version: 66.06
glider: 143
mission: 10
dive: 258
start: 12 7 109 10 41 16
data:
$ID,143
$MISSION,10
$DIVE,258
$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,-37626.605
$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
$GPS1,102437,6646.021,-5758.385,49,0.9,49,-37.5
$_CALLS,3
$_XMS_NAKs,18
$_XMS_TOUTs,3
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-64.4
$GPS2,102437,6646.021,-5758.385,181,99.0,181,-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,95.8,59769,-16.9,-9.167
$D_GRID,685
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.73,-146.0,0.0,0.0,0,125,0.00,0.00,-105.65,0.000,2,0.000,0.000,128,2477,3101,0,0,0,0,0,0
$GC,128,-0.73,-146.0,3.6,-6.5,21,155,11.52,2.53,-8.05,0.000,4,0.304,0.107,2454,856,3398,0,0,0,0,0,0
$GC,236,-0.67,-146.0,23.1,-10.3,40,241,0.00,2.45,0.00,0.000,6,0.000,0.082,2455,2463,3401,0,0,0,0,0,0
$GC,580,-0.61,-146.0,61.0,-11.5,101,586,0.15,3.05,0.00,0.000,4,0.236,0.096,2478,3923,3401,0,0,0,0,0,0
$GC,722,-0.69,-146.0,76.4,-9.8,126,728,0.00,2.92,0.00,0.000,6,0.000,0.073,2478,2456,3401,0,0,0,0,0,0
$GC,1067,-0.78,-146.0,107.4,-9.9,181,1073,0.12,3.05,0.00,0.000,4,0.129,0.094,2428,3913,3401,0,0,0,0,0,0
$GC,1187,-0.73,-146.0,122.2,-12.7,191,1192,0.00,2.88,0.00,0.000,6,0.000,0.073,2428,2472,3401,0,0,0,0,0,0
$GC,1512,-0.68,-146.0,162.8,-11.6,221,1517,0.17,3.03,0.00,0.000,4,0.229,0.095,2456,3914,3401,0,0,0,0,0,0
$GC,1702,-0.74,-146.0,179.7,-7.5,237,1708,0.00,2.83,0.00,0.000,6,0.000,0.071,2457,2496,3401,0,0,0,0,0,0
$GC,2028,-0.80,-146.0,202.6,-8.0,268,2033,0.00,2.97,0.00,0.000,4,0.000,0.097,2456,3915,3401,0,0,0,0,0,0
$GC,2091,-0.86,-146.0,208.1,-9.1,273,2097,0.15,2.83,0.00,0.000,6,0.119,0.072,2408,2502,3400,0,0,0,0,0,0
$GC,2416,-0.76,-146.0,247.9,-13.5,303,2421,0.15,2.97,0.00,0.000,4,0.217,0.094,2430,3918,3400,0,0,0,0,0,0
$GC,2550,-0.76,-146.0,265.0,-12.0,314,2556,0.00,2.80,0.00,0.000,6,0.000,0.071,2430,2520,3400,0,0,0,0,0,0
$GC,2875,-0.76,-146.0,299.0,-8.8,345,2880,0.00,2.92,0.00,0.000,4,0.000,0.097,2430,3913,3401,0,0,0,0,0,0
$GC,3037,-0.76,-146.0,312.4,-7.7,359,3042,0.00,2.78,0.00,0.000,6,0.000,0.072,2429,2534,3400,0,0,0,0,0,0
$GC,3362,-0.76,-146.0,336.0,-8.0,389,3366,0.00,2.90,0.00,0.000,4,0.000,0.096,2430,3914,3400,0,0,0,0,0,0
$GC,3492,-0.76,-146.0,347.0,-8.8,400,3496,0.00,2.75,0.00,0.000,6,0.000,0.071,2430,2545,3400,0,0,0,0,0,0
$GC,3816,-0.76,-146.0,376.6,-9.7,430,3821,0.00,2.88,0.00,0.000,4,0.000,0.094,2430,3913,3400,0,0,0,0,0,0
$GC,3949,-0.76,-146.0,389.8,-10.0,441,3955,0.00,2.72,0.00,0.000,6,0.000,0.070,2430,2555,3401,0,0,0,0,0,0
