version: 66.06
glider: 143
mission: 10
dive: 270
start: 12 9 109 15 56 34
data:
$ID,143
$MISSION,10
$DIVE,270
$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,425
$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,-39831.77
$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,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
$GPS1,154007,6656.564,-5706.354,41,1.6,41,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-59.9
$GPS2,154007,6656.564,-5706.354,181,99.0,181,-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,85.5,17825,-16.9,-9.167
$D_GRID,717
$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,14,-0.73,-146.0,0.0,0.0,0,144,0.00,0.00,-125.28,0.000,2,0.000,0.000,129,2464,3098,0,0,0,0,0,0
$GC,147,-0.73,-146.0,3.7,-6.4,25,174,11.30,2.45,-7.95,0.000,4,0.299,0.110,2447,866,3398,0,0,0,0,0,0
$GC,243,-0.64,-146.0,22.6,-16.3,42,249,0.15,2.38,0.00,0.000,6,0.239,0.081,2480,2457,3402,0,0,0,0,0,0
$GC,589,-0.71,-146.0,57.1,-7.9,103,595,0.00,3.12,0.00,0.000,4,0.000,0.097,2480,3920,3402,0,0,0,0,0,0
$GC,825,-0.81,-146.0,77.7,-9.2,145,831,0.17,2.95,0.00,0.000,6,0.114,0.071,2423,2476,3402,0,0,0,0,0,0
$GC,1162,-0.74,-146.0,113.3,-11.4,195,1167,0.00,3.08,0.00,0.000,4,0.000,0.097,2422,3915,3402,0,0,0,0,0,0
$GC,1298,-0.68,-146.0,128.0,-10.5,206,1304,0.20,2.92,0.00,0.000,6,0.222,0.072,2467,2486,3402,0,0,0,0,0,0
$GC,1624,-0.78,-146.0,155.2,-9.2,237,1629,0.00,3.08,0.00,0.000,4,0.000,0.097,2467,3926,3402,0,0,0,0,0,0
$GC,1725,-0.90,-146.0,165.6,-10.4,245,1732,0.22,2.92,0.00,0.000,6,0.108,0.072,2395,2495,3401,0,0,0,0,0,0
$GC,2050,-0.78,-146.0,203.5,-9.2,276,2056,0.17,3.08,0.00,0.000,4,0.217,0.095,2426,3917,3401,0,0,0,0,0,0
$GC,2192,-0.78,-146.0,217.6,-10.1,288,2197,0.00,2.90,0.00,0.000,6,0.000,0.071,2426,2497,3401,0,0,0,0,0,0
$GC,2517,-0.78,-146.0,246.1,-8.0,318,2522,0.00,3.05,0.00,0.000,4,0.000,0.096,2425,3924,3401,0,0,0,0,0,0
$GC,2696,-0.78,-146.0,261.6,-9.0,333,2702,0.00,2.88,0.00,0.000,6,0.000,0.071,2425,2521,3400,0,0,0,0,0,0
$GC,3021,-0.78,-146.0,289.9,-9.0,364,3026,0.00,3.00,0.00,0.000,4,0.000,0.094,2425,3926,3401,0,0,1,0,0,0
$GC,3188,-0.78,-146.0,306.5,-9.9,378,3194,0.00,2.85,0.00,0.000,6,0.000,0.069,2426,2539,3400,0,0,0,0,0,0
$GC,3513,-0.78,-146.0,337.2,-9.5,409,3517,0.00,2.92,0.00,0.000,4,0.000,0.094,2425,3919,3401,0,0,0,0,0,0
$GC,3675,-0.78,-146.0,352.7,-9.0,423,3680,0.00,2.80,0.00,0.000,6,0.000,0.068,2425,2559,3401,0,0,0,0,0,0
$GC,3999,-0.78,-146.0,381.0,-8.5,453,4004,0.00,2.92,0.00,0.000,4,0.000,0.093,2425,3916,3401,0,0,1,0,0,0
$GC,4121,-0.78,-146.0,391.8,-8.9,463,4127,0.00,2.80,0.00,0.000,6,0.000,0.068,2425,2560,3402,0,0,0,0,0,0
