version: 66.06
glider: 143
mission: 9
dive: 12
start: 10 20 109 2 43 57
data:
$ID,143
$MISSION,9
$DIVE,12
$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,-3
$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,-22532.762
$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,2480
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$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,2300
$C_ROLL_CLIMB,2102
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,24
$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,-23.749716
$PRESSURE_SLOPE,0.0001163694
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,8
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,25
$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
$GPS1,023324,6658.523,-5713.925,154,1.2,154,-37.6
$_CALLS,2
$_XMS_NAKs,25
$_XMS_TOUTs,1
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-63.7
$GPS2,024338,6658.577,-5713.917,10,1.4,10,-37.6
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.257,0.040
$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,64.2,20430,-16.9,-9.167
$D_GRID,770
$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,-0.98,-146.0,0.0,0.0,0,99,0.00,0.00,-81.30,0.000,2,0.000,0.000,123,2314,3040,0,0,0,0,0,0
$GC,101,-0.98,-146.0,3.1,-3.6,15,129,9.95,2.70,-10.50,0.000,4,0.309,0.101,2155,715,3399,0,0,0,0,0,0
$GC,135,0.23,-146.0,10.7,-20.3,21,141,1.48,2.62,0.00,0.000,6,0.209,0.075,2542,2302,3400,0,0,0,0,0,0
$GC,479,-0.70,-146.0,32.9,-7.5,82,486,0.85,2.65,0.00,0.000,4,0.110,0.087,2262,716,3403,0,0,0,0,0,0
$GC,738,-0.70,-146.0,59.2,-10.1,128,744,0.00,2.53,0.00,0.000,6,0.000,0.077,2262,2265,3402,0,0,0,0,0,0
$GC,1082,-0.77,-146.0,90.9,-9.0,189,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2265,3402,0,0,0,0,0,0
$GC,1413,-0.85,-146.0,118.9,-8.4,229,1418,0.17,2.72,0.00,0.000,4,0.104,0.092,2190,3893,3402,0,0,0,0,0,0
$GC,1486,-0.68,-146.0,127.3,-12.5,235,1492,0.28,2.62,0.00,0.000,6,0.214,0.069,2257,2265,3402,0,0,0,0,0,0
$GC,1811,-0.75,-146.0,156.1,-8.7,265,1812,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2265,3402,0,0,0,0,0,0
$GC,2131,-0.84,-146.0,183.4,-8.4,295,2136,0.15,2.72,0.00,0.000,4,0.117,0.093,2196,3888,3400,0,0,0,0,0,0
$GC,2250,-0.73,-146.0,197.1,-12.1,305,2255,0.17,2.60,0.00,0.000,6,0.211,0.069,2236,2268,3399,0,0,0,0,0,0
$GC,2573,-0.73,-146.0,229.2,-9.7,335,2575,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2268,3400,0,0,0,0,0,0
$GC,2894,-0.73,-146.0,258.0,-9.1,365,2898,0.00,2.70,0.00,0.000,4,0.000,0.093,2236,3893,3400,0,0,0,0,0,0
$GC,2949,-0.78,-146.0,263.2,-9.1,369,2955,0.00,2.58,0.00,0.000,6,0.000,0.066,2236,2271,3400,0,0,0,0,0,0
$GC,3273,-0.78,-146.0,291.9,-8.6,400,3278,0.00,2.67,0.00,0.000,4,0.000,0.091,2236,3888,3400,0,0,0,0,0,0
$GC,3357,-0.84,-146.0,299.2,-8.4,407,3362,0.00,2.55,0.00,0.000,6,0.000,0.066,2236,2279,3400,0,0,0,0,0,0
$GC,3683,-0.89,-146.0,325.5,-7.6,437,3685,0.15,0.00,0.00,0.000,6,0.109,0.000,2185,2279,3400,0,0,0,0,0,0
$GC,3999,-0.78,-146.0,355.1,-9.5,467,4005,0.17,2.67,0.00,0.000,4,0.207,0.088,2216,3893,3399,0,0,0,0,0,0
$GC,4130,-0.78,-146.0,365.7,-7.9,478,4135,0.00,2.55,0.00,0.000,6,0.000,0.064,2216,2280,3399,0,0,0,0,0,0
$GC,4455,-0.78,-146.0,391.8,-7.9,508,4459,0.00,2.65,0.00,0.000,4,0.000,0.089,2216,3891,3400,0,0,0,0,0,0
$GC,4520,-0.78,-146.0,397.6,-8.1,513,4527,0.00,2.53,0.00,0.000,6,0.000,0.063,2216,2285,3399,0,0,0,0,0,0
