version: 66.06
glider: 143
mission: 10
dive: 260
start: 12 7 109 19 21 53
data:
$ID,143
$MISSION,10
$DIVE,260
$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,-37994.297
$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,17
$R_STBD_OVSHOOT,17
$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
$GPS1,190531,6649.721,-5751.436,108,1.5,114,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-60.5
$GPS2,190531,6649.721,-5751.436,181,99.0,181,-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,99.3,51994,-16.9,-9.167
$D_GRID,712
$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,-90.62,0.000,2,0.000,0.000,126,2465,2899,0,0,0,0,0,0
$GC,112,-0.73,-146.0,3.1,-2.8,18,143,11.43,0.00,-17.17,0.000,6,0.302,0.000,2445,2465,3396,0,0,0,0,0,0
$GC,482,-0.67,-146.0,47.1,-10.6,84,488,0.00,3.05,0.00,0.000,4,0.000,0.100,2445,3920,3400,0,0,1,0,0,0
$GC,635,-0.62,-146.0,66.2,-12.0,111,642,0.17,2.95,0.00,0.000,6,0.222,0.073,2485,2447,3400,0,0,0,0,0,0
$GC,979,-0.74,-146.0,95.4,-9.3,172,985,0.12,3.08,0.00,0.000,4,0.135,0.094,2432,3913,3400,0,0,0,0,0,0
$GC,1183,-0.69,-146.0,118.4,-10.9,194,1188,0.15,2.88,0.00,0.000,6,0.225,0.071,2463,2471,3400,0,0,0,0,0,0
$GC,1508,-0.74,-146.0,146.4,-8.0,224,1513,0.00,3.03,0.00,0.000,4,0.000,0.097,2463,3914,3400,0,0,0,0,0,0
$GC,1683,-0.82,-146.0,160.9,-8.0,239,1688,0.12,2.88,0.00,0.000,6,0.133,0.072,2425,2482,3400,0,0,0,0,0,0
$GC,2007,-0.76,-146.0,192.7,-10.5,269,2012,0.00,3.03,0.00,0.000,4,0.000,0.098,2425,3921,3400,0,0,0,0,0,0
$GC,2129,-0.76,-146.0,206.6,-11.6,279,2135,0.00,2.88,0.00,0.000,6,0.000,0.073,2425,2489,3400,0,0,0,0,0,0
$GC,2454,-0.76,-146.0,240.7,-9.5,310,2458,0.00,3.00,0.00,0.000,4,0.000,0.097,2425,3912,3400,0,0,0,0,0,0
$GC,2514,-0.76,-146.0,246.5,-9.3,315,2519,0.00,2.85,0.00,0.000,6,0.000,0.073,2425,2501,3400,0,0,0,0,0,0
$GC,2840,-0.76,-146.0,275.5,-8.6,345,2845,0.00,3.00,0.00,0.000,4,0.000,0.097,2425,3919,3399,0,0,0,0,0,0
$GC,3008,-0.76,-146.0,290.5,-8.9,359,3013,0.00,2.85,0.00,0.000,6,0.000,0.073,2425,2503,3399,0,0,0,0,0,0
$GC,3332,-0.76,-146.0,320.1,-9.5,390,3337,0.00,2.97,0.00,0.000,4,0.000,0.096,2425,3913,3399,0,0,0,0,0,0
$GC,3489,-0.76,-146.0,334.8,-9.6,403,3494,0.00,2.80,0.00,0.000,6,0.000,0.071,2425,2526,3399,0,0,0,0,0,0
$GC,3813,-0.76,-146.0,362.6,-8.1,434,3818,0.00,2.92,0.00,0.000,4,0.000,0.095,2425,3912,3400,0,0,0,0,0,0
$GC,4025,-0.76,-146.0,380.8,-8.6,452,4031,0.00,2.78,0.00,0.000,6,0.000,0.070,2425,2536,3400,0,0,0,0,0,0
$GC,4350,-0.76,-146.0,407.7,-7.9,483,4355,0.00,2.92,0.00,0.000,4,0.000,0.094,2425,3914,3400,0,0,0,0,0,0
