version: 66.06
glider: 143
mission: 10
dive: 227
start: 12 2 109 1 57 2
data:
$ID,143
$MISSION,10
$DIVE,227
$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,-2
$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,-35700.973
$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,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
$GPS1,002707,6641.764,-6006.634,0,7112.9,0,-37.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.48
$_SM_ANGLEo,-0.1
$GPS2,002707,6641.764,-6006.634,0,7112.9,0,-37.8
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$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,324.1,14761,-16.9,-9.167
$D_GRID,575
$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,15,-0.73,-146.0,0.0,0.0,0,22,0.00,0.00,-5.25,0.000,2,0.000,0.000,2731,3538,2635,0,0,0,0,0,0
$GC,25,-0.73,-146.0,8.5,-0.0,1,57,0.80,4.72,-22.17,0.000,4,0.110,0.093,2465,869,3400,0,0,0,0,0,0
$GC,109,-0.61,-146.0,17.2,-13.1,16,114,0.00,2.53,0.00,0.000,6,0.000,0.083,2465,2467,3402,0,0,0,0,0,0
$GC,452,-0.53,-146.0,63.7,-13.9,77,459,0.22,2.80,0.00,0.000,4,0.234,0.096,2506,3911,3402,0,0,0,0,0,0
$GC,712,-0.61,-146.0,91.2,-8.9,123,718,0.00,2.70,0.00,0.000,6,0.000,0.074,2506,2471,3402,0,0,0,0,0,0
$GC,1043,-0.71,-146.0,123.8,-10.9,163,1048,0.15,2.85,0.00,0.000,4,0.125,0.100,2453,3910,3402,0,0,0,0,0,0
$GC,1162,-0.67,-146.0,138.9,-12.8,173,1166,0.00,2.67,0.00,0.000,6,0.000,0.074,2453,2480,3402,0,0,0,0,0,0
$GC,1486,-0.61,-146.0,176.7,-10.1,203,1492,0.17,2.83,0.00,0.000,4,0.227,0.099,2482,3914,3402,0,0,0,0,0,0
$GC,1629,-0.67,-146.0,188.9,-8.4,215,1634,0.00,2.67,0.00,0.000,6,0.000,0.073,2482,2479,3402,0,0,0,0,0,0
$GC,1954,-0.72,-146.0,216.0,-8.8,245,1958,0.00,2.83,0.00,0.000,4,0.000,0.100,2482,3919,3402,0,0,0,0,0,0
$GC,2122,-0.80,-146.0,231.8,-9.5,259,2128,0.15,2.67,0.00,0.000,6,0.123,0.075,2432,2489,3402,0,0,0,0,0,0
$GC,2447,-0.72,-146.0,267.4,-10.5,290,2451,0.00,2.80,0.00,0.000,4,0.000,0.102,2432,3912,3401,0,0,0,0,0,0
$GC,2553,-0.64,-146.0,279.5,-11.2,299,2558,0.20,2.65,0.00,0.000,6,0.218,0.076,2477,2505,3401,0,0,0,0,0,0
$GC,2877,-0.74,-146.0,309.0,-9.3,329,2882,0.00,2.78,0.00,0.000,4,0.000,0.102,2477,3911,3401,0,0,0,0,0,0
$GC,2984,-0.84,-146.0,318.8,-9.1,338,2989,0.20,2.60,0.00,0.000,6,0.117,0.076,2414,2528,3401,0,0,0,0,0,0
$GC,3308,-0.74,-146.0,354.4,-10.7,368,3314,0.15,2.75,0.00,0.000,4,0.221,0.100,2436,3916,3401,0,0,0,0,0,0
$GC,3392,-0.74,-146.0,363.2,-10.4,375,3397,0.00,2.58,0.00,0.000,6,0.000,0.075,2436,2548,3400,0,0,0,0,0,0
$GC,3717,-0.74,-146.0,393.3,-8.7,405,3721,0.00,2.70,0.00,0.000,4,0.000,0.102,2436,3913,3400,0,0,0,0,0,0
$GC,3812,-0.74,-146.0,402.4,-9.3,413,3816,0.00,2.55,0.00,0.000,6,0.000,0.075,2436,2561,3401,0,0,0,0,0,0
$GC,4136,-0.74,-146.0,431.4,-8.7,443,4141,0.00,2.67,0.00,0.000,4,0.000,0.101,2436,3911,3400,0,0,0,0,0,0
$GC,4180,-0.74,-146.0,435.6,-9.4,446,4186,0.00,2.55,0.00,0.000,6,0.000,0.075,2436,2556,3400,0,0,0,0,0,0