$GC,4845,-0.78,-146.0,423.7,-7.8,544,4846,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2286,3401,0,0,0,0,0,0
$GC,5165,-0.78,-146.0,448.6,-7.6,574,5170,0.00,2.65,0.00,0.000,4,0.000,0.088,2216,3899,3401,0,0,0,0,0,0
$GC,5287,-0.78,-146.0,458.7,-8.8,584,5293,0.00,2.53,0.00,0.000,6,0.000,0.061,2215,2287,3401,0,0,0,0,0,0
$GC,5612,-0.78,-146.0,485.4,-8.4,615,5613,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2287,3401,0,0,0,0,0,0
$GC,5932,-0.78,-146.0,511.4,-7.9,645,5936,0.00,2.62,0.00,0.000,4,0.000,0.087,2216,3890,3402,0,0,0,0,0,0
$GC,6020,-0.78,-146.0,518.7,-8.0,652,6026,0.00,2.50,0.00,0.000,6,0.000,0.061,2216,2292,3402,0,0,0,0,0,0
$GC,6345,-0.78,-146.0,543.3,-7.4,683,6349,0.00,2.50,0.00,0.000,4,0.000,0.083,2216,717,3403,0,0,0,0,0,0
$GC,6406,-0.78,-146.0,548.4,-8.6,688,6410,0.00,2.50,0.00,0.000,6,0.000,0.070,2215,2306,3403,0,0,0,0,0,0
$GC,6731,-0.78,-146.0,573.0,-7.5,718,6735,0.00,2.58,0.00,0.000,4,0.000,0.088,2216,3889,3403,0,0,0,0,0,0
$GC,6848,-0.78,-146.0,582.4,-8.3,728,6852,0.00,2.50,0.00,0.000,6,0.000,0.062,2216,2294,3402,0,0,0,0,0,0
$GC,7169,-0.78,-146.0,606.8,-7.4,752,7170,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2294,3403,0,0,0,0,0,0
$GC,7475,-0.78,-146.0,629.8,-7.7,762,7480,0.00,2.60,0.00,0.000,4,0.000,0.086,2216,3886,3403,0,0,0,0,0,0
$GC,7547,-0.78,-146.0,635.6,-7.7,764,7552,0.00,2.47,0.00,0.000,6,0.000,0.061,2216,2299,3403,0,0,0,0,0,0
$GC,7877,-0.78,-146.0,659.6,-7.3,775,7878,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2300,3403,0,0,0,0,0,0
$GC,8183,-0.78,-146.0,680.6,-6.5,785,8187,0.00,2.58,0.00,0.000,4,0.000,0.087,2216,3880,3403,0,0,0,0,0,0
$GC,8322,-0.78,-146.0,690.7,-7.1,789,8327,0.00,2.47,0.00,0.000,6,0.000,0.061,2216,2300,3404,0,0,0,0,0,0
$GC,8645,-0.78,-146.0,713.7,-7.5,800,8646,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2299,3403,0,0,0,0,0,0
$GC,8952,-0.78,-146.0,736.9,-7.8,810,8953,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2299,3403,0,0,0,0,0,0
$GC,9257,-0.78,-146.0,760.1,-7.7,820,9258,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2299,3404,0,0,0,0,0,0
$STATE,9408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9408,begin apogee
$GC,9413,-0.24,0.0,771.9,7.8,825,9538,0.62,0.00,121.40,1.236,6,0.180,0.000,2395,2103,2800,0,0,0,0,0,0
$STATE,9539,end apogee,CONTROL_FINISHED_OK
$STATE,9539,begin climb
$GC,9541,0.98,146.0,773.4,0.0,829,9677,1.30,2.88,124.38,1.184,4,0.114,0.079,2792,3686,2201,0,0,0,0,0,0
$GC,9929,0.53,146.0,708.2,20.9,841,9935,0.60,2.65,0.00,0.000,6,0.215,0.067,2659,2108,2192,0,0,0,0,0,0
$GC,10254,0.53,146.0,670.4,11.3,852,10255,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2108,2191,0,0,0,0,0,0
$GC,10559,0.53,146.0,636.6,10.7,862,10564,0.00,2.62,0.00,0.000,4,0.000,0.084,2659,3683,2191,0,0,0,0,0,0
$GC,10816,0.49,146.0,606.5,12.5,869,10824,0.12,2.58,0.00,0.000,6,0.197,0.067,2642,2092,2189,0,0,0,0,0,0
$GC,11138,0.56,146.0,575.1,9.7,896,11139,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2092,2189,0,0,0,0,0,0
$GC,11459,0.63,146.0,545.6,9.2,926,11464,0.12,2.62,0.00,0.000,4,0.118,0.084,2678,3685,2189,0,0,0,0,0,0
$GC,11705,0.53,146.0,515.3,12.0,947,11712,0.15,2.53,0.00,0.000,6,0.201,0.068,2653,2110,2188,0,0,0,0,0,0
$GC,12030,0.53,146.0,483.8,9.9,978,12034,0.00,2.58,0.00,0.000,4,0.000,0.083,2653,3683,2188,0,0,0,0,0,0