$GC,4274,-0.76,-146.0,420.2,-9.1,472,4279,0.00,2.88,0.00,0.000,4,0.000,0.094,2429,3921,3401,0,0,0,0,0,0
$GC,4452,-0.76,-146.0,436.3,-8.7,487,4458,0.00,2.70,0.00,0.000,6,0.000,0.068,2430,2573,3400,0,0,0,0,0,0
$GC,4777,-0.76,-146.0,462.0,-7.7,518,4782,0.00,2.83,0.00,0.000,4,0.000,0.094,2430,3913,3401,0,0,0,0,0,0
$GC,4918,-0.76,-146.0,472.5,-7.9,530,4923,0.00,2.67,0.00,0.000,6,0.000,0.069,2430,2584,3401,0,0,0,0,0,0
$GC,5242,-0.76,-146.0,496.2,-7.2,560,5247,0.00,2.80,0.00,0.000,4,0.000,0.093,2430,3913,3402,0,0,0,0,0,0
$GC,5365,-0.76,-146.0,506.2,-8.5,570,5371,0.00,2.67,0.00,0.000,6,0.000,0.068,2430,2587,3402,0,0,0,0,0,0
$GC,5690,-0.76,-146.0,532.3,-7.9,601,5694,0.00,2.80,0.00,0.000,4,0.000,0.092,2429,3914,3403,0,0,0,0,0,0
$GC,5796,-0.76,-146.0,541.4,-8.6,610,5800,0.00,2.65,0.00,0.000,6,0.000,0.067,2430,2597,3403,0,0,0,0,0,0
$GC,6122,-0.76,-146.0,570.3,-9.1,640,6127,0.00,2.78,0.00,0.000,4,0.000,0.092,2430,3914,3403,0,0,0,0,0,0
$GC,6210,-0.76,-146.0,578.7,-9.5,647,6216,0.00,2.62,0.00,0.000,6,0.000,0.067,2430,2604,3403,0,0,0,0,0,0
$GC,6553,-0.76,-146.0,608.1,-8.5,674,6557,0.00,2.78,0.00,0.000,4,0.000,0.091,2429,3918,3403,0,0,0,0,0,0
$GC,6620,-0.76,-146.0,613.8,-8.5,676,6625,0.00,2.62,0.00,0.000,6,0.000,0.067,2430,2607,3403,0,0,0,0,0,0
$GC,6950,-0.76,-146.0,641.1,-8.4,687,6955,0.00,2.75,0.00,0.000,4,0.000,0.092,2430,3913,3404,0,0,0,0,0,0
$GC,7022,-0.76,-146.0,647.2,-8.5,689,7027,0.00,2.62,0.00,0.000,6,0.000,0.067,2430,2604,3404,0,0,0,0,0,0
$GC,7347,-0.76,-146.0,672.8,-7.9,700,7351,0.00,2.78,0.00,0.000,4,0.000,0.091,2430,3920,3404,0,0,0,0,0,0
$GC,7429,-0.76,-146.0,679.7,-8.7,702,7434,0.00,2.62,0.00,0.000,6,0.000,0.067,2430,2610,3404,0,0,0,0,0,0
$STATE,7525,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7525,begin apogee
$GC,7531,-0.16,0.0,687.4,7.9,705,7659,0.75,0.00,124.28,1.209,6,0.189,0.000,2629,1949,2800,0,0,0,0,0,0
$STATE,7660,end apogee,CONTROL_FINISHED_OK
$STATE,7660,begin climb
$GC,7662,0.73,146.0,691.8,0.0,709,7802,1.00,2.65,130.07,1.156,4,0.140,0.094,2926,352,2202,0,0,0,0,0,0
$GC,7847,0.62,146.0,682.1,10.9,715,7852,0.15,2.42,0.00,0.000,6,0.195,0.068,2897,1960,2199,0,0,0,0,0,0
$GC,8182,0.62,146.0,648.0,10.0,726,8187,0.00,3.25,0.00,0.000,4,0.000,0.084,2897,3535,2194,0,0,0,0,0,0
$GC,8282,0.56,146.0,636.5,10.7,729,8287,0.15,3.20,0.00,0.000,6,0.207,0.076,2876,1962,2192,0,0,0,0,0,0
$GC,8613,0.65,160.5,608.2,8.6,740,8632,0.00,3.28,11.60,1.052,4,0.000,0.085,2876,3539,2145,0,0,0,0,0,0
$GC,8700,0.65,160.5,599.6,10.9,742,8705,0.00,3.17,0.00,0.000,6,0.000,0.077,2888,1964,2144,0,0,0,0,0,0
