version: 66.06
glider: 143
mission: 10
dive: 253
start: 12 6 109 13 18 18
data:
$ID,143
$MISSION,10
$DIVE,253
$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,19
$R_STBD_OVSHOOT,16
$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
$GPS1,122913,6642.061,-5839.446,0,5090.2,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.78
$_SM_ANGLEo,-0.2
$GPS2,122913,6642.061,-5839.446,0,5090.2,0,-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,101.9,89336,-16.9,-9.167
$D_GRID,739
$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,-146.0,0.0,0.0,0,22,0.00,0.00,-5.45,0.000,2,0.000,0.000,2720,352,2776,0,0,0,0,0,0
$GC,25,-0.73,-146.0,9.2,-0.0,1,56,0.80,6.18,-17.48,0.000,4,0.124,0.091,2460,3913,3398,0,0,0,0,0,0
$GC,168,-0.73,-146.0,27.7,-16.2,27,173,0.00,2.88,0.00,0.000,6,0.000,0.071,2460,2449,3400,0,0,0,0,0,0
$GC,511,-0.73,-146.0,66.8,-11.3,88,516,0.00,3.03,0.00,0.000,4,0.000,0.097,2460,3915,3400,0,0,0,0,0,0
$GC,690,-0.73,-146.0,87.2,-11.4,120,696,0.00,2.85,0.00,0.000,6,0.000,0.074,2460,2480,3400,0,0,0,0,0,0
$GC,1027,-0.73,-146.0,122.2,-10.4,162,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2480,3400,0,0,0,0,0,0
$GC,1347,-0.78,-146.0,157.0,-11.5,192,1352,0.00,2.97,0.00,0.000,4,0.000,0.097,2460,3915,3400,0,0,0,0,0,0
$GC,1509,-0.78,-146.0,175.2,-10.9,206,1514,0.00,2.85,0.00,0.000,6,0.000,0.074,2460,2481,3399,0,0,0,0,0,0
$GC,1834,-0.83,-146.0,206.2,-8.7,236,1840,0.12,3.00,0.00,0.000,4,0.133,0.097,2413,3913,3399,0,0,0,0,0,0
$GC,1975,-0.74,-146.0,221.5,-11.1,248,1981,0.15,2.83,0.00,0.000,6,0.228,0.074,2444,2494,3399,0,0,0,0,0,0
$GC,2299,-0.74,-146.0,252.9,-9.6,278,2304,0.00,2.97,0.00,0.000,4,0.000,0.098,2444,3917,3399,0,0,0,0,0,0
$GC,2523,-0.79,-146.0,274.8,-8.9,297,2529,0.00,2.80,0.00,0.000,6,0.000,0.074,2444,2514,3398,0,0,0,0,0,0
$GC,2848,-0.79,-146.0,302.2,-8.0,328,2852,0.00,2.92,0.00,0.000,4,0.000,0.098,2444,3913,3398,0,0,0,0,0,0
$GC,3012,-0.83,-146.0,316.0,-8.8,342,3017,0.00,2.78,0.00,0.000,6,0.000,0.074,2444,2527,3397,0,0,0,0,0,0
$GC,3337,-0.90,-146.0,343.0,-8.6,372,3342,0.15,2.92,0.00,0.000,4,0.125,0.094,2387,3919,3397,0,0,0,0,0,0
$GC,3527,-0.74,-146.0,364.9,-11.9,388,3534,0.25,2.75,0.00,0.000,6,0.218,0.071,2444,2537,3397,0,0,0,0,0,0
$GC,3852,-0.80,-146.0,394.4,-8.9,419,3857,0.00,2.88,0.00,0.000,4,0.000,0.095,2444,3915,3398,0,0,0,0,0,0
$GC,4016,-0.86,-146.0,409.5,-9.4,433,4021,0.00,2.72,0.00,0.000,6,0.000,0.071,2444,2551,3397,0,0,0,0,0,0