$GC,4491,-0.76,-146.0,418.7,-7.9,495,4495,0.00,2.75,0.00,0.000,6,0.000,0.070,2425,2561,3400,0,0,0,0,0,0
$GC,4815,-0.76,-146.0,443.7,-8.2,525,4820,0.00,2.88,0.00,0.000,4,0.000,0.093,2425,3921,3401,0,0,0,0,0,0
$GC,4945,-0.76,-146.0,455.1,-9.4,536,4949,0.00,2.72,0.00,0.000,6,0.000,0.068,2425,2571,3401,0,0,0,0,0,0
$GC,5269,-0.76,-146.0,484.8,-9.1,566,5274,0.00,2.85,0.00,0.000,4,0.000,0.093,2425,3913,3401,0,0,0,0,0,0
$GC,5410,-0.76,-146.0,498.1,-9.3,578,5415,0.00,2.70,0.00,0.000,6,0.000,0.070,2425,2583,3402,0,0,0,0,0,0
$GC,5735,-0.76,-146.0,527.1,-8.6,608,5739,0.00,2.83,0.00,0.000,4,0.000,0.092,2425,3914,3402,0,0,0,0,0,0
$GC,5892,-0.76,-146.0,541.6,-9.4,621,5897,0.00,2.67,0.00,0.000,6,0.000,0.068,2425,2595,3402,0,0,0,0,0,0
$GC,6216,-0.76,-146.0,570.4,-9.0,652,6221,0.00,2.83,0.00,0.000,4,0.000,0.093,2425,3918,3402,0,0,0,0,0,0
$GC,6334,-0.76,-146.0,580.8,-9.1,662,6338,0.00,2.67,0.00,0.000,6,0.000,0.068,2425,2598,3402,0,0,0,0,0,0
$GC,6656,-0.76,-146.0,608.1,-8.7,686,6661,0.00,2.80,0.00,0.000,4,0.000,0.092,2425,3917,3402,0,0,0,0,0,0
$GC,6761,-0.76,-146.0,618.0,-9.0,689,6765,0.00,2.65,0.00,0.000,6,0.000,0.067,2425,2607,3403,0,0,0,0,0,0
$GC,7087,-0.76,-146.0,647.0,-8.8,700,7091,0.00,2.78,0.00,0.000,4,0.000,0.093,2425,3913,3403,0,0,0,0,0,0
$GC,7183,-0.81,-146.0,655.2,-8.5,703,7187,0.00,2.62,0.00,0.000,6,0.000,0.068,2425,2615,3403,0,0,0,0,0,0
$GC,7517,-0.81,-146.0,682.1,-7.8,714,7522,0.00,2.78,0.00,0.000,4,0.000,0.093,2425,3921,3403,0,0,0,0,0,0
$GC,7583,-0.87,-146.0,686.6,-6.6,716,7588,0.00,2.62,0.00,0.000,6,0.000,0.067,2425,2617,3403,0,0,0,0,0,0
$GC,7914,-0.92,-146.0,709.2,-6.7,727,7918,0.00,2.78,0.00,0.000,4,0.000,0.094,2425,3919,3403,0,0,0,0,0,0
$STATE,7955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7955,begin apogee
$GC,7964,-0.16,0.0,712.4,7.8,728,8092,0.75,0.00,124.68,1.227,6,0.190,0.000,2627,1944,2800,0,0,0,0,0,0
$STATE,8093,end apogee,CONTROL_FINISHED_OK
$STATE,8093,begin climb
$GC,8095,0.73,146.0,715.6,0.0,732,8235,1.00,2.62,130.23,1.170,4,0.143,0.095,2922,362,2203,0,0,0,0,0,0
$GC,8285,0.63,146.0,700.9,10.7,738,8289,0.00,2.40,0.00,0.000,6,0.000,0.068,2921,1956,2200,0,0,0,0,0,0
$GC,8620,0.52,146.0,662.4,11.5,749,8626,0.25,3.30,0.00,0.000,4,0.201,0.084,2852,3545,2196,0,0,0,0,0,0
$GC,8671,0.59,146.0,657.2,10.6,750,8676,0.00,3.25,0.00,0.000,6,0.000,0.077,2864,1960,2193,0,0,0,0,0,0
$GC,8983,0.71,155.0,629.9,8.8,760,8998,0.17,3.28,7.43,0.978,4,0.104,0.087,2926,3537,2168,0,0,0,0,0,0
$GC,9067,0.54,155.0,619.3,14.3,762,9073,0.30,3.20,0.00,0.000,6,0.209,0.078,2869,1960,2167,0,0,0,0,0,0
