version: 66.06
glider: 143
mission: 10
dive: 261
start: 12 7 109 23 53 4
data:
$ID,143
$MISSION,10
$DIVE,261
$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,-38178.148
$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,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,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
$GPS1,233657,6650.181,-5745.026,56,99.0,75,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-61.0
$GPS2,233657,6650.181,-5745.026,181,99.0,181,-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,97.5,47535,-16.9,-9.167
$D_GRID,688
$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,-146.0,0.0,0.0,0,113,0.00,0.00,-94.20,0.000,2,0.000,0.000,126,2467,2922,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.0,-5.1,19,152,11.48,2.55,-15.60,0.000,4,0.303,0.107,2445,864,3399,0,0,0,0,0,0
$GC,355,-0.66,-146.0,32.5,-10.6,62,361,0.12,2.42,0.00,0.000,6,0.232,0.084,2472,2458,3402,0,0,0,0,0,0
$GC,701,-0.72,-146.0,65.6,-10.7,123,706,0.00,3.05,0.00,0.000,4,0.000,0.100,2472,3916,3402,0,0,0,0,0,0
$GC,920,-0.78,-146.0,85.9,-8.1,162,926,0.12,2.90,0.00,0.000,6,0.132,0.074,2433,2477,3402,0,0,0,0,0,0
$GC,1252,-0.74,-146.0,124.5,-10.6,202,1257,0.00,3.03,0.00,0.000,4,0.000,0.097,2432,3916,3402,0,0,0,0,0,0
$GC,1509,-0.74,-146.0,152.8,-11.5,224,1515,0.00,2.83,0.00,0.000,6,0.000,0.074,2432,2517,3402,0,0,0,0,0,0
$GC,1833,-0.74,-146.0,186.6,-10.1,255,1838,0.00,2.95,0.00,0.000,4,0.000,0.098,2432,3920,3402,0,0,1,0,0,0
$GC,1956,-0.74,-146.0,199.8,-10.1,265,1962,0.00,2.83,0.00,0.000,6,0.000,0.074,2432,2523,3402,0,0,0,0,0,0
$GC,2280,-0.74,-146.0,228.4,-9.5,296,2285,0.00,2.95,0.00,0.000,4,0.000,0.099,2432,3924,3402,0,0,1,0,0,0
$GC,2416,-0.74,-146.0,242.5,-10.5,307,2422,0.00,2.80,0.00,0.000,6,0.000,0.074,2431,2544,3401,0,0,0,0,0,0
$GC,2740,-0.74,-146.0,276.6,-10.3,338,2745,0.00,2.92,0.00,0.000,4,0.000,0.098,2432,3925,3401,0,0,1,0,0,0
$GC,2884,-0.74,-146.0,291.9,-10.2,350,2891,0.00,2.78,0.00,0.000,6,0.000,0.073,2432,2556,3400,0,0,0,0,0,0
$GC,3209,-0.74,-146.0,320.8,-9.4,381,3214,0.00,2.88,0.00,0.000,4,0.000,0.097,2432,3916,3400,0,0,1,0,0,0
$GC,3363,-0.74,-146.0,334.0,-8.8,394,3368,0.00,2.75,0.00,0.000,6,0.000,0.073,2432,2563,3400,0,0,0,0,0,0
$GC,3687,-0.74,-146.0,365.4,-10.2,424,3692,0.00,2.88,0.00,0.000,4,0.000,0.097,2432,3922,3401,0,0,1,0,0,0
$GC,3854,-0.74,-146.0,383.1,-11.0,438,3860,0.00,2.72,0.00,0.000,6,0.000,0.071,2432,2578,3401,0,0,0,0,0,0
$GC,4179,-0.74,-146.0,414.5,-9.6,469,4183,0.00,2.88,0.00,0.000,4,0.000,0.096,2432,3921,3401,0,0,0,0,0,0