$GC,4446,-0.78,-146.0,419.3,-8.6,494,4451,0.00,2.92,0.00,0.000,4,0.000,0.092,2425,3920,3402,0,0,1,0,0,0
$GC,4581,-0.78,-146.0,430.8,-9.1,505,4586,0.00,2.78,0.00,0.000,6,0.000,0.067,2425,2579,3402,0,0,0,0,0,0
$GC,4905,-0.78,-146.0,457.8,-8.2,536,4910,0.00,2.90,0.00,0.000,4,0.000,0.092,2425,3925,3402,0,0,1,0,0,0
$GC,5039,-0.78,-146.0,469.2,-8.5,547,5045,0.00,2.78,0.00,0.000,6,0.000,0.067,2425,2582,3402,0,0,0,0,0,0
$GC,5364,-0.78,-146.0,496.6,-8.4,578,5368,0.00,2.88,0.00,0.000,4,0.000,0.091,2425,3917,3403,0,0,1,0,0,0
$GC,5470,-0.78,-146.0,506.2,-9.3,587,5475,0.00,2.75,0.00,0.000,6,0.000,0.067,2425,2597,3402,0,0,0,0,0,0
$GC,5794,-0.78,-146.0,536.1,-9.4,617,5799,0.00,2.88,0.00,0.000,4,0.000,0.091,2425,3916,3403,0,0,0,0,0,0
$GC,5894,-0.78,-146.0,545.5,-10.0,625,5900,0.00,2.72,0.00,0.000,6,0.000,0.066,2425,2600,3403,0,0,0,0,0,0
$GC,6219,-0.78,-146.0,573.2,-7.7,656,6223,0.00,2.85,0.00,0.000,4,0.000,0.091,2425,3916,3403,0,0,1,0,0,0
$GC,6360,-0.78,-146.0,584.1,-7.8,668,6365,0.00,2.70,0.00,0.000,6,0.000,0.066,2425,2618,3403,0,0,0,0,0,0
$GC,6701,-0.78,-146.0,609.7,-7.7,692,6705,0.00,2.85,0.00,0.000,4,0.000,0.090,2426,3921,3404,0,0,0,0,0,0
$GC,6801,-0.83,-146.0,618.1,-8.4,695,6806,0.00,2.70,0.00,0.000,6,0.000,0.064,2425,2626,3403,0,0,0,0,0,0
$GC,7131,-0.87,-146.0,645.0,-8.2,706,7135,0.00,2.83,0.00,0.000,4,0.000,0.089,2425,3926,3404,0,0,0,0,0,0
$GC,7243,-0.92,-146.0,653.9,-7.5,709,7247,0.00,2.70,0.00,0.000,6,0.000,0.064,2425,2626,3404,0,0,0,0,0,0
$GC,7561,-0.92,-146.0,677.3,-7.3,720,7566,0.00,2.83,0.00,0.000,4,0.000,0.089,2425,3925,3404,0,0,0,0,0,0
$GC,7662,-0.97,-146.0,684.8,-7.5,723,7667,0.15,2.67,0.00,0.000,6,0.112,0.064,2374,2634,3404,0,0,0,0,0,0
$GC,7991,-0.86,-146.0,714.0,-9.1,734,7996,0.15,2.80,0.00,0.000,4,0.211,0.087,2397,3925,3404,0,0,1,0,0,0
$STATE,8017,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8018,begin apogee
$GC,8027,-0.16,0.0,716.6,9.0,735,8155,0.90,0.00,124.78,1.209,6,0.195,0.000,2633,1944,2800,0,0,0,0,0,0
$STATE,8156,end apogee,CONTROL_FINISHED_OK
$STATE,8156,begin climb
$GC,8158,0.73,146.0,718.9,0.0,739,8296,0.95,2.47,129.50,1.154,4,0.129,0.090,2924,358,2203,0,0,0,0,0,0
$GC,8346,0.60,146.0,703.0,12.8,745,8350,0.17,2.33,0.00,0.000,6,0.195,0.065,2888,1962,2200,0,0,0,0,0,0
$GC,8680,0.60,146.0,667.1,10.7,756,8685,0.00,3.30,0.00,0.000,4,0.000,0.081,2887,3542,2195,0,0,1,0,0,0
$GC,8810,0.53,146.0,651.9,12.5,760,8816,0.15,3.28,0.00,0.000,6,0.210,0.073,2868,1971,2194,0,0,0,0,0,0
$GC,9146,0.62,146.0,619.6,9.3,771,9151,0.00,3.25,0.00,0.000,4,0.000,0.081,2868,3540,2194,0,0,0,0,0,0