$GC,9025,0.72,160.5,568.5,10.1,772,9030,0.10,3.22,0.00,0.000,4,0.127,0.086,2927,3537,2144,0,0,0,0,0,0
$GC,9076,0.57,160.5,562.2,13.0,776,9082,0.28,3.12,0.00,0.000,6,0.205,0.077,2875,1983,2142,0,0,0,0,0,0
$GC,9402,0.70,177.8,532.6,8.4,806,9427,0.12,3.17,16.20,1.066,4,0.128,0.085,2915,3545,2073,0,0,0,0,0,0
$GC,9494,0.61,177.8,521.6,12.5,814,9501,0.17,3.15,0.00,0.000,6,0.206,0.077,2889,1986,2071,0,0,0,0,0,0
$GC,9819,0.67,177.8,487.8,10.2,845,9824,0.00,3.15,0.00,0.000,4,0.000,0.086,2889,3537,2070,0,0,0,0,0,0
$GC,9873,0.67,177.8,481.4,11.7,849,9880,0.00,3.10,0.00,0.000,6,0.000,0.077,2901,1996,2070,0,0,0,0,0,0
$GC,10199,0.72,177.8,447.9,10.3,880,10204,0.00,3.12,0.00,0.000,4,0.000,0.086,2901,3536,2070,0,0,0,0,0,0
$GC,10260,0.72,177.8,440.7,12.3,885,10265,0.00,3.08,0.00,0.000,6,0.000,0.077,2914,2007,2068,0,0,0,0,0,0
$GC,10584,0.72,177.8,407.1,10.0,915,10589,0.00,3.10,0.00,0.000,4,0.000,0.086,2914,3537,2069,0,0,0,0,0,0
$GC,10611,0.66,177.8,404.2,10.7,917,10616,0.00,3.08,0.00,0.000,6,0.000,0.077,2927,2007,2069,0,0,0,0,0,0
$GC,10938,0.62,177.8,370.6,10.1,947,10940,0.15,0.00,0.00,0.000,6,0.211,0.000,2894,2008,2068,0,0,0,0,0,0
$GC,11254,0.73,201.3,344.8,8.2,977,11281,0.00,3.12,20.58,0.980,4,0.000,0.085,2892,3538,1977,0,0,0,0,0,0
$GC,11320,0.73,201.3,338.9,10.0,982,11326,0.00,3.08,0.00,0.000,6,0.000,0.077,2904,2015,1976,0,0,0,0,0,0
$GC,11644,0.79,201.3,304.7,10.9,1013,11650,0.12,3.12,0.00,0.000,4,0.111,0.085,2950,3536,1974,0,0,0,0,0,0
$GC,11685,0.65,201.3,299.2,15.2,1016,11691,0.25,3.05,0.00,0.000,6,0.207,0.077,2903,2024,1974,0,0,0,0,0,0
$GC,12010,0.72,201.3,261.7,11.9,1046,12015,0.00,3.10,0.00,0.000,4,0.000,0.086,2903,3543,1974,0,0,0,0,0,0
$GC,12037,0.72,201.3,258.3,11.7,1048,12042,0.00,3.08,0.00,0.000,6,0.000,0.077,2914,2023,1974,0,0,0,0,0,0
$GC,12364,0.77,201.3,224.8,9.2,1078,12365,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2024,1974,0,0,0,0,0,0
$GC,12681,0.93,269.6,201.1,6.3,1108,12747,0.22,3.20,58.15,0.902,4,0.097,0.087,2992,3543,1699,0,0,0,0,0,0
$GC,12770,0.74,269.6,191.2,13.1,1116,12777,0.30,3.15,0.00,0.000,6,0.207,0.077,2935,2018,1697,0,0,0,0,0,0
$GC,13096,0.82,269.6,157.6,11.5,1147,13100,0.00,3.12,0.00,0.000,4,0.000,0.087,2935,3536,1692,0,0,0,0,0,0
$GC,13150,0.82,269.6,150.5,13.5,1151,13156,0.00,3.08,0.00,0.000,6,0.000,0.077,2946,2024,1692,0,0,0,0,0,0
$GC,13475,0.87,269.6,110.5,12.3,1182,13476,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2025,1691,0,0,0,0,0,0
$GC,13807,0.95,269.6,72.4,11.0,1233,13813,0.15,3.10,0.00,0.000,4,0.107,0.088,3001,3537,1690,0,0,0,0,0,0