$GC,4505,-0.74,-146.0,464.5,-8.8,477,4510,0.00,2.67,0.00,0.000,4,0.000,0.100,2436,3910,3400,0,0,0,0,0,0
$GC,4611,-0.74,-146.0,474.0,-9.3,486,4616,0.00,2.55,0.00,0.000,6,0.000,0.075,2436,2561,3400,0,0,0,0,0,0
$GC,4942,-0.74,-146.0,504.2,-8.5,517,4946,0.00,2.67,0.00,0.000,4,0.000,0.099,2436,3918,3401,0,0,0,0,0,0
$GC,4974,-0.74,-146.0,507.2,-8.7,519,4980,0.00,2.55,0.00,0.000,6,0.000,0.073,2436,2557,3401,0,0,0,0,0,0
$GC,5300,-0.74,-146.0,534.7,-8.3,550,5304,0.00,2.67,0.00,0.000,4,0.000,0.098,2436,3918,3401,0,0,0,0,0,0
$GC,5350,-0.74,-146.0,539.0,-8.4,554,5355,0.00,2.53,0.00,0.000,6,0.000,0.072,2436,2572,3401,0,0,0,0,0,0
$STATE,5588,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5589,begin apogee
$GC,5594,-0.16,0.0,559.0,8.1,576,5721,0.73,0.00,120.75,1.144,6,0.203,0.000,2627,1951,2799,0,0,0,0,0,0
$STATE,5722,end apogee,CONTROL_FINISHED_OK
$STATE,5722,begin climb
$GC,5724,0.73,146.0,563.0,0.0,589,5860,1.00,2.83,126.70,1.089,4,0.150,0.098,2920,365,2203,0,0,0,0,0,0
$GC,5916,0.68,146.0,549.6,10.9,607,5922,0.00,2.58,0.00,0.000,6,0.000,0.072,2920,1948,2199,0,0,0,0,0,0
$GC,6240,0.68,146.0,515.4,10.9,638,6245,0.00,3.10,0.00,0.000,4,0.000,0.089,2920,3546,2195,0,0,0,0,0,0
$GC,6314,0.57,146.0,506.8,12.2,644,6320,0.25,3.05,0.00,0.000,6,0.197,0.080,2875,1959,2193,0,0,0,0,0,0
$GC,6638,0.74,182.6,479.7,7.6,674,6675,0.17,2.58,30.70,1.044,4,0.114,0.097,2942,349,2054,0,0,0,0,0,0
$GC,6700,0.66,182.6,473.6,11.6,679,6705,0.15,2.47,0.00,0.000,6,0.200,0.074,2910,1957,2052,0,0,0,0,0,0
$GC,7024,0.66,182.6,440.2,10.2,709,7029,0.00,3.00,0.00,0.000,4,0.000,0.089,2910,3544,2049,0,0,0,0,0,0
$GC,7097,0.66,182.6,432.3,11.0,715,7101,0.00,2.97,0.00,0.000,6,0.000,0.080,2920,1961,2047,0,0,0,0,0,0
$GC,7420,0.66,182.6,400.0,9.6,745,7425,0.00,2.50,0.00,0.000,4,0.000,0.099,2931,350,2047,0,0,0,0,0,0
$GC,7437,0.66,182.6,398.3,9.8,746,7442,0.00,2.40,0.00,0.000,6,0.000,0.073,2931,1964,2047,0,0,0,0,0,0
$GC,7767,0.66,182.6,364.0,10.3,777,7771,0.00,2.95,0.00,0.000,4,0.000,0.089,2931,3538,2047,0,0,0,0,0,0
$GC,7817,0.57,182.6,358.5,11.2,781,7823,0.28,2.92,0.00,0.000,6,0.197,0.080,2876,1970,2047,0,0,0,0,0,0
$GC,8142,0.83,228.9,332.9,7.2,811,8188,0.25,3.03,39.28,0.990,4,0.099,0.089,2967,3538,1865,0,0,0,0,0,0
$GC,8267,0.70,228.9,317.3,14.2,822,8273,0.25,2.92,0.00,0.000,6,0.195,0.079,2921,2002,1861,0,0,0,0,0,0
$GC,8591,0.81,228.9,286.1,9.2,852,8596,0.00,2.92,0.00,0.000,4,0.000,0.089,2921,3538,1858,0,0,0,0,0,0
$GC,8613,0.89,228.9,284.0,9.5,853,8619,0.15,2.88,0.00,0.000,6,0.114,0.078,2981,2010,1858,0,0,0,0,0,0
$GC,8938,0.83,228.9,245.2,11.7,884,8939,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2012,1858,0,0,0,0,0,0
$GC,9259,0.83,228.9,208.6,11.4,914,9264,0.00,2.90,0.00,0.000,4,0.000,0.091,2980,3538,1858,0,0,0,0,0,0
$GC,9281,0.78,228.9,205.7,11.5,915,9287,0.20,2.85,0.00,0.000,6,0.201,0.081,2946,2021,1858,0,0,0,0,0,0