$GC,4341,-0.93,-146.0,441.5,-9.7,463,4346,0.17,2.88,0.00,0.000,4,0.118,0.094,2385,3919,3398,0,0,0,0,0,0
$GC,4426,-0.80,-146.0,451.9,-12.4,470,4431,0.17,2.72,0.00,0.000,6,0.217,0.070,2423,2552,3398,0,0,0,0,0,0
$GC,4750,-0.80,-146.0,483.9,-9.0,500,4755,0.00,2.85,0.00,0.000,4,0.000,0.094,2423,3916,3398,0,0,0,0,0,0
$GC,4903,-0.80,-146.0,498.8,-9.6,513,4907,0.00,2.70,0.00,0.000,6,0.000,0.069,2423,2564,3398,0,0,0,0,0,0
$GC,5227,-0.80,-146.0,529.1,-9.1,543,5231,0.00,2.83,0.00,0.000,4,0.000,0.093,2423,3915,3398,0,0,0,0,0,0
$GC,5326,-0.80,-146.0,538.7,-9.9,551,5332,0.00,2.67,0.00,0.000,6,0.000,0.069,2423,2574,3398,0,0,0,0,0,0
$GC,5652,-0.80,-146.0,568.5,-9.0,582,5656,0.00,2.80,0.00,0.000,4,0.000,0.093,2423,3913,3399,0,0,0,0,0,0
$GC,5762,-0.80,-146.0,578.6,-8.9,591,5768,0.00,2.65,0.00,0.000,6,0.000,0.068,2423,2582,3399,0,0,0,0,0,0
$GC,6105,-0.80,-146.0,608.0,-8.6,618,6109,0.00,2.78,0.00,0.000,4,0.000,0.092,2423,3913,3400,0,0,0,0,0,0
$GC,6142,-0.80,-146.0,611.5,-8.8,619,6147,0.00,2.65,0.00,0.000,6,0.000,0.067,2423,2583,3399,0,0,0,0,0,0
$GC,6472,-0.80,-146.0,638.7,-8.3,630,6477,0.00,2.78,0.00,0.000,4,0.000,0.093,2423,3918,3400,0,0,1,0,0,0
$GC,6561,-0.80,-146.0,646.5,-9.1,632,6566,0.00,2.65,0.00,0.000,6,0.000,0.068,2423,2586,3400,0,0,0,0,0,0
$GC,6873,-0.80,-146.0,672.8,-8.6,643,6877,0.00,2.78,0.00,0.000,4,0.000,0.092,2423,3914,3400,0,0,0,0,0,0
$GC,6983,-0.80,-146.0,683.3,-9.2,646,6988,0.00,2.62,0.00,0.000,6,0.000,0.068,2423,2597,3400,0,0,0,0,0,0
$STATE,7301,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7301,begin apogee
$GC,7306,-0.16,0.0,709.4,8.0,657,7433,0.77,0.00,123.80,1.226,6,0.191,0.000,2630,1950,2800,0,0,0,0,0,0
$STATE,7434,end apogee,CONTROL_FINISHED_OK
$STATE,7434,begin climb
$GC,7437,0.73,146.0,714.8,0.0,661,7577,1.00,2.67,130.57,1.170,4,0.142,0.094,2925,355,2203,0,0,0,0,0,0
$GC,7623,0.62,146.0,703.9,12.1,667,7628,0.15,2.45,0.00,0.000,6,0.192,0.067,2895,1960,2199,0,0,0,0,0,0
$GC,7957,0.62,146.0,675.5,9.4,678,7962,0.00,3.22,0.00,0.000,4,0.000,0.084,2895,3534,2195,0,0,0,0,0,0
$GC,8063,0.55,146.0,664.4,10.8,681,8068,0.17,3.17,0.00,0.000,6,0.201,0.076,2868,1963,2193,0,0,0,0,0,0
$GC,8388,0.67,152.3,635.9,8.9,692,8399,0.12,3.17,4.85,0.844,4,0.123,0.087,2909,3540,2179,0,0,0,0,0,0
$GC,8472,0.57,152.3,625.9,12.3,694,8478,0.20,3.12,0.00,0.000,6,0.202,0.077,2876,1975,2178,0,0,0,0,0,0
