start: 12 6 109 9 6 14
data:
$ID,143
$MISSION,10
$DIVE,252
$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,-37075.062
$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,21
$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
$GPS1,042328,6640.565,-5848.040,0,4089.0,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.34
$_SM_ANGLEo,0.6
$GPS2,042328,6640.565,-5848.040,0,4089.0,0,-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,102.0,96129,-16.9,-9.167
$D_GRID,773
$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,13,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,22,0.00,0.00,-5.00,0.000,2,0.000,0.000,2721,355,2726,0,0,0,0,0,0
$GC,25,-0.73,-146.0,6.1,-0.0,1,56,0.80,0.75,-23.27,0.000,4,0.123,0.115,2463,888,3398,0,0,0,0,0,0
$GC,90,-0.65,-146.0,11.2,-9.9,13,96,0.00,2.38,0.00,0.000,6,0.000,0.081,2463,2457,3400,0,0,0,0,0,0
$GC,433,-0.65,-146.0,50.5,-11.2,74,439,0.00,3.00,0.00,0.000,4,0.000,0.100,2463,3913,3400,0,0,0,0,0,0
$GC,603,-0.65,-146.0,71.7,-13.0,104,609,0.00,2.88,0.00,0.000,6,0.000,0.074,2463,2460,3400,0,0,0,0,0,0
$GC,946,-0.65,-146.0,112.0,-10.0,155,951,0.00,3.00,0.00,0.000,4,0.000,0.098,2463,3912,3400,0,0,0,0,0,0
$GC,1192,-0.70,-146.0,135.6,-9.0,176,1198,0.00,2.83,0.00,0.000,6,0.000,0.074,2463,2486,3400,0,0,0,0,0,0
$GC,1517,-0.70,-146.0,163.6,-8.8,207,1521,0.00,2.97,0.00,0.000,4,0.000,0.099,2463,3921,3400,0,0,0,0,0,0
$GC,1640,-0.78,-146.0,175.1,-9.3,217,1646,0.00,2.83,0.00,0.000,6,0.000,0.074,2463,2499,3399,0,0,0,0,0,0
$GC,1965,-0.84,-146.0,204.5,-9.0,248,1971,0.12,2.97,0.00,0.000,4,0.133,0.097,2413,3921,3399,0,0,0,0,0,0
$GC,2090,-0.74,-146.0,218.9,-11.9,258,2096,0.15,2.83,0.00,0.000,6,0.225,0.072,2444,2494,3399,0,0,0,0,0,0
$GC,2414,-0.74,-146.0,253.4,-10.3,289,2419,0.00,2.97,0.00,0.000,4,0.000,0.098,2444,3923,3398,0,0,0,0,0,0
$GC,2520,-0.74,-146.0,264.2,-10.1,298,2525,0.00,2.83,0.00,0.000,6,0.000,0.074,2444,2509,3397,0,0,0,0,0,0
$GC,2845,-0.79,-146.0,291.5,-8.0,328,2850,0.00,2.92,0.00,0.000,4,0.000,0.097,2444,3914,3397,0,0,0,0,0,0
$GC,3001,-0.79,-146.0,304.2,-8.0,341,3007,0.00,2.78,0.00,0.000,6,0.000,0.074,2444,2523,3397,0,0,0,0,0,0
$GC,3326,-0.84,-146.0,328.1,-7.6,372,3331,0.00,2.92,0.00,0.000,4,0.000,0.097,2444,3916,3397,0,0,0,0,0,0
$GC,3461,-0.89,-146.0,339.3,-8.3,383,3467,0.15,2.75,0.00,0.000,6,0.129,0.072,2398,2537,3397,0,0,0,0,0,0
$GC,3785,-0.78,-146.0,371.2,-10.3,414,3791,0.15,2.90,0.00,0.000,4,0.208,0.095,2427,3913,3397,0,0,0,0,0,0
