version: 66.06
glider: 143
mission: 10
dive: 259
start: 12 7 109 15 0 2
data:
$ID,143
$MISSION,10
$DIVE,259
$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,-37810.449
$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,16
$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
$GPS1,144437,6646.692,-5753.837,29,1.6,29,-37.5
$_CALLS,3
$_XMS_NAKs,14
$_XMS_TOUTs,3
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-65.1
$GPS2,144437,6646.692,-5753.837,181,99.0,181,-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,95.1,56326,-16.9,-9.167
$D_GRID,682
$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,-146.0,0.0,0.0,0,109,0.00,0.00,-90.43,0.000,2,0.000,0.000,128,2474,2839,0,0,0,0,0,0
$GC,112,-0.73,-146.0,3.1,-6.1,18,149,11.57,2.53,-19.20,0.000,4,0.305,0.107,2456,864,3396,0,0,0,0,0,0
$GC,284,-0.64,-146.0,21.6,-11.4,49,290,0.00,2.42,0.00,0.000,6,0.000,0.083,2456,2456,3398,0,0,0,0,0,0
$GC,627,-0.64,-146.0,66.6,-12.0,110,633,0.00,3.05,0.00,0.000,4,0.000,0.100,2456,3915,3399,0,0,0,0,0,0
$GC,886,-0.64,-146.0,92.7,-8.8,156,892,0.00,2.90,0.00,0.000,6,0.000,0.074,2456,2478,3399,0,0,0,0,0,0
$GC,1216,-0.64,-146.0,124.2,-10.1,194,1221,0.00,3.03,0.00,0.000,4,0.000,0.098,2456,3916,3399,0,0,0,0,0,0
$GC,1450,-0.64,-146.0,148.2,-9.4,214,1456,0.00,2.85,0.00,0.000,6,0.000,0.074,2456,2498,3398,0,0,0,0,0,0
$GC,1776,-0.70,-146.0,177.4,-8.5,245,1781,0.00,3.00,0.00,0.000,4,0.000,0.099,2456,3922,3398,0,0,0,0,0,0
$GC,1977,-0.76,-146.0,194.3,-8.3,262,1983,0.00,2.85,0.00,0.000,6,0.000,0.074,2456,2510,3398,0,0,0,0,0,0
$GC,2302,-0.82,-146.0,219.7,-7.0,293,2307,0.00,2.97,0.00,0.000,4,0.000,0.099,2456,3916,3398,0,0,0,0,0,0
$GC,2460,-0.90,-146.0,232.0,-8.2,306,2466,0.17,2.80,0.00,0.000,6,0.120,0.074,2402,2536,3397,0,0,0,0,0,0
$GC,2785,-0.80,-146.0,262.7,-9.7,337,2790,0.12,2.95,0.00,0.000,4,0.216,0.097,2426,3916,3397,0,0,0,0,0,0
$GC,2897,-0.80,-146.0,272.0,-8.0,346,2903,0.00,2.78,0.00,0.000,6,0.000,0.074,2426,2552,3397,0,0,0,0,0,0
$GC,3222,-0.80,-146.0,297.2,-7.9,377,3226,0.00,2.90,0.00,0.000,4,0.000,0.097,2426,3920,3397,0,0,0,0,0,0
$GC,3384,-0.80,-146.0,310.8,-9.0,391,3389,0.00,2.75,0.00,0.000,6,0.000,0.073,2426,2566,3397,0,0,0,0,0,0
$GC,3708,-0.80,-146.0,341.5,-9.9,421,3713,0.00,2.88,0.00,0.000,4,0.000,0.096,2426,3919,3397,0,0,0,0,0,0
$GC,3870,-0.80,-146.0,357.9,-9.7,435,3875,0.00,2.72,0.00,0.000,6,0.000,0.071,2426,2580,3396,0,0,0,0,0,0
$GC,4195,-0.80,-146.0,386.7,-8.7,465,4199,0.00,2.85,0.00,0.000,4,0.000,0.096,2426,3920,3397,0,0,0,0,0,0
