version: 66.06
glider: 143
mission: 10
dive: 257
start: 12 7 109 6 23 23
data:
$ID,143
$MISSION,10
$DIVE,257
$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,-37442.75
$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,14
$R_STBD_OVSHOOT,20
$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
$GPS1,060651,6645.612,-5802.913,59,2.6,78,-37.5
$_CALLS,3
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-64.2
$GPS2,060651,6645.612,-5802.913,181,99.0,181,-37.5
$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,96.7,62957,-16.9,-9.167
$D_GRID,676
$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,16,-0.73,-146.0,0.0,0.0,0,108,0.00,0.00,-89.15,0.000,2,0.000,0.000,126,2474,2836,0,0,0,0,0,0
$GC,110,-0.73,-146.0,3.2,-5.4,18,147,11.52,2.55,-17.80,0.000,4,0.305,0.107,2450,851,3398,0,0,0,0,0,0
$GC,277,-0.65,-146.0,31.5,-17.1,48,283,0.12,2.45,0.00,0.000,6,0.235,0.082,2477,2458,3401,0,0,0,0,0,0
$GC,621,-0.65,-146.0,69.0,-11.4,109,626,0.00,3.03,0.00,0.000,4,0.000,0.099,2477,3918,3401,0,0,0,0,0,0
$GC,812,-0.71,-146.0,88.7,-9.2,143,818,0.00,2.88,0.00,0.000,6,0.000,0.073,2477,2472,3401,0,0,0,0,0,0
$GC,1151,-0.80,-146.0,117.3,-8.7,187,1157,0.15,3.00,0.00,0.000,4,0.120,0.097,2426,3911,3401,0,0,0,0,0,0
$GC,1252,-0.72,-146.0,129.1,-12.1,195,1259,0.12,2.88,0.00,0.000,6,0.225,0.074,2451,2464,3401,0,0,0,0,0,0
$GC,1576,-0.72,-146.0,161.9,-9.5,226,1581,0.00,3.00,0.00,0.000,4,0.000,0.098,2451,3910,3401,0,0,0,0,0,0
$GC,1743,-0.72,-146.0,176.1,-7.3,240,1750,0.00,2.83,0.00,0.000,6,0.000,0.074,2451,2483,3401,0,0,0,0,0,0
$GC,2068,-0.72,-146.0,200.8,-9.6,271,2073,0.00,2.97,0.00,0.000,4,0.000,0.098,2451,3911,3400,0,0,0,0,0,0
$GC,2163,-0.72,-146.0,210.8,-11.0,279,2168,0.00,2.83,0.00,0.000,6,0.000,0.074,2451,2495,3400,0,0,0,0,0,0
$GC,2489,-0.77,-146.0,244.3,-9.1,309,2493,0.00,2.95,0.00,0.000,4,0.000,0.097,2451,3910,3400,0,0,0,0,0,0
$GC,2619,-0.82,-146.0,255.1,-7.7,320,2623,0.00,2.80,0.00,0.000,6,0.000,0.073,2451,2510,3400,0,0,0,0,0,0
$GC,2943,-0.88,-146.0,285.6,-10.4,350,2949,0.15,2.95,0.00,0.000,4,0.123,0.096,2400,3913,3400,0,0,0,0,0,0
$GC,3118,-0.77,-146.0,308.7,-13.9,365,3123,0.17,2.80,0.00,0.000,6,0.216,0.073,2438,2517,3400,0,0,0,0,0,0
$GC,3442,-0.77,-146.0,339.8,-7.9,395,3447,0.00,2.92,0.00,0.000,4,0.000,0.097,2438,3917,3400,0,0,0,0,0,0
$GC,3572,-0.77,-146.0,349.4,-7.5,406,3577,0.00,2.75,0.00,0.000,6,0.000,0.071,2438,2540,3399,0,0,0,0,0,0
$GC,3897,-0.77,-146.0,370.6,-6.6,436,3902,0.00,2.88,0.00,0.000,4,0.000,0.095,2438,3914,3400,0,0,0,0,0,0
