version: 66.06
glider: 143
mission: 10
dive: 104
start: 11 8 109 8 57 34
data:
$ID,143
$MISSION,10
$DIVE,104
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,360
$T_MISSION,420
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.5
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-26418.834
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,127
$PITCH_MAX,4070
$C_PITCH,2390
$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
$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,16
$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,20
$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,8
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$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
$GPS1,085007,6645.019,-5951.191,28,1.2,28,-38.0
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-66.0
$GPS2,085714,6645.001,-5951.037,16,1.6,16,-38.0
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_ADD2_EB
$TGT_LATLONG,6651.000,-5910.000
$TGT_RADIUS,10000.000
$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,98.5,31877,-16.9,-9.167
$D_GRID,750
$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,-146.0,0.0,0.0,0,100,0.00,0.00,-81.32,0.000,2,0.000,0.000,131,2463,2868,0,0,0,0,0,0
$GC,102,-0.73,-146.0,3.4,-5.8,16,135,10.02,2.58,-15.60,0.000,4,0.314,0.118,2150,3920,3399,0,0,0,0,0,0
$GC,388,-0.73,-146.0,51.9,-15.3,67,394,0.00,2.45,0.00,0.000,6,0.000,0.076,2151,2451,3402,0,0,0,0,0,0
$GC,731,-0.73,-146.0,98.3,-13.2,128,737,0.00,2.53,0.00,0.000,4,0.000,0.101,2150,3910,3402,0,0,0,0,0,0
$GC,871,-0.73,-146.0,116.6,-12.3,142,878,0.00,2.42,0.00,0.000,6,0.000,0.075,2151,2467,3402,0,0,0,0,0,0
$GC,1197,-0.73,-146.0,154.3,-11.8,173,1201,0.00,2.65,0.00,0.000,4,0.000,0.095,2151,870,3402,0,0,0,0,0,0
$GC,1235,-0.73,-146.0,159.2,-12.5,176,1239,0.00,2.65,0.00,0.000,6,0.000,0.087,2151,2465,3402,0,0,0,0,0,0
$GC,1559,-0.73,-146.0,195.2,-10.8,206,1563,0.00,2.47,0.00,0.000,4,0.000,0.104,2151,3916,3402,0,0,0,0,0,0
$GC,1688,-0.73,-146.0,208.8,-10.4,217,1692,0.00,2.40,0.00,0.000,6,0.000,0.077,2151,2456,3401,0,0,0,0,0,0
$GC,2017,-0.73,-146.0,242.8,-10.8,248,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2456,3401,0,0,0,0,0,0
$GC,2337,-0.73,-146.0,274.9,-9.6,278,2338,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2456,3401,0,0,0,0,0,0
$GC,2656,-0.73,-146.0,305.6,-9.0,308,2660,0.00,2.62,0.00,0.000,4,0.000,0.097,2151,866,3401,0,0,0,0,0,0
$GC,2694,-0.73,-146.0,309.4,-9.5,311,2698,0.00,2.65,0.00,0.000,6,0.000,0.087,2151,2473,3401,0,0,0,0,0,0
$GC,3019,-0.73,-146.0,336.8,-8.7,341,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2473,3401,0,0,0,0,0,0