$GC,9390,0.68,177.6,590.3,8.2,779,9421,0.12,3.25,20.83,1.107,4,0.125,0.084,2910,3539,2074,0,0,0,0,0,0
$GC,9491,0.59,177.6,578.7,12.7,788,9497,0.17,3.17,0.00,0.000,6,0.209,0.078,2885,1983,2072,0,0,0,0,0,0
$GC,9816,0.65,177.6,546.2,9.5,818,9821,0.00,3.17,0.00,0.000,4,0.000,0.087,2885,3536,2070,0,0,0,0,0,0
$GC,9910,0.65,177.6,535.9,11.1,826,9915,0.00,3.12,0.00,0.000,6,0.000,0.077,2896,1993,2069,0,0,0,0,0,0
$GC,10234,0.65,177.6,503.2,10.0,856,10239,0.00,3.15,0.00,0.000,4,0.000,0.087,2896,3536,2069,0,0,0,0,0,0
$GC,10318,0.60,177.6,493.5,11.3,863,10323,0.00,3.10,0.00,0.000,6,0.000,0.077,2909,2001,2069,0,0,0,0,0,0
$GC,10642,0.60,177.6,455.7,12.5,893,10647,0.00,3.15,0.00,0.000,4,0.000,0.086,2909,3544,2069,0,0,0,0,0,0
$GC,10708,0.53,177.6,447.0,13.2,898,10715,0.25,3.10,0.00,0.000,6,0.203,0.077,2863,2021,2068,0,0,0,0,0,0
$GC,11034,0.71,186.4,417.1,8.8,929,11048,0.17,3.12,8.00,0.929,4,0.112,0.087,2921,3532,2039,0,0,0,0,0,0
$GC,11116,0.60,186.4,406.4,14.2,936,11123,0.20,3.05,0.00,0.000,6,0.206,0.078,2888,2030,2039,0,0,0,0,0,0
$GC,11441,0.67,186.4,373.6,9.9,967,11446,0.00,3.10,0.00,0.000,4,0.000,0.086,2887,3543,2039,0,0,0,0,0,0
$GC,11518,0.67,186.4,365.3,10.4,973,11524,0.00,3.05,0.00,0.000,6,0.000,0.077,2899,2038,2039,0,0,0,0,0,0
$GC,11843,0.72,186.4,333.0,9.7,1004,11848,0.00,3.10,0.00,0.000,4,0.000,0.087,2899,3543,2039,0,0,0,0,0,0
$GC,11915,0.72,186.4,325.2,11.3,1010,11920,0.00,3.03,0.00,0.000,6,0.000,0.077,2911,2053,2039,0,0,0,0,0,0
$GC,12239,0.72,186.4,291.9,10.5,1040,12244,0.00,3.05,0.00,0.000,4,0.000,0.086,2912,3537,2039,0,0,0,0,0,0
$GC,12312,0.66,186.4,283.4,12.0,1046,12317,0.00,2.97,0.00,0.000,6,0.000,0.076,2924,2070,2038,0,0,0,0,0,0
$GC,12636,0.66,186.4,248.2,10.0,1076,12641,0.00,3.03,0.00,0.000,4,0.000,0.086,2924,3537,2039,0,0,0,0,0,0
$GC,12714,0.58,186.4,239.5,11.7,1082,12720,0.25,2.97,0.00,0.000,6,0.203,0.077,2877,2070,2039,0,0,0,0,0,0
$GC,13038,0.77,207.9,212.9,8.3,1113,13065,0.20,3.03,19.62,0.905,4,0.107,0.087,2945,3537,1951,0,0,0,0,0,0
$GC,13101,0.66,207.9,205.9,13.1,1118,13106,0.22,2.97,0.00,0.000,6,0.203,0.077,2905,2084,1950,0,0,0,0,0,0
$GC,13425,0.79,207.9,174.0,9.9,1148,13431,0.12,3.05,0.00,0.000,4,0.125,0.087,2946,3543,1949,0,0,0,0,0,0
$GC,13488,0.68,207.9,166.4,12.9,1153,13493,0.20,2.95,0.00,0.000,6,0.202,0.077,2913,2103,1949,0,0,0,0,0,0
$GC,13813,0.80,208.9,137.0,9.1,1183,13815,0.10,0.00,0.00,0.000,6,0.140,0.000,2944,2104,1949,0,0,0,0,0,0
$GC,14131,0.82,229.4,103.2,8.3,1213,14155,0.00,3.00,19.17,0.856,4,0.000,0.089,2944,3542,1863,0,0,0,0,0,0