$GC,3909,-0.78,-146.0,382.9,-9.9,424,3915,0.00,2.75,0.00,0.000,6,0.000,0.071,2427,2538,3397,0,0,0,0,0,0
$GC,4233,-0.78,-146.0,412.1,-9.2,455,4238,0.00,2.88,0.00,0.000,4,0.000,0.095,2426,3915,3397,0,0,0,0,0,0
$GC,4397,-0.78,-146.0,427.2,-9.1,469,4402,0.00,2.72,0.00,0.000,6,0.000,0.071,2426,2551,3397,0,0,0,0,0,0
$GC,4722,-0.78,-146.0,455.4,-8.2,499,4726,0.00,2.85,0.00,0.000,4,0.000,0.094,2426,3913,3398,0,0,0,0,0,0
$GC,4828,-0.78,-146.0,464.5,-8.5,508,4833,0.00,2.72,0.00,0.000,6,0.000,0.071,2426,2550,3398,0,0,0,0,0,0
$GC,5153,-0.78,-146.0,491.0,-8.8,538,5158,0.00,2.85,0.00,0.000,4,0.000,0.094,2426,3916,3398,0,0,0,0,0,0
$GC,5383,-0.78,-146.0,511.4,-8.9,558,5387,0.00,2.67,0.00,0.000,6,0.000,0.069,2426,2572,3399,0,0,0,0,0,0
$GC,5707,-0.78,-146.0,538.5,-7.9,588,5712,0.00,2.83,0.00,0.000,4,0.000,0.093,2426,3920,3399,0,0,0,0,0,0
$GC,5854,-0.78,-146.0,550.4,-8.3,600,5859,0.00,2.65,0.00,0.000,6,0.000,0.068,2426,2584,3399,0,0,0,0,0,0
$GC,6178,-0.78,-146.0,576.3,-8.1,631,6183,0.00,2.78,0.00,0.000,4,0.000,0.093,2426,3913,3399,0,0,0,0,0,0
$GC,6284,-0.78,-146.0,585.0,-8.1,640,6289,0.00,2.62,0.00,0.000,6,0.000,0.068,2426,2594,3399,0,0,0,0,0,0
$GC,6615,-0.78,-146.0,609.5,-7.2,663,6620,0.00,2.78,0.00,0.000,4,0.000,0.093,2426,3923,3400,0,0,0,0,0,0
$GC,6721,-0.78,-146.0,618.0,-7.8,666,6725,0.00,2.62,0.00,0.000,6,0.000,0.068,2426,2600,3400,0,0,0,0,0,0
$GC,7044,-0.78,-146.0,642.8,-7.8,677,7049,0.00,2.75,0.00,0.000,4,0.000,0.093,2426,3915,3401,0,0,0,0,0,0
$GC,7110,-0.78,-146.0,648.6,-8.7,679,7114,0.00,2.60,0.00,0.000,6,0.000,0.067,2426,2607,3400,0,0,0,0,0,0
$GC,7445,-0.78,-146.0,674.8,-7.3,690,7449,0.00,2.75,0.00,0.000,4,0.000,0.092,2426,3924,3401,0,0,0,0,0,0
$GC,7561,-0.78,-146.0,683.9,-7.5,693,7565,0.00,2.62,0.00,0.000,6,0.000,0.067,2426,2602,3401,0,0,0,0,0,0
$STATE,7755,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7755,begin apogee
$GC,7761,-0.16,0.0,701.4,9.1,700,7888,0.77,0.00,123.82,1.221,6,0.195,0.000,2632,1941,2800,0,0,0,0,0,0
$STATE,7889,end apogee,CONTROL_FINISHED_OK
$STATE,7889,begin climb
$GC,7891,0.73,146.0,705.3,0.0,704,8026,0.98,0.00,130.32,1.164,6,0.143,0.000,2910,1941,2204,0,0,0,0,0,0
$GC,8344,0.73,146.0,664.0,9.9,719,8349,0.00,3.33,0.00,0.000,4,0.000,0.086,2911,3541,2195,0,0,0,0,0,0
$GC,8382,0.64,146.0,659.7,11.6,720,8387,0.00,3.22,0.00,0.000,6,0.000,0.076,2924,1963,2193,0,0,0,0,0,0
$GC,8706,0.58,146.0,625.7,10.9,731,8712,0.20,3.20,0.00,0.000,4,0.208,0.084,2876,3538,2193,0,0,0,0,0,0