$GC,3338,-0.73,-146.0,365.9,-9.2,371,3339,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2473,3401,0,0,0,0,0,0
$GC,3657,-0.73,-146.0,394.1,-8.4,401,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2473,3401,0,0,0,0,0,0
$GC,3976,-0.73,-146.0,420.4,-8.3,431,3977,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2473,3401,0,0,0,0,0,0
$GC,4294,-0.73,-146.0,445.7,-7.8,461,4299,0.00,2.65,0.00,0.000,4,0.000,0.094,2151,871,3401,0,0,0,0,0,0
$GC,4361,-0.73,-146.0,451.4,-8.9,466,4367,0.00,2.62,0.00,0.000,6,0.000,0.085,2151,2471,3401,0,0,0,0,0,0
$GC,4686,-0.73,-146.0,475.5,-7.2,497,4690,0.00,2.42,0.00,0.000,4,0.000,0.101,2151,3911,3401,0,0,0,0,0,0
$GC,4729,-0.73,-146.0,478.9,-7.7,500,4736,0.00,2.35,0.00,0.000,6,0.000,0.074,2150,2466,3401,0,0,0,0,0,0
$GC,5054,-0.73,-146.0,501.6,-7.0,531,5058,0.00,2.45,0.00,0.000,4,0.000,0.100,2151,3911,3402,0,0,0,0,0,0
$GC,5153,-0.73,-146.0,509.1,-7.1,539,5159,0.00,2.33,0.00,0.000,6,0.000,0.074,2151,2476,3402,0,0,0,0,0,0
$GC,5478,-0.73,-146.0,531.7,-7.1,570,5483,0.00,2.62,0.00,0.000,4,0.000,0.091,2151,865,3403,0,0,0,0,0,0
$GC,5533,-0.73,-146.0,536.1,-8.3,574,5539,0.00,2.62,0.00,0.000,6,0.000,0.082,2151,2477,3403,0,0,0,0,0,0
$GC,5858,-0.73,-146.0,562.0,-8.1,605,5863,0.00,2.65,0.00,0.000,4,0.000,0.092,2151,868,3403,0,0,0,0,0,0
$GC,5897,-0.73,-146.0,565.7,-9.6,608,5902,0.00,2.60,0.00,0.000,6,0.000,0.083,2151,2464,3403,0,0,0,0,0,0
$GC,6222,-0.73,-146.0,592.3,-8.0,638,6226,0.00,2.62,0.00,0.000,4,0.000,0.091,2151,866,3404,0,0,0,0,0,0
$GC,6249,-0.73,-146.0,594.5,-8.5,640,6254,0.00,2.60,0.00,0.000,6,0.000,0.081,2151,2465,3403,0,0,0,0,0,0
$GC,6575,-0.73,-146.0,618.7,-7.3,655,6579,0.00,2.42,0.00,0.000,4,0.000,0.098,2151,3914,3404,0,0,0,0,0,0
$GC,6697,-0.73,-146.0,628.0,-7.3,658,6703,0.00,2.35,0.00,0.000,6,0.000,0.071,2151,2464,3404,0,0,0,0,0,0
$GC,7010,-0.73,-146.0,650.5,-7.1,669,7014,0.00,2.60,0.00,0.000,4,0.000,0.091,2151,864,3405,0,0,0,0,0,0
$GC,7064,-0.73,-146.0,654.8,-8.1,670,7070,0.00,2.60,0.00,0.000,6,0.000,0.081,2151,2467,3405,0,0,0,0,0,0
$GC,7377,-0.73,-146.0,676.8,-7.0,681,7382,0.00,2.62,0.00,0.000,4,0.000,0.091,2151,866,3405,0,0,0,0,0,0
$GC,7416,-0.73,-146.0,679.8,-7.2,682,7420,0.00,2.60,0.00,0.000,6,0.000,0.081,2151,2464,3405,0,0,0,0,0,0
$GC,7740,-0.73,-146.0,702.3,-7.0,693,7741,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2465,3405,0,0,0,0,0,0
$GC,8045,-0.73,-146.0,724.2,-7.3,703,8050,0.00,2.62,0.00,0.000,4,0.000,0.091,2151,862,3405,0,0,0,0,0,0
$GC,8094,-0.73,-146.0,727.9,-7.5,704,8099,0.00,2.58,0.00,0.000,6,0.000,0.081,2151,2455,3406,0,0,0,0,0,0
$STATE,8404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8404,begin apogee
$GC,8410,-0.16,0.0,750.7,7.3,714,8536,0.65,0.00,122.60,1.262,6,0.195,0.000,2331,1950,2800,0,0,0,0,0,0