$GC,4290,-0.74,-146.0,425.4,-9.8,478,4296,0.00,2.70,0.00,0.000,6,0.000,0.070,2432,2590,3401,0,0,0,0,0,0
$GC,4614,-0.74,-146.0,454.1,-8.5,509,4619,0.00,2.83,0.00,0.000,4,0.000,0.094,2432,3917,3401,0,0,0,0,0,0
$GC,4737,-0.74,-146.0,464.9,-8.5,519,4743,0.00,2.67,0.00,0.000,6,0.000,0.070,2432,2602,3401,0,0,0,0,0,0
$GC,5063,-0.74,-146.0,492.0,-8.7,550,5068,0.00,2.80,0.00,0.000,4,0.000,0.094,2432,3916,3402,0,0,0,0,0,0
$GC,5169,-0.74,-146.0,501.3,-8.9,559,5174,0.00,2.67,0.00,0.000,6,0.000,0.069,2432,2600,3402,0,0,0,0,0,0
$GC,5494,-0.74,-146.0,526.9,-7.7,589,5498,0.00,2.80,0.00,0.000,4,0.000,0.094,2432,3915,3403,0,0,0,0,0,0
$GC,5567,-0.74,-146.0,532.7,-7.9,595,5571,0.00,2.65,0.00,0.000,6,0.000,0.069,2432,2611,3403,0,0,0,0,0,0
$GC,5892,-0.78,-146.0,555.5,-6.9,625,5897,0.00,2.78,0.00,0.000,4,0.000,0.094,2432,3920,3403,0,0,1,0,0,0
$GC,5981,-0.84,-146.0,562.1,-7.4,632,5986,0.00,2.65,0.00,0.000,6,0.000,0.068,2432,2615,3403,0,0,0,0,0,0
$GC,6307,-0.88,-146.0,585.1,-7.2,663,6312,0.00,2.78,0.00,0.000,4,0.000,0.093,2431,3916,3403,0,0,0,0,0,0
$GC,6391,-0.94,-146.0,591.3,-7.2,670,6396,0.15,2.62,0.00,0.000,6,0.117,0.068,2382,2622,3403,0,0,0,0,0,0
$GC,6709,-0.83,-146.0,619.7,-9.1,686,6714,0.15,2.80,0.00,0.000,4,0.205,0.093,2413,3922,3403,0,0,0,0,0,0
$GC,6792,-0.83,-146.0,626.6,-8.7,688,6796,0.00,2.62,0.00,0.000,6,0.000,0.067,2413,2625,3403,0,0,0,0,0,0
$GC,7111,-0.83,-146.0,652.4,-8.2,699,7115,0.00,2.75,0.00,0.000,4,0.000,0.093,2413,3916,3403,0,0,0,0,0,0
$GC,7188,-0.83,-146.0,658.9,-8.9,701,7192,0.00,2.60,0.00,0.000,6,0.000,0.067,2413,2635,3403,0,0,0,0,0,0
$GC,7512,-0.83,-146.0,685.8,-8.8,712,7516,0.00,2.72,0.00,0.000,4,0.000,0.092,2413,3916,3403,0,0,0,0,0,0
$STATE,7537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7537,begin apogee
$GC,7546,-0.16,0.0,688.2,8.7,713,7674,0.82,0.00,124.32,1.213,6,0.191,0.000,2633,1946,2800,0,0,0,0,0,0
$STATE,7674,end apogee,CONTROL_FINISHED_OK
$STATE,7674,begin climb
$GC,7676,0.73,146.0,691.1,0.0,717,7816,0.98,2.62,129.82,1.154,4,0.137,0.095,2924,362,2203,0,0,0,0,0,0
$GC,7895,0.62,146.0,672.8,13.4,724,7901,0.15,2.40,0.00,0.000,6,0.194,0.069,2894,1967,2198,0,0,0,0,0,0
$GC,8231,0.62,146.0,638.2,10.3,735,8236,0.00,3.25,0.00,0.000,4,0.000,0.084,2893,3536,2195,0,0,0,0,0,0
$GC,8343,0.55,146.0,625.5,11.4,738,8349,0.17,3.22,0.00,0.000,6,0.205,0.077,2867,1958,2193,0,0,0,0,0,0
$GC,8662,0.68,167.4,597.7,8.3,749,8687,0.12,3.30,17.92,1.091,4,0.125,0.087,2907,3539,2116,0,0,0,0,0,0
$GC,8761,0.58,167.4,586.1,13.1,758,8767,0.17,3.20,0.00,0.000,6,0.206,0.077,2882,1965,2114,0,0,0,0,0,0
$GC,9086,0.66,167.4,552.1,9.2,788,9091,0.00,3.20,0.00,0.000,4,0.000,0.086,2881,3535,2112,0,0,0,0,0,0