$GC,13865,0.79,269.6,64.6,14.0,1243,13871,0.28,3.05,0.00,0.000,6,0.201,0.080,2948,2037,1690,0,0,0,0,0,0
$GC,14211,0.85,271.8,29.5,9.1,1304,14216,0.00,2.45,0.00,0.000,4,0.000,0.100,2957,350,1688,0,0,0,0,0,0
$GC,14256,0.92,271.8,23.9,12.0,1312,14262,0.00,2.35,0.00,0.000,6,0.000,0.073,2957,2036,1687,0,0,0,0,0,0
$FREEZE,8.55,-1.562,-1.818,0,23,0
$FREEZE,7.72,-1.562,-1.818,0,23,0
$FREEZE,7.07,-1.561,-1.817,0,23,0
$FREEZE,6.43,-1.565,-1.817,0,23,0
$FREEZE,5.91,-1.561,-1.816,0,23,0
$FREEZE,5.13,-1.561,-1.816,0,23,0
$FREEZE,4.19,-1.562,-1.815,0,23,0
$FREEZE,3.46,-1.561,-1.814,0,23,0
$FREEZE,2.72,-1.563,-1.814,0,23,0
$FREEZE,1.82,-1.562,-1.813,0,23,0
$STATE,14450,end climb,SURFACE_DEPTH_REACHED
$STATE,14450,begin surface coast
$FREEZE,1.19,-1.560,-1.813,0,23,0
$FREEZE,0.48,-1.561,-1.812,0,23,0
$FINISH,0.5,1.026605
$STATE,14463,end surface coast,CONTROL_FINISHED_OK
$STATE,14463,begin surface
$SM_CCo,14480,43.70,0.812,0,0,1475,325.02
$SM_GC,1.17,0.00,0.00,43.70,0.000,0.000,0.812,130,2470,1475,-8.00,0.28,325.02
$RAFOS_CLK,993
$RAFOS,6,1260190142,12.833333,12.817223,64,58,53,0,0,0,150,173,117,0,0,0
$RAFOS,5,1260189667,12.700000,12.685278,67,64,61,0,0,0,184,202,608,0,0,0
$RAFOS,4,1260189208,12.566667,12.557777,63,60,56,0,0,0,205,166,182,0,0,0
$RAFOS,3,1260188701,12.433333,12.416945,67,58,58,0,0,0,175,162,188,0,0,0
$RAFOS,2,1260188225,12.300000,12.284722,61,59,58,0,0,0,184,216,198,0,0,0
$RAFOS,1,1260187744,12.166667,12.151111,61,57,52,0,0,0,194,217,172,0,0,0
$RAFOS,0,1260187262,12.033333,12.017222,62,60,57,0,0,0,210,191,137,0,0,0
$RAFOS_FIX,6648.350098,-5800.817383,071209,080856,2,75,0.55
$IRIDIUM_FIX,6620.33,-5753.90,030399,101044
$TT8_MAMPS,0.027612
$HUMID,49.01
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,16.50
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.8,19.5
$ALTIM_BOTTOM_PING,600.3,100.0
$24V_AH,22.4,52.395
$10V_AH,10.1,27.622
$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,24.875,187.975,360.875,43.700,0.000,84.787,152.020,256.828,4.000,0.000,183.227,2351.990,9170.950,580.420,2590.233,800.378,0.000,1836.495,0.000,2372.057,2520.000,21.908,0.000
$DEVICE_MAMPS,304.499,106.613,1208.792,812.253,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,986.473,953.381,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152416
$DATA_FILE_SIZE,53533,1349
$CAP_FILE_SIZE,175896,0
$CFSIZE,260165632,229064704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.1
$GPS,071209,144437,6646.692,-5753.837,29,1.6,29,-37.5