$STATE,8537,end apogee,CONTROL_FINISHED_OK
$STATE,8537,begin climb
$GC,8538,0.73,146.0,752.6,0.0,718,8674,0.98,3.03,127.20,1.205,4,0.139,0.096,2627,354,2202,0,0,0,0,0,0
$GC,8713,0.73,146.0,738.3,11.9,723,8717,0.00,2.83,0.00,0.000,6,0.000,0.071,2627,1947,2199,0,0,0,0,0,0
$GC,9031,0.73,146.0,700.7,11.7,734,9036,0.00,2.75,0.00,0.000,4,0.000,0.094,2639,365,2193,0,0,0,0,0,0
$GC,9059,0.73,146.0,697.1,12.7,735,9063,0.00,2.67,0.00,0.000,6,0.000,0.074,2639,1958,2193,0,0,0,0,0,0
$GC,9392,0.73,146.0,655.3,12.4,746,9397,0.00,2.72,0.00,0.000,4,0.000,0.096,2651,363,2192,0,0,0,0,0,0
$GC,9441,0.73,146.0,648.6,13.9,747,9445,0.00,2.60,0.00,0.000,6,0.000,0.073,2651,1943,2192,0,0,0,0,0,0
$GC,9760,0.73,146.0,607.4,12.8,758,9761,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,1943,2191,0,0,0,0,0,0
$GC,10075,0.73,146.0,567.1,12.7,784,10080,0.00,2.65,0.00,0.000,4,0.000,0.097,2663,364,2190,0,0,0,0,0,0
$GC,10115,0.73,146.0,561.8,13.8,787,10120,0.15,2.55,0.00,0.000,6,0.205,0.074,2630,1939,2191,0,0,0,0,0,0
$GC,10440,0.73,146.0,523.6,11.4,817,10441,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,1939,2190,0,0,0,0,0,0
$GC,10759,0.73,146.0,487.4,11.3,847,10760,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,1939,2189,0,0,0,0,0,0
$GC,11078,0.73,146.0,452.8,10.1,877,11079,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,1939,2188,0,0,0,0,0,0
$GC,11395,0.73,146.0,420.2,10.6,907,11396,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,1939,2189,0,0,0,0,0,0
$GC,11717,0.73,146.0,385.0,10.8,937,11721,0.00,2.65,0.00,0.000,4,0.000,0.091,2629,3541,2189,0,0,0,0,0,0
$GC,11760,0.73,146.0,379.3,12.9,940,11767,0.00,2.62,0.00,0.000,6,0.000,0.077,2639,1934,2188,0,0,0,0,0,0
$GC,12085,0.73,146.0,342.4,10.9,971,12089,0.00,2.60,0.00,0.000,4,0.000,0.097,2651,353,2189,0,0,0,0,0,0
$GC,12123,0.73,146.0,338.0,11.6,974,12127,0.00,2.53,0.00,0.000,6,0.000,0.074,2651,1931,2189,0,0,0,0,0,0
$GC,12447,0.73,146.0,302.1,10.9,1004,12452,0.00,2.62,0.00,0.000,4,0.000,0.091,2651,3537,2189,0,0,0,0,0,0
$GC,12473,0.73,146.0,298.8,11.4,1006,12480,0.15,2.62,0.00,0.000,6,0.208,0.078,2629,1931,2188,0,0,0,0,0,0
$GC,12799,0.73,146.0,267.9,9.6,1037,12803,0.00,2.58,0.00,0.000,4,0.000,0.097,2639,360,2188,0,0,0,0,0,0
$GC,12830,0.73,146.0,264.6,9.9,1039,12837,0.00,2.55,0.00,0.000,6,0.000,0.075,2638,1933,2188,0,0,0,0,0,0
$GC,13156,0.74,155.6,236.1,8.8,1070,13170,0.00,2.72,6.93,0.830,4,0.000,0.091,2638,3539,2164,0,0,0,0,0,0
$GC,13237,0.74,155.6,228.3,9.9,1077,13243,0.00,2.62,0.00,0.000,6,0.000,0.079,2650,1938,2164,0,0,0,0,0,0
$GC,13562,0.75,169.9,200.2,8.6,1108,13583,0.00,2.67,13.30,0.895,4,0.000,0.100,2662,367,2106,0,0,0,0,0,0