$GC,9251,0.62,146.0,608.7,10.8,774,9256,0.00,3.20,0.00,0.000,6,0.000,0.074,2879,1976,2192,0,0,0,0,0,0
$GC,9574,0.67,146.0,577.4,10.1,798,9579,0.00,3.22,0.00,0.000,4,0.000,0.082,2880,3538,2193,0,0,0,0,0,0
$GC,9652,0.67,146.0,568.5,11.3,804,9657,0.00,3.17,0.00,0.000,6,0.000,0.074,2893,1986,2192,0,0,0,0,0,0
$GC,9976,0.67,146.0,533.1,11.2,835,9981,0.00,3.20,0.00,0.000,4,0.000,0.081,2893,3536,2192,0,0,0,0,0,0
$GC,10065,0.59,146.0,522.2,12.2,842,10071,0.00,3.12,0.00,0.000,6,0.000,0.073,2907,2009,2193,0,0,0,0,0,0
$GC,10390,0.54,146.0,484.5,11.2,873,10395,0.17,3.15,0.00,0.000,4,0.206,0.081,2864,3535,2192,0,0,0,0,0,0
$GC,10464,0.54,146.0,476.4,11.1,879,10469,0.00,3.12,0.00,0.000,6,0.000,0.074,2876,2005,2192,0,0,0,0,0,0
$GC,10789,0.61,146.0,444.8,9.6,909,10794,0.00,3.17,0.00,0.000,4,0.000,0.082,2876,3536,2192,0,0,0,0,0,0
$GC,10872,0.61,146.0,436.0,10.4,916,10877,0.00,3.10,0.00,0.000,6,0.000,0.073,2889,2021,2192,0,0,0,0,0,0
$GC,11197,0.63,156.7,405.3,8.7,946,11211,0.00,3.12,8.48,0.900,4,0.000,0.082,2890,3536,2160,0,0,0,0,0,0
$GC,11290,0.63,156.7,396.2,10.1,954,11296,0.00,3.08,0.00,0.000,6,0.000,0.072,2903,2034,2160,0,0,0,0,0,0
$GC,11615,0.64,170.1,368.2,8.6,985,11637,0.00,3.17,12.85,0.937,4,0.000,0.082,2903,3540,2105,0,0,0,0,0,0
$GC,11698,0.59,170.1,359.9,10.4,992,11704,0.15,3.08,0.00,0.000,6,0.209,0.073,2884,2053,2103,0,0,0,0,0,0
$GC,12025,0.73,210.6,334.1,7.5,1023,12067,0.12,3.15,34.62,0.950,4,0.124,0.081,2924,3535,1941,0,0,0,0,0,0
$GC,12151,0.64,210.6,320.1,11.6,1034,12157,0.17,3.08,0.00,0.000,6,0.206,0.072,2899,2070,1936,0,0,0,0,0,0
$GC,12475,0.71,210.6,290.2,9.3,1065,12480,0.00,3.10,0.00,0.000,4,0.000,0.081,2899,3544,1935,0,0,0,0,0,0
$GC,12542,0.71,210.6,283.1,10.6,1070,12547,0.00,3.03,0.00,0.000,6,0.000,0.072,2909,2089,1934,0,0,0,0,0,0
$GC,12866,0.75,210.6,251.9,9.7,1101,12871,0.00,3.05,0.00,0.000,4,0.000,0.081,2909,3538,1933,0,0,0,0,0,0
$GC,12921,0.75,210.6,246.2,10.8,1105,12927,0.00,3.00,0.00,0.000,6,0.000,0.072,2922,2095,1933,0,0,0,0,0,0
$GC,13246,0.75,210.6,213.0,10.0,1136,13250,0.00,3.05,0.00,0.000,4,0.000,0.083,2922,3544,1932,0,0,0,0,0,0
$GC,13273,0.75,210.6,210.0,10.8,1138,13278,0.00,3.00,0.00,0.000,6,0.000,0.073,2935,2099,1931,0,0,0,0,0,0
$GC,13597,0.70,210.6,170.0,13.4,1168,13602,0.00,3.03,0.00,0.000,4,0.000,0.083,2935,3538,1931,0,0,0,0,0,0
$GC,13618,0.63,210.6,166.9,13.6,1169,13625,0.22,2.97,0.00,0.000,6,0.202,0.072,2895,2107,1931,0,0,0,0,0,0
$GC,13943,0.77,210.6,129.0,12.0,1200,13949,0.15,3.03,0.00,0.000,4,0.120,0.081,2946,3541,1931,0,0,0,0,0,0