$GC,9605,0.86,228.9,176.6,9.8,946,9610,0.00,2.90,0.00,0.000,4,0.000,0.091,2945,3546,1857,0,0,0,0,0,0
$GC,9637,0.86,228.9,173.1,10.6,948,9643,0.00,2.83,0.00,0.000,6,0.000,0.081,2956,2037,1856,0,0,0,0,0,0
$GC,9962,0.96,259.6,144.2,7.9,979,9997,0.12,2.95,26.30,0.897,4,0.123,0.092,3001,3538,1739,0,0,0,0,0,0
$GC,10032,0.84,259.6,136.8,12.8,985,10038,0.22,2.83,0.00,0.000,6,0.200,0.081,2961,2052,1737,0,0,0,0,0,0
$GC,10357,0.99,283.8,107.2,8.1,1016,10388,0.15,2.75,21.25,0.874,4,0.122,0.102,3018,356,1640,0,0,0,0,0,0
$GC,10440,0.91,283.8,98.4,11.5,1024,10446,0.15,2.60,0.00,0.000,6,0.196,0.077,2985,2056,1638,0,0,0,0,0,0
$GC,10785,1.01,298.8,69.2,8.5,1085,10806,0.00,2.75,13.32,0.841,4,0.000,0.103,2995,356,1580,0,0,0,0,0,0
$GC,10819,1.10,311.1,66.2,8.7,1091,10840,0.15,2.60,12.35,0.810,6,0.128,0.077,3041,2062,1530,0,0,0,0,0,0
$GC,11178,1.00,311.1,20.2,12.4,1155,11185,0.00,2.83,0.00,0.000,4,0.000,0.094,3041,3538,1525,0,0,0,0,0,0
$GC,11213,0.86,311.1,15.3,13.6,1161,11220,0.32,2.85,0.00,0.000,6,0.202,0.084,2975,2043,1525,0,0,0,0,0,0
$FREEZE,8.78,-1.773,-1.762,2,22,0
$STATE,11275,end climb,FINISH_DEPTH_REACHED
$STATE,11276,begin subsurface finish
$FINISH1,8.8,1.025803,82
$GC,11282,0.10,82.5,8.8,-9.1,1172,11324,0.85,2.50,-32.15,0.000,4,0.165,0.113,2727,366,2467,0,0,0,0,0,0
$FINISH2,7.6
$STATE,11325,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11325,begin surface
$RAFOS_CLK,796
$RAFOS,6,1259729344,4.833333,4.817778,83,60,59,0,0,0,843,126,113,0,0,0
$RAFOS,5,1259728865,4.700000,4.684722,72,70,62,0,0,0,952,161,181,0,0,0
$RAFOS,4,1259728391,4.566667,4.553056,139,60,59,0,0,0,690,224,168,0,0,0
$RAFOS,3,1259727904,4.433333,4.417778,121,58,54,0,0,0,773,173,221,0,0,0
$RAFOS,2,1259727431,4.300000,4.286389,152,60,59,0,0,0,596,136,197,0,0,0
$RAFOS,1,1259726949,4.166667,4.152500,163,67,59,0,0,0,528,193,205,0,0,0
$RAFOS,0,1259726463,4.033333,4.017500,99,57,56,0,0,0,608,183,214,0,0,0
$RAFOS_FIX,6642.477051,-6011.608887,021209,040434,7,118,0.27
$IRIDIUM_FIX,6620.33,-5850.01,230299,080832
$TT8_MAMPS,0.026845
$HUMID,49.76
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,16.20
$XPDR_PINGS,8
$ALTIM_TOP_PING,19.5,18.6
$ALTIM_BOTTOM_PING,500.6,73.0
$24V_AH,22.5,48.419
$10V_AH,10.1,25.221
$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,7.450,153.975,390.650,0.000,0.000,0.000,0.000,0.000,4.000,0.000,0.000,2019.042,6769.730,470.735,1977.098,159.989,0.000,1523.776,0.000,1952.509,2520.000,19.346,0.000
$DEVICE_MAMPS,233.935,120.419,1144.364,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,874.628,814.870,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152544
$DATA_FILE_SIZE,44171,1180
$CAP_FILE_SIZE,138322,0
$CFSIZE,260165632,232022016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.5
$GPS,021209,042734,6642.477,-6011.609,0,7118.4,0,-37.8