$GC,4325,-0.80,-146.0,398.1,-8.5,476,4329,0.00,2.70,0.00,0.000,6,0.000,0.071,2426,2589,3397,0,0,0,0,0,0
$GC,4649,-0.80,-146.0,425.5,-8.4,506,4654,0.00,2.83,0.00,0.000,4,0.000,0.094,2426,3920,3397,0,0,0,0,0,0
$GC,4733,-0.80,-146.0,432.9,-9.2,513,4738,0.00,2.67,0.00,0.000,6,0.000,0.070,2426,2601,3398,0,0,0,0,0,0
$GC,5058,-0.80,-146.0,460.4,-8.9,543,5063,0.00,2.80,0.00,0.000,4,0.000,0.094,2426,3919,3398,0,0,0,0,0,0
$GC,5124,-0.80,-146.0,466.3,-9.1,548,5130,0.00,2.65,0.00,0.000,6,0.000,0.069,2426,2605,3398,0,0,0,0,0,0
$GC,5450,-0.80,-146.0,494.3,-9.1,579,5454,0.00,2.80,0.00,0.000,4,0.000,0.093,2426,3924,3399,0,0,0,0,0,0
$GC,5551,-0.80,-146.0,503.6,-9.3,587,5556,0.00,2.67,0.00,0.000,6,0.000,0.069,2426,2605,3399,0,0,0,0,0,0
$GC,5875,-0.80,-146.0,531.6,-8.7,618,5879,0.00,2.78,0.00,0.000,4,0.000,0.094,2426,3916,3399,0,0,0,0,0,0
$GC,5947,-0.80,-146.0,538.0,-9.0,624,5951,0.00,2.60,0.00,0.000,6,0.000,0.069,2426,2614,3399,0,0,0,0,0,0
$GC,6277,-0.80,-146.0,565.8,-8.6,655,6282,0.00,2.78,0.00,0.000,4,0.000,0.093,2426,3919,3400,0,0,0,0,0,0
$GC,6365,-0.80,-146.0,573.8,-8.9,662,6371,0.00,2.62,0.00,0.000,6,0.000,0.068,2426,2618,3400,0,0,0,0,0,0
$GC,6700,-0.80,-146.0,603.2,-8.7,692,6704,0.00,2.78,0.00,0.000,4,0.000,0.093,2426,3921,3400,0,0,0,0,0,0
$GC,6822,-0.80,-146.0,614.3,-9.0,695,6828,0.00,2.62,0.00,0.000,6,0.000,0.067,2426,2619,3400,0,0,0,0,0,0
$GC,7135,-0.80,-146.0,642.2,-8.9,706,7139,0.00,2.75,0.00,0.000,4,0.000,0.093,2426,3917,3400,0,0,0,0,0,0
$GC,7230,-0.80,-146.0,649.9,-8.1,709,7234,0.00,2.60,0.00,0.000,6,0.000,0.067,2426,2632,3400,0,0,0,0,0,0
$GC,7564,-0.80,-146.0,678.7,-8.4,720,7569,0.00,2.75,0.00,0.000,4,0.000,0.094,2426,3919,3401,0,0,0,0,0,0
$STATE,7600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7600,begin apogee
$GC,7608,-0.16,0.0,682.3,8.8,721,7735,0.75,0.00,123.60,1.206,6,0.192,0.000,2627,1953,2800,0,0,0,0,0,0
$STATE,7736,end apogee,CONTROL_FINISHED_OK
$STATE,7736,begin climb
$GC,7738,0.73,146.0,685.1,0.0,725,7875,1.00,2.58,129.25,1.150,4,0.143,0.094,2924,360,2203,0,0,0,0,0,0
$GC,7971,0.62,146.0,664.1,10.7,732,7976,0.15,2.38,0.00,0.000,6,0.198,0.067,2894,1956,2198,0,0,0,0,0,0
$GC,8289,0.62,146.0,633.0,10.1,743,8294,0.00,3.25,0.00,0.000,4,0.000,0.084,2892,3536,2194,0,0,0,0,0,0
$GC,8366,0.54,146.0,625.0,9.4,745,8372,0.17,3.22,0.00,0.000,6,0.202,0.077,2867,1959,2193,0,0,0,0,0,0
$GC,8685,0.68,174.4,600.5,8.0,756,8717,0.15,3.28,23.75,1.106,4,0.116,0.087,2915,3544,2088,0,0,0,0,0,0