$GC,13988,0.67,210.6,122.2,15.5,1203,13994,0.20,2.95,0.00,0.000,6,0.202,0.072,2912,2118,1931,0,0,0,0,0,0
$GC,14320,0.78,210.6,84.3,10.8,1246,14325,0.00,3.00,0.00,0.000,4,0.000,0.083,2912,3540,1931,0,0,0,0,0,0
$GC,14376,0.78,210.6,77.2,12.0,1256,14382,0.00,2.97,0.00,0.000,6,0.000,0.074,2922,2110,1931,0,0,0,0,0,0
$GC,14722,0.98,265.2,46.2,6.9,1317,14773,0.22,0.00,45.00,0.794,6,0.092,0.000,3002,2112,1717,0,0,0,0,0,0
$FREEZE,8.53,-0.847,-1.827,0,35,1
$FREEZE,7.69,-0.847,-1.826,0,35,1
$FREEZE,6.68,-0.843,-1.825,0,35,1
$FREEZE,5.84,-0.848,-1.825,0,35,1
$FREEZE,4.69,-0.842,-1.824,0,35,1
$FREEZE,3.54,-0.843,-1.823,0,35,1
$FREEZE,2.49,-0.839,-1.822,0,35,1
$FREEZE,1.43,-0.843,-1.821,0,35,1
$STATE,15065,end climb,SURFACE_DEPTH_REACHED
$STATE,15065,begin surface coast
$FREEZE,0.49,-0.850,-1.821,0,35,1
$FREEZE,0.52,-0.852,-1.819,0,35,1
$FINISH,0.5,1.026681
$STATE,15077,end surface coast,CONTROL_FINISHED_OK
$STATE,15077,begin surface
$SM_CCo,15094,126.18,0.751,0,0,1067,425.10
$SM_GC,1.26,0.00,0.00,126.18,0.000,0.000,0.751,124,2466,1067,-8.02,0.17,425.10
$RAFOS_CLK,1019
$RAFOS,0,1260388861,20.033333,20.016945,61,59,59,0,0,0,220,210,196,0,0,0
$RAFOS,6,1260377343,16.833334,16.817499,60,59,57,0,0,0,139,126,197,0,0,0
$RAFOS,5,1260376866,16.700001,16.684999,57,55,54,0,0,0,219,114,195,0,0,0
$RAFOS,4,1260376383,16.566668,16.550833,65,60,58,0,0,0,220,856,188,0,0,0
$RAFOS,3,1260375905,16.433332,16.418056,60,57,55,0,0,0,224,210,162,0,0,0
$RAFOS,2,1260375421,16.299999,16.283611,68,59,57,0,0,0,198,159,127,0,0,0
$RAFOS,1,1260374944,16.166666,16.151112,62,58,57,0,0,0,196,170,157,0,0,0
$RAFOS,0,1260374464,16.033333,16.017778,62,60,57,0,0,0,221,183,118,0,0,0
$RAFOS_FIX,6658.150391,-5712.716309,091209,121256,2,83,0.36
$IRIDIUM_FIX,6631.12,-5711.93,050399,151531
$TT8_MAMPS,0.026845
$HUMID,47.08
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,16.70
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.1,18.4
$ALTIM_BOTTOM_PING,600.4,130.8
$24V_AH,22.4,54.234
$10V_AH,10.1,28.710
$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,24.700,202.075,355.225,126.175,0.000,84.562,206.854,172.135,3.500,0.000,183.217,2379.085,9597.850,688.359,2709.732,802.282,0.000,2001.076,0.000,2493.215,2880.000,22.662,0.000
$DEVICE_MAMPS,299.130,109.681,1208.792,750.893,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1019.800,960.919,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152408
$DATA_FILE_SIZE,53472,1381
$CAP_FILE_SIZE,176453,0
$CFSIZE,260165632,227209216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$SOUNDSPEED,1459.5
$GPS,091209,201225,6658.078,-5702.342,83,1.3,83,-37.5