$GC,8786,0.68,163.2,597.2,8.7,706,8807,0.00,3.15,11.00,1.054,4,0.000,0.086,2875,3535,2134,0,0,0,0,0,0
$GC,8867,0.68,163.2,589.0,10.8,713,8874,0.00,3.10,0.00,0.000,6,0.000,0.077,2887,1984,2134,0,0,0,0,0,0
$GC,9194,0.74,163.2,558.3,9.5,744,9200,0.12,3.15,0.00,0.000,4,0.110,0.085,2932,3537,2132,0,0,0,0,0,0
$GC,9268,0.58,163.2,549.2,13.0,750,9273,0.28,3.08,0.00,0.000,6,0.204,0.077,2880,1997,2131,0,0,0,0,0,0
$GC,9592,0.68,165.2,519.7,9.1,780,9597,0.00,3.10,0.00,0.000,4,0.000,0.086,2880,3534,2131,0,0,0,0,0,0
$GC,9665,0.68,165.2,512.5,10.4,786,9669,0.00,3.05,0.00,0.000,6,0.000,0.077,2891,2008,2131,0,0,0,0,0,0
$GC,9990,0.74,165.2,482.3,9.4,816,9996,0.12,3.10,0.00,0.000,4,0.114,0.085,2938,3536,2131,0,0,0,0,0,0
$GC,10046,0.56,165.2,475.5,13.1,820,10053,0.30,3.03,0.00,0.000,6,0.203,0.077,2878,2018,2131,0,0,0,0,0,0
$GC,10371,0.69,179.7,447.7,8.6,851,10393,0.10,3.05,15.52,1.023,4,0.139,0.084,2910,3534,2065,0,0,0,0,0,0
$GC,10467,0.62,179.7,437.2,11.7,859,10473,0.12,3.03,0.00,0.000,6,0.209,0.076,2897,2027,2064,0,0,0,0,0,0
$GC,10792,0.68,179.7,404.6,9.7,890,10797,0.00,3.05,0.00,0.000,4,0.000,0.086,2897,3535,2063,0,0,0,0,0,0
$GC,10846,0.68,179.7,398.7,10.6,894,10853,0.00,3.00,0.00,0.000,6,0.000,0.075,2907,2033,2063,0,0,0,0,0,0
$GC,11172,0.69,180.8,367.4,9.1,925,11173,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2034,2063,0,0,0,0,0,0
$GC,11491,0.74,183.0,338.5,9.1,955,11502,0.00,3.03,3.85,0.673,4,0.000,0.087,2907,3535,2053,0,0,0,0,0,0
$GC,11570,0.74,183.0,330.5,10.0,962,11575,0.00,3.00,0.00,0.000,6,0.000,0.076,2920,2028,2053,0,0,0,0,0,0
$GC,11894,0.74,183.0,298.6,10.2,992,11899,0.00,3.05,0.00,0.000,4,0.000,0.086,2920,3538,2053,0,0,0,0,0,0
$GC,11961,0.68,183.0,290.9,11.5,997,11966,0.00,2.97,0.00,0.000,6,0.000,0.076,2932,2043,2053,0,0,0,0,0,0
$GC,12285,0.68,183.0,253.0,12.5,1028,12290,0.00,3.03,0.00,0.000,4,0.000,0.086,2933,3540,2053,0,0,0,0,0,0
$GC,12324,0.61,183.0,248.1,13.4,1031,12329,0.22,2.97,0.00,0.000,6,0.202,0.077,2892,2046,2053,0,0,0,0,0,0
$GC,12650,0.78,214.0,217.7,7.9,1061,12681,0.15,0.00,27.80,0.912,6,0.119,0.000,2941,2046,1927,0,0,0,0,0,0
$GC,12996,0.78,214.0,183.0,9.9,1094,13001,0.00,3.05,0.00,0.000,4,0.000,0.087,2940,3539,1922,0,0,0,0,0,0
$GC,13109,0.73,214.0,170.7,11.4,1103,13114,0.00,2.97,0.00,0.000,6,0.000,0.077,2954,2059,1920,0,0,0,0,0,0
$GC,13433,0.73,214.0,136.3,10.4,1134,13437,0.00,2.53,0.00,0.000,4,0.000,0.098,2965,348,1921,0,0,0,0,0,0