$GC,9163,0.66,167.4,544.1,10.5,794,9169,0.00,3.12,0.00,0.000,6,0.000,0.077,2893,1988,2111,0,0,0,0,0,0
$GC,9488,0.66,167.4,512.7,10.1,825,9493,0.00,3.15,0.00,0.000,4,0.000,0.085,2893,3534,2111,0,0,0,0,0,0
$GC,9549,0.66,167.4,505.8,11.6,830,9554,0.00,3.10,0.00,0.000,6,0.000,0.077,2906,1998,2111,0,0,0,0,0,0
$GC,9873,0.66,167.4,471.1,10.5,860,9878,0.00,3.15,0.00,0.000,4,0.000,0.086,2906,3540,2111,0,0,0,0,0,0
$GC,9923,0.57,167.4,465.6,11.0,864,9929,0.17,3.10,0.00,0.000,6,0.207,0.078,2881,2009,2111,0,0,0,0,0,0
$GC,10248,0.70,195.7,438.2,8.0,894,10280,0.12,3.15,24.38,1.039,4,0.129,0.087,2920,3534,2001,0,0,0,0,0,0
$GC,10342,0.60,195.7,427.4,12.7,902,10348,0.20,3.10,0.00,0.000,6,0.205,0.077,2888,2022,1999,0,0,0,0,0,0
$GC,10666,0.69,195.7,397.0,9.2,933,10671,0.00,3.12,0.00,0.000,4,0.000,0.087,2888,3536,1998,0,0,0,0,0,0
$GC,10740,0.69,195.7,389.6,10.3,939,10745,0.00,3.08,0.00,0.000,6,0.000,0.077,2899,2027,1998,0,0,0,0,0,0
$GC,11064,0.69,195.7,357.7,9.8,969,11069,0.00,3.10,0.00,0.000,4,0.000,0.086,2899,3537,1998,0,0,0,0,0,0
$GC,11130,0.69,195.7,350.2,12.1,974,11136,0.00,3.03,0.00,0.000,6,0.000,0.076,2912,2045,1998,0,0,0,0,0,0
$GC,11455,0.69,195.7,315.0,10.6,1005,11456,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2046,1996,0,0,0,0,0,0
$GC,11775,0.69,195.7,283.8,9.8,1035,11776,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2046,1996,0,0,0,0,0,0
$GC,12094,0.69,195.7,253.3,9.6,1065,12098,0.00,3.08,0.00,0.000,4,0.000,0.087,2912,3535,1996,0,0,0,0,0,0
$GC,12167,0.69,195.7,245.6,10.4,1071,12172,0.00,3.03,0.00,0.000,6,0.000,0.077,2925,2047,1996,0,0,0,0,0,0
$GC,12491,0.69,195.7,212.0,10.2,1101,12496,0.00,3.08,0.00,0.000,4,0.000,0.087,2925,3535,1996,0,0,0,0,0,0
$GC,12558,0.63,195.7,204.2,11.6,1106,12564,0.17,3.00,0.00,0.000,6,0.206,0.077,2898,2055,1996,0,0,0,0,0,0
$GC,12883,0.78,213.9,175.0,8.4,1137,12905,0.15,3.05,15.62,0.873,4,0.120,0.087,2948,3536,1929,0,0,0,0,0,0
$GC,12956,0.67,213.9,166.2,13.9,1143,12963,0.22,3.00,0.00,0.000,6,0.202,0.077,2908,2069,1927,0,0,0,0,0,0
$GC,13281,0.79,213.9,134.3,10.0,1174,13287,0.12,3.08,0.00,0.000,4,0.130,0.087,2948,3541,1926,0,0,0,0,0,0
$GC,13378,0.72,213.9,122.5,13.7,1182,13383,0.15,2.97,0.00,0.000,6,0.201,0.078,2928,2089,1926,0,0,0,0,0,0
$GC,13708,0.80,213.9,91.2,10.1,1221,13714,0.00,2.53,0.00,0.000,4,0.000,0.098,2937,347,1926,0,0,0,0,0,0
$GC,13754,0.86,213.9,86.3,10.6,1229,13759,0.00,2.42,0.00,0.000,6,0.000,0.073,2937,2083,1925,0,0,0,0,0,0
$GC,14097,0.89,238.6,53.3,8.1,1290,14129,0.12,3.03,22.23,0.834,4,0.114,0.088,2982,3529,1825,0,0,0,0,0,0