$GC,8807,0.57,174.4,586.5,12.5,765,8813,0.22,3.20,0.00,0.000,6,0.204,0.078,2877,1969,2085,0,0,0,0,0,0
$GC,9132,0.68,180.2,556.5,8.9,795,9144,0.00,3.20,5.88,0.894,4,0.000,0.085,2875,3542,2064,0,0,0,0,0,0
$GC,9239,0.68,180.2,545.7,10.4,804,9245,0.00,3.12,0.00,0.000,6,0.000,0.077,2888,1993,2063,0,0,0,0,0,0
$GC,9563,0.74,180.2,513.2,10.0,835,9569,0.12,3.17,0.00,0.000,4,0.110,0.085,2933,3539,2063,0,0,0,0,0,0
$GC,9631,0.57,180.2,504.3,13.9,840,9637,0.28,3.10,0.00,0.000,6,0.202,0.077,2882,2006,2063,0,0,0,0,0,0
$GC,9955,0.67,180.9,473.7,9.1,871,9960,0.00,3.12,0.00,0.000,4,0.000,0.086,2881,3539,2063,0,0,0,0,0,0
$GC,10044,0.67,180.9,464.7,10.4,878,10050,0.00,3.08,0.00,0.000,6,0.000,0.077,2892,2020,2062,0,0,0,0,0,0
$GC,10369,0.72,180.9,435.8,9.2,909,10374,0.00,3.10,0.00,0.000,4,0.000,0.086,2892,3538,2062,0,0,0,0,0,0
$GC,10435,0.72,180.9,429.0,10.0,914,10441,0.00,3.05,0.00,0.000,6,0.000,0.077,2905,2030,2062,0,0,0,0,0,0
$GC,10760,0.72,182.0,399.1,9.1,945,10765,0.00,3.08,0.00,0.000,4,0.000,0.086,2905,3537,2062,0,0,0,0,0,0
$GC,10826,0.67,182.0,392.4,11.0,950,10832,0.00,3.03,0.00,0.000,6,0.000,0.077,2918,2049,2062,0,0,0,0,0,0
$GC,11152,0.67,182.0,359.4,10.8,981,11153,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2050,2062,0,0,0,0,0,0
$GC,11470,0.67,182.0,323.9,10.8,1011,11475,0.00,3.05,0.00,0.000,4,0.000,0.087,2918,3537,2062,0,0,0,0,0,0
$GC,11548,0.59,182.0,314.5,11.7,1017,11554,0.20,3.00,0.00,0.000,6,0.204,0.077,2885,2051,2062,0,0,0,0,0,0
$GC,11873,0.77,232.5,287.7,7.0,1048,11925,0.17,3.12,44.85,0.953,4,0.115,0.085,2943,3544,1851,0,0,0,0,0,0
$GC,11987,0.66,232.5,274.8,12.4,1058,11993,0.22,3.08,0.00,0.000,6,0.199,0.077,2903,2055,1847,0,0,0,0,0,0
$GC,12312,0.77,245.8,245.5,8.6,1089,12333,0.12,3.10,12.07,0.878,4,0.127,0.086,2943,3527,1797,0,0,0,0,0,0
$GC,12385,0.69,245.8,237.1,12.2,1095,12391,0.17,3.00,0.00,0.000,6,0.201,0.077,2916,2068,1796,0,0,0,0,0,0
$GC,12710,0.76,245.8,201.9,10.5,1126,12715,0.00,3.05,0.00,0.000,4,0.000,0.086,2916,3544,1794,0,0,0,0,0,0
$GC,12742,0.76,245.8,198.1,11.9,1128,12748,0.00,3.00,0.00,0.000,6,0.000,0.077,2927,2077,1794,0,0,0,0,0,0
$GC,13067,0.84,245.8,162.8,10.5,1159,13068,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2078,1793,0,0,0,0,0,0
$GC,13387,0.93,245.8,130.0,9.9,1189,13393,0.17,3.05,0.00,0.000,4,0.100,0.087,2989,3541,1792,0,0,0,0,0,0
$GC,13450,0.76,245.8,121.1,14.8,1194,13455,0.28,2.97,0.00,0.000,6,0.202,0.078,2937,2083,1792,0,0,0,0,0,0