$GC,13495,0.68,214.0,129.4,11.6,1139,13500,0.22,2.42,0.00,0.000,6,0.193,0.072,2911,2058,1920,0,0,0,0,0,0
$GC,13819,0.89,255.2,102.8,7.4,1169,13862,0.20,3.03,35.65,0.858,4,0.105,0.087,2977,3539,1757,0,0,0,0,0,0
$GC,13980,0.81,255.2,83.8,13.0,1195,13986,0.17,3.00,0.00,0.000,6,0.202,0.080,2950,2068,1753,0,0,0,0,0,0
$GC,14325,0.90,255.2,51.1,9.5,1256,14330,0.00,3.00,0.00,0.000,4,0.000,0.087,2950,3535,1752,0,0,0,0,0,0
$GC,14386,0.90,255.2,44.4,10.8,1267,14392,0.00,2.95,0.00,0.000,6,0.000,0.079,2961,2078,1752,0,0,0,0,0,0
$FREEZE,8.70,-1.780,-1.805,2,18,0
$GC,14732,1.04,325.9,10.3,6.2,1328,14750,0.20,0.00,15.98,0.808,2,0.114,0.000,3026,2080,1682,0,0,0,0,0,0
$STATE,14751,end climb,FINISH_DEPTH_REACHED
$STATE,14751,begin subsurface finish
$FINISH1,8.7,1.026426,52
$GC,14757,0.06,52.2,8.7,-7.6,1331,14804,1.17,2.42,-36.03,0.000,4,0.212,0.114,2718,350,2590,0,0,0,0,0,0
$FINISH2,4.8
$STATE,14805,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14805,begin surface
$RAFOS_CLK,1015
$RAFOS,6,1260118144,16.833334,16.817778,83,59,54,0,0,0,723,158,197,0,0,0
$RAFOS,5,1260117664,16.700001,16.684444,66,64,57,0,0,0,187,650,207,0,0,0
$RAFOS,4,1260117189,16.566668,16.552500,120,61,59,0,0,0,611,156,199,0,0,0
$RAFOS,3,1260116710,16.433332,16.419445,120,62,56,0,0,0,713,209,155,0,0,0
$RAFOS,2,1260116223,16.299999,16.284166,83,63,62,0,0,0,803,207,225,0,0,0
$RAFOS,1,1260115750,16.166666,16.152779,63,60,59,0,0,0,154,137,198,0,0,0
$RAFOS,0,1260115262,16.033333,16.017221,62,59,56,0,0,0,209,220,167,0,0,0
$RAFOS_FIX,6643.846191,-5840.981934,061209,161636,4,102,0.24
$IRIDIUM_FIX,6614.97,-5838.87,020399,000019
$TT8_MAMPS,0.026845
$HUMID,49.29
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,16.20
$XPDR_PINGS,8
$ALTIM_TOP_PING,19.7,19.2
$ALTIM_BOTTOM_PING,600.2,122.6
$24V_AH,22.4,51.674
$10V_AH,10.1,27.201
$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,7.650,187.100,369.025,0.000,0.000,0.000,0.000,0.000,4.500,0.000,0.000,2337.549,9435.042,498.566,2408.597,190.766,0.000,1737.621,0.000,2376.809,2520.000,21.010,0.000
$DEVICE_MAMPS,227.799,113.516,1225.666,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,991.267,939.005,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152524
$DATA_FILE_SIZE,50494,1340
$CAP_FILE_SIZE,163853,0
$CFSIZE,260165632,229797888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1454.1
$GPS,061209,163336,6643.846,-5840.982,0,4101.5,0,-37.6