$GC,3986,-0.77,-146.0,376.6,-6.9,443,3991,0.00,2.72,0.00,0.000,6,0.000,0.071,2438,2548,3400,0,0,0,0,0,0
$GC,4310,-0.77,-146.0,397.6,-6.4,474,4315,0.00,2.85,0.00,0.000,4,0.000,0.094,2438,3910,3400,0,0,0,0,0,0
$GC,4488,-0.77,-146.0,409.7,-6.5,489,4494,0.00,2.70,0.00,0.000,6,0.000,0.071,2438,2562,3400,0,0,0,0,0,0
$GC,4814,-0.77,-146.0,431.3,-6.7,520,4818,0.00,2.83,0.00,0.000,4,0.000,0.094,2438,3910,3401,0,0,0,0,0,0
$GC,4924,-0.77,-146.0,439.3,-7.2,529,4930,0.00,2.67,0.00,0.000,6,0.000,0.070,2438,2570,3401,0,0,0,0,0,0
$GC,5250,-0.82,-146.0,462.3,-6.9,560,5255,0.00,2.83,0.00,0.000,4,0.000,0.094,2438,3919,3402,0,0,0,0,0,0
$GC,5312,-0.88,-146.0,467.1,-7.9,565,5316,0.00,2.67,0.00,0.000,6,0.000,0.068,2438,2574,3402,0,0,0,0,0,0
$GC,5636,-0.88,-146.0,492.1,-8.2,595,5640,0.00,2.80,0.00,0.000,4,0.000,0.093,2438,3911,3402,0,0,0,0,0,0
$GC,5743,-0.93,-146.0,500.8,-8.4,604,5749,0.17,2.67,0.00,0.000,6,0.118,0.069,2383,2574,3403,0,0,0,0,0,0
$GC,6068,-0.79,-146.0,534.3,-10.7,634,6073,0.20,2.83,0.00,0.000,4,0.206,0.090,2427,3921,3402,0,0,0,0,0,0
$GC,6152,-0.79,-146.0,541.6,-8.3,641,6157,0.00,2.67,0.00,0.000,6,0.000,0.067,2427,2580,3403,0,0,0,0,0,0
$GC,6477,-0.79,-146.0,565.7,-7.3,671,6481,0.00,2.80,0.00,0.000,4,0.000,0.092,2426,3916,3403,0,0,0,0,0,0
$GC,6599,-0.79,-146.0,575.1,-7.6,681,6605,0.00,2.65,0.00,0.000,6,0.000,0.068,2427,2589,3403,0,0,0,0,0,0
$GC,6924,-0.79,-146.0,598.8,-7.4,712,6928,0.00,2.78,0.00,0.000,4,0.000,0.092,2427,3911,3403,0,0,0,0,0,0
$GC,7003,-0.79,-146.0,605.0,-7.7,715,7007,0.00,2.62,0.00,0.000,6,0.000,0.067,2427,2597,3403,0,0,0,0,0,0
$GC,7323,-0.79,-146.0,628.2,-7.3,726,7327,0.00,2.75,0.00,0.000,4,0.000,0.092,2426,3912,3403,0,0,0,0,0,0
$GC,7395,-0.79,-146.0,633.9,-7.5,728,7399,0.00,2.62,0.00,0.000,6,0.000,0.067,2426,2596,3403,0,0,0,0,0,0
$GC,7717,-0.79,-146.0,658.0,-7.3,739,7722,0.00,2.78,0.00,0.000,4,0.000,0.091,2426,3920,3403,0,0,0,0,0,0
$GC,7806,-0.79,-146.0,664.7,-8.1,741,7812,0.00,2.60,0.00,0.000,6,0.000,0.067,2426,2610,3403,0,0,0,0,0,0
$STATE,7963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7963,begin apogee
$GC,7969,-0.16,0.0,676.8,7.6,747,8096,0.75,0.00,123.72,1.195,6,0.188,0.000,2629,1950,2800,0,0,0,0,0,0
$STATE,8097,end apogee,CONTROL_FINISHED_OK
$STATE,8097,begin climb
$GC,8099,0.73,146.0,679.8,0.0,751,8236,0.98,2.58,128.88,1.141,4,0.139,0.093,2921,367,2202,0,0,0,0,0,0
$GC,8281,0.63,146.0,666.2,11.8,757,8285,0.00,2.40,0.00,0.000,6,0.000,0.067,2922,1952,2198,0,0,0,0,0,0