$GC,14203,0.76,238.6,40.3,14.9,1309,14209,0.25,2.97,0.00,0.000,6,0.203,0.081,2936,2089,1823,0,0,0,0,0,0
$FREEZE,8.65,-1.022,-1.825,0,26,0
$FREEZE,8.10,-1.025,-1.824,0,26,0
$FREEZE,7.63,-1.025,-1.824,0,26,0
$FREEZE,7.09,-1.024,-1.824,0,26,0
$FREEZE,6.64,-1.023,-1.823,0,26,0
$FREEZE,6.13,-1.025,-1.823,0,26,0
$FREEZE,5.71,-1.027,-1.823,0,26,0
$FREEZE,5.25,-1.026,-1.822,0,26,0
$FREEZE,4.63,-1.031,-1.822,0,26,0
$FREEZE,4.24,-1.030,-1.822,0,26,0
$GC,14548,0.85,254.7,5.7,8.5,1370,14571,0.00,2.60,13.98,0.800,4,0.000,0.100,2946,346,1759,0,0,0,0,0,0
$FREEZE,3.52,-1.040,-1.821,0,26,0
$FREEZE,3.28,-1.044,-1.821,0,26,0
$FREEZE,2.98,-1.045,-1.821,0,26,0
$FREEZE,2.49,-1.036,-1.820,0,26,0
$FREEZE,1.80,-1.021,-1.820,0,26,0
$STATE,14599,end climb,SURFACE_DEPTH_REACHED
$STATE,14599,begin surface coast
$FREEZE,1.14,-1.011,-1.819,0,26,0
$FREEZE,0.42,-1.004,-1.819,0,26,0
$FREEZE,0.36,-1.062,-0.285,0,26,0
$FINISH,0.4,1.004012
$STATE,14617,end surface coast,CONTROL_FINISHED_OK
$STATE,14617,begin surface
$SM_CCo,14637,57.25,0.796,0,0,1474,325.02
$SM_GC,1.08,0.00,0.00,57.25,0.000,0.000,0.796,126,2460,1474,-8.01,0.00,325.02
$RAFOS_CLK,1006
$RAFOS,6,1260233342,0.833333,0.817222,67,61,58,0,0,0,789,201,140,0,0,0
$RAFOS,5,1260232863,0.700000,0.684167,82,65,59,0,0,0,587,189,207,0,0,0
$RAFOS,4,1260232385,0.566667,0.551389,72,64,62,0,0,0,741,198,117,0,0,0
$RAFOS,3,1260231905,0.433333,0.418056,71,58,54,0,0,0,187,208,197,0,0,0
$RAFOS,2,1260231424,0.300000,0.284444,72,57,57,0,0,0,213,182,166,0,0,0
$RAFOS,1,1260230943,0.166667,0.150833,64,63,59,0,0,0,175,197,188,0,0,0
$RAFOS,0,1260230462,0.033333,0.017222,64,57,56,0,0,0,152,142,207,0,0,0
$RAFOS_FIX,6650.723633,-5745.262207,081209,000022,3,74,0.26
$IRIDIUM_FIX,6620.33,-5740.54,030399,232308
$TT8_MAMPS,0.027612
$HUMID,48.89
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,16.40
$XPDR_PINGS,5
$ALTIM_TOP_PING,20.0,19.4
$ALTIM_BOTTOM_PING,600.2,110.5
$24V_AH,22.4,52.838
$10V_AH,10.1,27.894
$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,24.650,191.725,348.275,57.250,0.000,98.317,188.145,155.261,3.750,0.000,183.218,2433.375,9203.010,596.926,2640.228,764.898,0.000,1868.210,0.000,2424.110,2520.000,20.961,0.000
$DEVICE_MAMPS,302.965,106.613,1212.627,796.146,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1012.408,972.033,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152308
$DATA_FILE_SIZE,53678,1382
$CAP_FILE_SIZE,173711,0
$CFSIZE,260165632,228585472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$SOUNDSPEED,1455.2
$GPS,081209,040036,6650.384,-5739.472,97,1.0,103,-37.5