$GC,8750,0.58,146.0,621.0,10.4,732,8755,0.00,3.15,0.00,0.000,6,0.000,0.077,2889,1963,2192,0,0,0,0,0,0
$GC,9071,0.60,164.3,593.4,8.4,747,9092,0.00,3.20,14.85,1.079,4,0.000,0.087,2889,3540,2129,0,0,0,0,0,0
$GC,9142,0.60,164.3,586.5,9.7,753,9148,0.00,3.12,0.00,0.000,6,0.000,0.077,2902,1975,2128,0,0,0,0,0,0
$GC,9467,0.60,164.3,554.8,9.9,784,9472,0.00,3.15,0.00,0.000,4,0.000,0.087,2902,3538,2128,0,0,0,0,0,0
$GC,9533,0.55,164.3,547.4,11.5,789,9539,0.20,3.10,0.00,0.000,6,0.201,0.077,2869,1975,2126,0,0,0,0,0,0
$GC,9858,0.68,181.1,520.4,8.5,820,9880,0.12,3.15,15.60,1.060,4,0.127,0.085,2909,3539,2061,0,0,0,0,0,0
$GC,9930,0.61,181.1,512.1,12.9,826,9937,0.15,3.10,0.00,0.000,6,0.209,0.077,2890,1988,2059,0,0,0,0,0,0
$GC,10255,0.67,181.1,480.4,9.9,857,10256,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1989,2058,0,0,0,0,0,0
$GC,10575,0.74,181.1,447.2,10.5,887,10581,0.12,3.15,0.00,0.000,4,0.128,0.087,2929,3539,2058,0,0,0,0,0,0
$GC,10684,0.63,181.1,432.8,13.4,896,10689,0.20,3.05,0.00,0.000,6,0.206,0.077,2896,2006,2058,0,0,0,0,0,0
$GC,11009,0.68,181.1,397.5,10.3,926,11013,0.00,3.08,0.00,0.000,4,0.000,0.086,2896,3539,2056,0,0,0,0,0,0
$GC,11047,0.68,181.1,393.4,10.9,929,11052,0.00,3.03,0.00,0.000,6,0.000,0.076,2907,2015,2056,0,0,0,0,0,0
$GC,11371,0.68,181.1,359.8,10.3,959,11376,0.00,3.08,0.00,0.000,4,0.000,0.085,2907,3547,2056,0,0,0,0,0,0
$GC,11425,0.68,181.1,353.6,11.8,963,11432,0.00,3.03,0.00,0.000,6,0.000,0.076,2920,2020,2056,0,0,0,0,0,0
$GC,11751,0.68,181.1,319.7,10.5,994,11756,0.00,3.08,0.00,0.000,4,0.000,0.086,2920,3544,2056,0,0,0,0,0,0
$GC,11801,0.62,181.1,314.1,10.8,998,11807,0.17,3.03,0.00,0.000,6,0.202,0.077,2893,2020,2056,0,0,0,0,0,0
$GC,12126,0.74,187.7,285.0,8.9,1028,12141,0.12,3.05,6.65,0.842,4,0.130,0.086,2933,3539,2034,0,0,0,0,0,0
$GC,12170,0.64,187.7,280.1,11.6,1032,12175,0.20,3.00,0.00,0.000,6,0.202,0.077,2899,2023,2033,0,0,0,0,0,0
$GC,12495,0.76,195.5,251.8,8.8,1062,12509,0.12,3.05,8.40,0.862,4,0.130,0.086,2938,3547,2003,0,0,0,0,0,0
$GC,12565,0.65,195.5,243.6,12.2,1068,12572,0.20,3.00,0.00,0.000,6,0.204,0.075,2905,2035,2002,0,0,0,0,0,0
$GC,12892,0.78,205.9,212.1,8.7,1099,12909,0.12,3.03,10.60,0.873,4,0.127,0.086,2945,3539,1959,0,0,0,0,0,0
$GC,12967,0.69,205.9,204.0,11.3,1105,12973,0.17,2.97,0.00,0.000,6,0.206,0.076,2918,2045,1958,0,0,0,0,0,0
$GC,13294,0.81,227.0,176.3,8.3,1135,13319,0.10,3.05,19.27,0.884,4,0.138,0.087,2949,3541,1873,0,0,0,0,0,0
$GC,13366,0.75,227.0,169.1,11.1,1141,13372,0.10,3.00,0.00,0.000,6,0.189,0.077,2937,2049,1872,0,0,0,0,0,0