$GC,13606,0.75,169.9,196.2,10.1,1112,13610,0.00,2.58,0.00,0.000,6,0.000,0.076,2662,1950,2105,0,0,0,0,0,0
$GC,13930,0.75,169.9,164.6,10.2,1142,13934,0.00,2.70,0.00,0.000,4,0.000,0.100,2674,356,2104,0,0,0,0,0,0
$GC,14035,0.75,169.9,153.7,10.4,1151,14040,0.15,2.58,0.00,0.000,6,0.196,0.077,2640,1943,2103,0,0,0,0,0,0
$GC,14360,0.80,207.9,128.6,7.6,1181,14394,0.00,0.00,32.03,0.891,6,0.000,0.000,2639,1943,1952,0,0,0,0,0,0
$GC,14708,0.82,223.2,99.1,8.5,1214,14730,0.00,2.78,13.05,0.850,4,0.000,0.094,2639,3539,1889,0,0,0,0,0,0
$GC,14758,0.82,223.2,94.3,9.8,1223,14763,0.00,2.70,0.00,0.000,6,0.000,0.082,2649,1941,1887,0,0,0,0,0,0
$GC,15102,0.84,240.6,63.9,8.4,1284,15122,0.00,0.00,15.68,0.848,6,0.000,0.000,2649,1941,1817,0,0,0,0,0,0
$GC,15461,0.88,272.3,34.1,7.8,1348,15493,0.00,0.00,27.17,0.837,6,0.000,0.000,2649,1941,1688,0,0,0,0,0,0
$GC,15830,0.94,321.1,4.5,7.1,1414,15862,0.12,0.00,29.42,0.812,2,0.127,0.000,2689,1941,1542,0,0,0,0,0,0
$STATE,15863,end climb,SURFACE_DEPTH_REACHED
$STATE,15863,begin surface coast
$FINISH,0.4,1.015623
$STATE,15885,end surface coast,CONTROL_FINISHED_OK
$STATE,15885,begin surface
$SM_CCo,15962,0.00,0.000,0,0,1534,310.30
$SM_GC,1.13,7.70,0.00,0.00,0.089,0.000,0.000,125,2459,1534,-7.05,-0.03,310.30
$RAFOS_CLK,1073
$RAFOS,6,1257684550,12.833333,12.819445,63,62,59,0,0,0,213,170,749,0,0,0
$RAFOS,5,1257684065,12.700000,12.684722,89,65,58,0,0,0,859,202,185,0,0,0
$RAFOS,4,1257683584,12.566667,12.551111,112,60,58,0,0,0,637,231,195,0,0,0
$RAFOS,3,1257683105,12.433333,12.418056,75,61,57,0,0,0,715,200,188,0,0,0
$RAFOS,2,1257682631,12.300000,12.286389,61,59,57,0,0,0,142,198,215,0,0,0
$RAFOS,1,1257682143,12.166667,12.150833,123,65,54,0,0,0,575,209,115,0,0,0
$RAFOS,0,1257681665,12.033333,12.018056,60,60,59,0,0,0,213,222,690,0,0,0
$RAFOS_FIX,6644.906250,-5943.611816,081109,121220,4,100,0.43
$IRIDIUM_FIX,6620.33,-5956.38,020299,040417
$TT8_MAMPS,0.026845
$HUMID,49.56
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,16.20
$XPDR_PINGS,8
$ALTIM_TOP_PING,19.7,19.4
$24V_AH,22.7,28.586
$10V_AH,10.1,14.951
$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,19.925,142.075,387.375,0.000,0.000,30.436,32.366,244.765,2.250,0.000,17.570,2564.705,10437.741,528.835,2347.623,515.866,0.000,1750.653,0.000,2313.014,2520.000,2.615,0.000
$DEVICE_MAMPS,313.703,118.118,1262.482,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1054.736,991.646,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188492
$DATA_FILE_SIZE,53546,1424
$CAP_FILE_SIZE,161558,0
$CFSIZE,260165632,241848320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.3
$CURRENT,0.165,170.4,1
$GPS,081109,132506,6644.495,-5945.749,32,1.4,32,-38.0