$GC,8616,0.55,146.0,627.0,11.7,768,8621,0.22,3.25,0.00,0.000,4,0.202,0.082,2856,3537,2194,0,0,0,0,0,0
$GC,8684,0.61,146.0,620.2,9.7,770,8689,0.00,3.20,0.00,0.000,6,0.000,0.074,2868,1957,2192,0,0,0,0,0,0
$GC,9008,0.73,151.7,592.1,8.9,786,9019,0.17,3.20,4.43,0.776,4,0.111,0.084,2927,3541,2181,0,0,0,0,0,0
$GC,9070,0.56,151.7,584.1,13.1,791,9077,0.25,3.12,0.00,0.000,6,0.202,0.076,2876,1968,2180,0,0,0,0,0,0
$GC,9395,0.66,169.9,554.1,8.4,822,9419,0.00,3.22,16.98,1.064,4,0.000,0.084,2876,3535,2106,0,0,0,0,0,0
$GC,9487,0.66,169.9,545.0,10.1,830,9493,0.00,3.12,0.00,0.000,6,0.000,0.075,2887,1977,2104,0,0,0,0,0,0
$GC,9812,0.73,176.3,514.9,8.9,861,9827,0.12,3.20,6.78,0.918,4,0.113,0.084,2933,3538,2080,0,0,0,0,0,0
$GC,9895,0.57,176.3,504.6,13.4,868,9902,0.28,3.10,0.00,0.000,6,0.207,0.076,2882,1994,2079,0,0,0,0,0,0
$GC,10220,0.69,197.0,475.5,8.3,899,10245,0.00,3.15,19.05,1.041,4,0.000,0.084,2882,3538,1995,0,0,0,0,0,0
$GC,10301,0.69,197.0,467.9,9.2,906,10306,0.00,3.10,0.00,0.000,6,0.000,0.075,2892,2002,1993,0,0,0,0,0,0
$GC,10626,0.79,223.4,440.8,8.1,936,10658,0.15,3.20,23.30,1.028,4,0.104,0.086,2946,3537,1888,0,0,0,0,0,0
$GC,10716,0.63,223.4,430.0,14.1,944,10722,0.25,3.08,0.00,0.000,6,0.203,0.076,2901,2019,1886,0,0,0,0,0,0
$GC,11041,0.69,223.4,394.5,11.3,974,11046,0.00,3.10,0.00,0.000,4,0.000,0.085,2901,3544,1884,0,0,0,0,0,0
$GC,11114,0.69,223.4,385.4,13.1,980,11119,0.00,3.05,0.00,0.000,6,0.000,0.075,2911,2030,1884,0,0,0,0,0,0
$GC,11438,0.69,223.4,345.6,11.8,1010,11443,0.00,3.08,0.00,0.000,4,0.000,0.085,2911,3544,1883,0,0,0,0,0,0
$GC,11493,0.69,223.4,338.8,12.5,1014,11499,0.00,3.03,0.00,0.000,6,0.000,0.075,2924,2034,1883,0,0,0,0,0,0
$GC,11817,0.69,223.4,303.1,10.3,1045,11818,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2035,1882,0,0,0,0,0,0
$GC,12137,0.69,223.4,266.0,12.4,1075,12142,0.00,3.05,0.00,0.000,4,0.000,0.087,2924,3537,1882,0,0,0,0,0,0
$GC,12191,0.69,223.4,258.5,13.6,1079,12198,0.00,3.00,0.00,0.000,6,0.000,0.076,2937,2039,1882,0,0,0,0,0,0
$GC,12516,0.69,223.4,214.1,13.9,1110,12518,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2040,1882,0,0,0,0,0,0
$GC,12836,0.69,223.4,170.3,13.0,1140,12841,0.00,3.05,0.00,0.000,4,0.000,0.086,2937,3541,1882,0,0,0,0,0,0
$GC,12887,0.64,223.4,163.4,14.1,1144,12892,0.22,3.00,0.00,0.000,6,0.202,0.076,2897,2042,1882,0,0,0,0,0,0
$GC,13212,0.92,313.8,139.5,5.4,1174,13298,0.25,3.15,75.88,0.862,4,0.102,0.085,2988,3537,1519,0,0,0,0,0,0
$GC,13354,0.80,313.8,124.2,12.1,1187,13361,0.22,3.05,0.00,0.000,6,0.205,0.077,2950,2056,1515,0,0,0,0,0,0