$GC,13781,0.84,245.8,86.9,9.8,1235,13787,0.00,3.00,0.00,0.000,4,0.000,0.088,2936,3537,1792,0,0,0,0,0,0
$GC,13906,0.90,245.8,70.7,15.7,1257,13912,0.00,2.95,0.00,0.000,6,0.000,0.081,2947,2098,1792,0,0,0,0,0,0
$GC,14251,0.95,245.8,28.2,12.2,1318,14257,0.15,0.00,0.00,0.000,6,0.112,0.000,3003,2099,1792,0,0,0,0,0,0
$FREEZE,8.70,-1.228,-1.823,0,24,0
$FREEZE,7.82,-1.227,-1.822,0,24,0
$FREEZE,6.95,-1.217,-1.821,0,24,0
$FREEZE,5.90,-1.218,-1.821,0,24,0
$FREEZE,5.16,-1.216,-1.820,0,24,0
$FREEZE,4.48,-1.212,-1.819,0,24,0
$FREEZE,3.47,-1.220,-1.819,0,24,0
$FREEZE,2.43,-1.218,-1.818,0,24,0
$FREEZE,1.85,-1.228,-1.818,0,24,0
$STATE,14464,end climb,SURFACE_DEPTH_REACHED
$STATE,14464,begin surface coast
$FREEZE,0.99,-1.226,-1.817,0,24,0
$FREEZE,0.37,-1.221,-1.816,0,24,0
$FINISH,0.4,1.026656
$STATE,14476,end surface coast,CONTROL_FINISHED_OK
$STATE,14476,begin surface
$SM_CCo,14493,64.30,0.810,0,0,1474,325.02
$SM_GC,1.25,0.00,0.00,64.30,0.000,0.000,0.810,128,2462,1474,-8.00,0.06,325.02
$RAFOS_CLK,994
$RAFOS,6,1260204541,16.833334,16.816944,75,70,57,0,0,0,764,158,215,0,0,0
$RAFOS,5,1260204064,16.700001,16.684444,65,60,58,0,0,0,219,596,181,0,0,0
$RAFOS,4,1260203588,16.566668,16.552221,96,66,65,0,0,0,694,222,202,0,0,0
$RAFOS,3,1260203103,16.433332,16.417500,62,58,56,0,0,0,201,219,179,0,0,0
$RAFOS,2,1260202628,16.299999,16.285555,65,55,54,0,0,0,181,202,218,0,0,0
$RAFOS,1,1260202142,16.166666,16.150555,63,61,58,0,0,0,190,215,139,0,0,0
$RAFOS,0,1260201666,16.033333,16.018333,70,67,60,0,0,0,165,217,147,0,0,0
$RAFOS_FIX,6649.940918,-5756.321777,071209,161644,2,86,0.88
$IRIDIUM_FIX,6614.97,-5756.79,030399,151530
$TT8_MAMPS,0.026845
$HUMID,49.25
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,16.30
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.9,18.8
$ALTIM_BOTTOM_PING,500.5,203.7
$24V_AH,22.4,52.542
$10V_AH,10.1,27.710
$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,24.675,181.375,339.400,64.300,0.000,86.342,206.180,146.722,3.250,0.000,183.213,2339.811,9194.862,582.416,2622.982,722.125,0.000,1840.967,0.000,2407.330,2520.000,14.654,0.000
$DEVICE_MAMPS,305.266,106.613,1206.491,809.952,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,992.964,959.258,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152396
$DATA_FILE_SIZE,53574,1358
$CAP_FILE_SIZE,170942,0
$CFSIZE,260165632,228958208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.0
$GPS,071209,190531,6649.721,-5751.436,108,1.5,114,-37.5