$GC,12286,0.53,146.0,456.4,9.6,1000,12293,0.00,2.47,0.00,0.000,6,0.000,0.067,2662,2155,2188,0,0,0,0,0,0
$GC,12612,0.53,146.0,423.5,10.9,1031,12613,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2154,2187,0,0,0,0,0,0
$GC,12931,0.53,146.0,389.8,10.2,1061,12935,0.00,2.50,0.00,0.000,4,0.000,0.083,2663,3687,2187,0,0,0,0,0,0
$GC,13188,0.48,146.0,359.6,11.3,1083,13195,0.15,2.45,0.00,0.000,6,0.193,0.066,2638,2142,2188,0,0,0,0,0,0
$GC,13513,0.60,146.0,329.5,9.3,1114,13518,0.12,2.60,0.00,0.000,4,0.115,0.087,2693,522,2187,0,0,0,0,0,0
$GC,13524,0.69,146.0,328.5,9.7,1114,13529,0.00,2.55,0.00,0.000,6,0.000,0.065,2693,2147,2187,0,0,0,0,0,0
$GC,13848,0.62,146.0,290.1,11.7,1145,13852,0.00,2.47,0.00,0.000,4,0.000,0.083,2693,3685,2188,0,0,0,0,0,0
$GC,14107,0.49,146.0,258.9,10.9,1168,14112,0.25,2.40,0.00,0.000,6,0.198,0.067,2642,2170,2187,0,0,0,0,0,0
$GC,14432,0.67,187.0,234.7,7.4,1198,14474,0.17,2.60,31.20,0.880,4,0.104,0.081,2701,3690,2035,0,0,0,0,0,0
$GC,14700,0.57,187.0,201.9,12.8,1222,14705,0.20,2.38,0.00,0.000,6,0.190,0.066,2664,2215,2031,0,0,0,0,0,0
$GC,15024,0.68,187.0,170.5,9.5,1252,15029,0.10,2.42,0.00,0.000,4,0.127,0.082,2698,3685,2030,0,0,0,0,0,0
$GC,15281,0.63,187.0,138.2,12.2,1274,15287,0.00,2.28,0.00,0.000,6,0.000,0.065,2708,2251,2030,0,0,0,0,0,0
$GC,15606,0.63,187.0,101.4,11.1,1305,15610,0.00,2.35,0.00,0.000,4,0.000,0.082,2708,3693,2030,0,0,0,0,0,0
$GC,15863,0.56,187.0,69.8,11.1,1349,15870,0.22,2.25,0.00,0.000,6,0.193,0.066,2662,2276,2029,0,0,0,0,0,0
$GC,16209,0.85,270.9,45.4,5.6,1410,16283,0.25,2.42,67.00,0.779,4,0.087,0.081,2757,3691,1693,0,0,0,0,0,0
$GC,16477,0.78,270.9,13.1,10.7,1458,16484,0.15,2.22,0.00,0.000,6,0.193,0.067,2734,2325,1684,0,0,0,0,0,0
$STATE,16572,end climb,SURFACE_DEPTH_REACHED
$STATE,16572,begin surface coast
$FINISH,0.8,1.013955
$STATE,16592,end surface coast,CONTROL_FINISHED_OK
$STATE,16592,begin surface
$SM_CCo,16667,0.00,0.000,0,0,1677,275.47
$SM_GC,1.65,7.43,0.00,0.00,0.068,0.000,0.000,125,2321,1677,-7.33,0.59,275.47
$RAFOS_CLK,1061
$RAFOS,6,1256014144,4.833333,4.817778,47,42,39,0,0,0,1409,1577,1899,0,0,0
$RAFOS,5,1256013669,4.700000,4.685833,50,44,39,0,0,0,579,1337,1658,0,0,0
$RAFOS,4,1256013184,4.566667,4.551111,40,39,39,0,0,0,1176,475,1717,0,0,0
$RAFOS,3,1256012704,4.433333,4.417778,48,43,42,0,0,0,298,1741,343,0,0,0
$RAFOS,2,1256012226,4.300000,4.285000,50,41,39,0,0,0,843,926,1757,0,0,0
$RAFOS,1,1256011746,4.166667,4.151667,40,40,38,0,0,0,1383,1502,1674,0,0,0
$RAFOS,0,1256011268,4.033333,4.018889,43,41,40,0,0,0,601,1841,104,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5711.93,140199,020201
$TT8_MAMPS,0.026845
$HUMID,50.90
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,17.40
$XPDR_PINGS,3
$24V_AH,23.3,14.688
$10V_AH,10.3,6.169
$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,25.350,127.700,343.975,0.000,0.000,58.755,110.053,266.434,0.750,0.000,12.749,2743.053,10741.457,487.635,2659.594,636.374,0.000,1822.524,0.000,2626.261,2520.000,0.532,0.000
$DEVICE_MAMPS,309.101,101.244,1235.637,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1084.182,1014.041,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150240
$DATA_FILE_SIZE,56684,1478
$CAP_FILE_SIZE,173880,0
$CFSIZE,260165632,249790464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.8
$CURRENT,0.276,166.8,1
$GPS,201009,072336,6658.092,-5711.600,69,0.9,69,-37.5