$GC,13697,0.84,233.3,141.0,8.9,1172,13707,0.00,0.00,6.60,0.779,6,0.000,0.000,2937,2050,1847,0,0,0,0,0,0
$GC,14026,0.94,233.3,105.3,12.0,1203,14028,0.17,0.00,0.00,0.000,6,0.113,0.000,2993,2050,1845,0,0,0,0,0,0
$GC,14359,0.94,233.3,65.3,10.4,1259,14365,0.00,2.50,0.00,0.000,4,0.000,0.100,3004,356,1845,0,0,0,0,0,0
$GC,14433,0.83,233.3,57.2,10.8,1272,14440,0.20,2.42,0.00,0.000,6,0.196,0.074,2957,2059,1844,0,0,0,0,0,0
$GC,14779,0.89,233.3,27.7,11.4,1333,14785,0.00,2.97,0.00,0.000,4,0.000,0.088,2957,3539,1844,0,0,0,0,0,0
$GC,14858,0.89,233.3,18.8,13.0,1347,14864,0.00,2.92,0.00,0.000,6,0.000,0.081,2968,2075,1843,0,0,0,0,0,0
$FREEZE,8.64,-1.788,-1.804,2,17,0
$STATE,14949,end climb,FINISH_DEPTH_REACHED
$STATE,14949,begin subsurface finish
$FINISH1,8.6,1.026401,53
$GC,14956,0.07,53.3,8.6,-6.9,1363,14988,0.90,2.40,-25.73,0.000,4,0.184,0.112,2719,352,2586,0,0,0,0,0,0
$FINISH2,6.6
$STATE,14989,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14989,begin surface
$RAFOS_CLK,1031
$RAFOS,6,1260103744,12.833333,12.817778,123,56,56,0,0,0,741,213,189,0,0,0
$RAFOS,5,1260103262,12.700000,12.683888,61,60,58,0,0,0,132,681,225,0,0,0
$RAFOS,4,1260102781,12.566667,12.550278,83,64,59,0,0,0,650,220,193,0,0,0
$RAFOS,3,1260102306,12.433333,12.418333,112,70,59,0,0,0,712,159,216,0,0,0
$RAFOS,2,1260101825,12.300000,12.284722,67,62,59,0,0,0,778,196,213,0,0,0
$RAFOS,1,1260101348,12.166667,12.152223,66,63,54,0,0,0,776,199,118,0,0,0
$RAFOS,0,1260100871,12.033333,12.019722,63,59,54,0,0,0,211,176,140,0,0,0
$RAFOS_FIX,6642.060547,-5839.446289,061209,121213,5,90,0.24
$IRIDIUM_FIX,6614.97,-5838.87,020399,000019
$TT8_MAMPS,0.026845
$HUMID,49.76
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,16.20
$XPDR_PINGS,9
$ALTIM_TOP_PING,19.5,19.1
$ALTIM_BOTTOM_PING,650.4,65.9
$24V_AH,22.4,51.555
$10V_AH,10.1,27.126
$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,6.725,187.875,336.125,0.000,0.000,0.000,0.000,0.000,4.750,0.000,0.000,2413.155,9535.281,461.014,2457.356,190.799,0.000,1721.311,0.000,2419.155,2520.000,20.525,0.000
$DEVICE_MAMPS,224.731,115.050,1221.064,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1006.362,961.711,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152520
$DATA_FILE_SIZE,53519,1369
$CAP_FILE_SIZE,165084,0
$CFSIZE,260165632,229875712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.0
$GPS,061209,122913,6642.061,-5839.446,0,5090.2,0,-37.6