$GC,14236,0.82,229.4,92.5,11.3,1228,14241,0.00,2.92,0.00,0.000,6,0.000,0.078,2957,2125,1861,0,0,0,0,0,0
$GC,14579,0.82,229.4,53.1,11.7,1289,14584,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2126,1859,0,0,0,0,0,0
$GC,14922,0.87,267.6,19.2,7.6,1350,14958,0.00,0.00,32.92,0.819,6,0.000,0.000,2957,2126,1708,0,0,0,0,0,0
$FREEZE,8.85,-0.959,-1.825,0,25,1
$FREEZE,8.38,-0.961,-1.825,0,25,1
$FREEZE,7.78,-0.961,-1.824,0,25,1
$FREEZE,7.16,-0.959,-1.824,0,25,1
$FREEZE,6.32,-0.959,-1.823,0,25,1
$FREEZE,5.47,-0.961,-1.823,0,25,1
$FREEZE,4.67,-0.967,-1.822,0,25,1
$FREEZE,3.88,-0.963,-1.821,0,25,1
$FREEZE,3.02,-0.958,-1.821,0,25,1
$FREEZE,2.30,-0.959,-1.820,0,25,1
$FREEZE,1.08,-0.960,-1.819,0,25,1
$STATE,15102,end climb,SURFACE_DEPTH_REACHED
$STATE,15103,begin surface coast
$FREEZE,0.43,-0.975,-1.819,0,25,1
$FREEZE,0.28,-0.987,-1.212,0,25,1
$FINISH,0.3,1.017912
$STATE,15114,end surface coast,CONTROL_FINISHED_OK
$STATE,15115,begin surface
$SM_CCo,15132,46.00,0.795,0,0,1473,325.02
$SM_GC,1.40,0.00,0.00,46.00,0.000,0.000,0.795,130,2461,1473,-8.00,0.03,325.02
$RAFOS_CLK,1042
$RAFOS,6,1260218948,20.833334,20.818890,83,64,64,0,0,0,728,222,211,0,0,0
$RAFOS,5,1260218462,20.700001,20.683889,62,60,59,0,0,0,162,216,591,0,0,0
$RAFOS,4,1260217986,20.566668,20.551666,59,59,58,0,0,0,194,712,218,0,0,0
$RAFOS,3,1260217503,20.433332,20.417500,58,57,55,0,0,0,140,826,216,0,0,0
$RAFOS,2,1260217022,20.299999,20.283890,65,54,52,0,0,0,202,216,157,0,0,0
$RAFOS,1,1260216550,20.166666,20.152779,59,58,57,0,0,0,199,211,138,0,0,0
$RAFOS,0,1260216069,20.033333,20.019167,66,59,58,0,0,0,193,206,223,0,0,0
$RAFOS_FIX,6649.940918,-5756.321777,071209,161644,2,86,0.88
$IRIDIUM_FIX,6620.33,-5755.62,030399,191917
$TT8_MAMPS,0.027612
$HUMID,49.33
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,16.40
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.8,18.5
$ALTIM_BOTTOM_PING,650.0,80.9
$24V_AH,22.4,52.690
$10V_AH,10.1,27.803
$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,25.050,189.875,362.875,46.000,0.000,83.927,210.787,120.492,4.250,0.000,183.217,2389.904,9658.755,575.367,2717.869,790.278,0.000,1885.953,0.000,2498.696,2520.000,22.603,0.000
$DEVICE_MAMPS,302.198,99.710,1227.200,794.612,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1018.405,975.905,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152400
$DATA_FILE_SIZE,53496,1385
$CAP_FILE_SIZE,178683,0
$CFSIZE,260165632,228757504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1455.0
$GPS,071209,233657,6650.181,-5745.026,56,99.0,75,-37.5