$GC,13682,0.88,313.8,90.9,12.3,1224,13687,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2057,1509,0,0,0,0,0,0
$GC,14025,0.97,313.8,50.6,11.9,1285,14031,0.15,3.05,0.00,0.000,4,0.116,0.088,2998,3537,1507,0,0,0,0,0,0
$GC,14053,0.97,313.8,46.2,14.4,1290,14059,0.00,2.97,0.00,0.000,6,0.000,0.077,3010,2070,1508,0,0,0,0,0,0
$FREEZE,8.32,-1.448,-1.819,2,22,0
$FREEZE,7.65,-1.451,-1.819,2,22,0
$FREEZE,7.06,-1.458,-1.818,2,22,0
$FREEZE,6.71,-1.452,-1.818,2,22,0
$FREEZE,6.00,-1.450,-1.818,2,22,0
$FREEZE,5.44,-1.455,-1.817,2,22,0
$FREEZE,4.78,-1.452,-1.817,2,22,0
$FREEZE,3.74,-1.451,-1.816,2,22,0
$FREEZE,2.52,-1.448,-1.815,2,22,0
$FREEZE,1.64,-1.453,-1.814,2,22,0
$STATE,14335,end climb,SURFACE_DEPTH_REACHED
$STATE,14335,begin surface coast
$FREEZE,0.68,-1.449,-1.813,2,22,0
$FREEZE,0.50,-1.452,-1.810,2,22,0
$FINISH,0.5,1.026576
$STATE,14346,end surface coast,CONTROL_FINISHED_OK
$STATE,14346,begin surface
$SM_CCo,14364,6.03,0.710,0,0,1474,325.02
$SM_GC,1.24,0.00,0.00,6.03,0.000,0.000,0.710,130,2474,1474,-8.00,0.40,325.02
$RAFOS_CLK,981
$RAFOS,6,1260175768,8.833333,8.824445,75,64,57,0,0,0,619,195,208,0,0,0
$RAFOS,5,1260175265,8.700000,8.684722,75,59,54,0,0,0,610,131,185,0,0,0
$RAFOS,4,1260174785,8.566667,8.551389,59,59,57,0,0,0,135,205,690,0,0,0
$RAFOS,3,1260174321,8.433333,8.422500,68,59,59,0,0,0,195,157,210,0,0,0
$RAFOS,2,1260173829,8.300000,8.285833,60,56,56,0,0,0,191,173,119,0,0,0
$RAFOS,1,1260173350,8.166667,8.152778,62,58,57,0,0,0,111,192,165,0,0,0
$RAFOS,0,1260172867,8.033334,8.018611,61,60,56,0,0,0,168,148,188,0,0,0
$RAFOS_FIX,6648.350098,-5800.817383,071209,080856,2,75,0.55
$IRIDIUM_FIX,6620.33,-5806.04,030399,060658
$TT8_MAMPS,0.026845
$HUMID,49.68
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,16.50
$XPDR_PINGS,8
$ALTIM_TOP_PING,19.2,18.5
$ALTIM_BOTTOM_PING,600.1,109.4
$24V_AH,22.5,52.242
$10V_AH,10.1,27.533
$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,25.150,181.600,399.000,6.025,0.000,80.307,159.118,219.824,4.250,0.000,183.215,2340.443,9070.428,565.171,2571.129,793.991,0.000,1817.903,0.000,2354.889,2520.000,17.930,0.000
$DEVICE_MAMPS,305.266,106.613,1194.986,710.242,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,980.557,950.010,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152376
$DATA_FILE_SIZE,53648,1342
$CAP_FILE_SIZE,173754,0
$CFSIZE,260165632,229232640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.9
$GPS,071209,102437,6646.021,-5758.385,49,0.9,49,-37.5