version: 66.06
glider: 143
mission: 10
dive: 68
start: 10 31 109 9 42 27
data:
$ID,143
$MISSION,10
$DIVE,68
$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,-25168.705
$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,13
$R_STBD_OVSHOOT,18
$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,0
$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
$GPS1,093407,6656.814,-5809.165,57,0.8,58,-37.8
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,1
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-63.8
$GPS2,094208,6656.815,-5809.216,13,0.9,13,-37.8
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_ADD3_WB
$TGT_LATLONG,6655.000,-5823.000
$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,291.0,10558,-16.9,-9.167
$D_GRID,948
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,101,0.00,0.00,-83.22,0.000,2,0.000,0.000,125,2462,3000,0,0,0,0,0,0
$GC,104,-0.73,-146.0,3.2,-5.3,16,137,10.23,2.72,-11.93,0.000,4,0.318,0.100,2147,864,3398,0,0,0,0,0,0
$GC,389,-0.73,-146.0,45.4,-15.0,67,395,0.00,2.67,0.00,0.000,6,0.000,0.081,2147,2466,3400,0,0,0,0,0,0
$GC,731,-0.73,-146.0,85.1,-10.8,128,737,0.00,2.67,0.00,0.000,4,0.000,0.090,2148,863,3400,0,0,0,0,0,0
$GC,990,-0.73,-146.0,115.4,-11.6,163,994,0.00,2.65,0.00,0.000,6,0.000,0.083,2148,2466,3401,0,0,0,0,0,0
$GC,1314,-0.73,-146.0,149.7,-10.5,193,1318,0.00,2.65,0.00,0.000,4,0.000,0.091,2148,867,3401,0,0,0,0,0,0
$GC,1570,-0.73,-146.0,177.9,-11.2,215,1577,0.00,2.62,0.00,0.000,6,0.000,0.084,2148,2464,3401,0,0,0,0,0,0
$GC,1896,-0.73,-146.0,208.0,-9.4,246,1900,0.00,2.65,0.00,0.000,4,0.000,0.092,2148,863,3400,0,0,0,0,0,0
$GC,2152,-0.73,-146.0,234.4,-10.0,268,2158,0.00,2.62,0.00,0.000,6,0.000,0.084,2148,2463,3400,0,0,0,0,0,0
$GC,2477,-0.73,-146.0,264.3,-9.1,299,2482,0.00,2.65,0.00,0.000,4,0.000,0.091,2148,858,3400,0,0,0,0,0,0
$GC,2734,-0.73,-146.0,290.0,-10.0,321,2741,0.00,2.62,0.00,0.000,6,0.000,0.083,2148,2465,3400,0,0,0,0,0,0
$GC,3059,-0.73,-146.0,316.4,-8.3,352,3064,0.00,2.62,0.00,0.000,4,0.000,0.091,2148,866,3399,0,0,0,0,0,0
$GC,3316,-0.73,-146.0,340.1,-9.4,374,3323,0.00,2.62,0.00,0.000,6,0.000,0.082,2148,2473,3400,0,0,0,0,0,0
$GC,3642,-0.73,-146.0,366.6,-8.0,405,3646,0.00,2.65,0.00,0.000,4,0.000,0.091,2148,859,3400,0,0,0,0,0,0
$GC,3898,-0.73,-146.0,389.5,-9.4,427,3904,0.00,2.62,0.00,0.000,6,0.000,0.081,2148,2470,3400,0,0,0,0,0,0
$GC,4224,-0.73,-146.0,416.2,-8.1,458,4228,0.00,2.62,0.00,0.000,4,0.000,0.090,2148,867,3400,0,0,0,0,0,0
$GC,4480,-0.73,-146.0,439.7,-9.4,480,4486,0.00,2.60,0.00,0.000,6,0.000,0.081,2148,2465,3400,0,0,0,0,0,0
$GC,4805,-0.73,-146.0,466.7,-8.2,511,4810,0.00,2.62,0.00,0.000,4,0.000,0.090,2148,860,3401,0,0,0,0,0,0
$GC,5062,-0.73,-146.0,490.4,-9.4,533,5069,0.00,2.62,0.00,0.000,6,0.000,0.081,2148,2475,3401,0,0,0,0,0,0
$GC,5388,-0.73,-146.0,517.9,-8.2,564,5392,0.00,2.62,0.00,0.000,4,0.000,0.089,2148,866,3401,0,0,0,0,0,0
$GC,5644,-0.73,-146.0,541.9,-9.7,586,5650,0.00,2.60,0.00,0.000,6,0.000,0.081,2148,2469,3401,0,0,0,0,0,0
$GC,5969,-0.73,-146.0,569.6,-8.9,617,5974,0.00,2.62,0.00,0.000,4,0.000,0.089,2148,860,3401,0,0,0,0,0,0
$GC,6226,-0.73,-146.0,593.5,-9.4,639,6233,0.00,2.60,0.00,0.000,6,0.000,0.081,2148,2465,3401,0,0,0,0,0,0
$GC,6553,-0.73,-146.0,620.3,-8.1,655,6557,0.00,2.62,0.00,0.000,4,0.000,0.089,2148,856,3402,0,0,0,0,0,0
$GC,6809,-0.73,-146.0,643.1,-9.6,662,6815,0.00,2.62,0.00,0.000,6,0.000,0.081,2148,2479,3402,0,0,0,0,0,0
$GC,7122,-0.73,-146.0,668.1,-8.0,673,7126,0.00,2.62,0.00,0.000,4,0.000,0.090,2148,866,3402,0,0,0,0,0,0
$GC,7379,-0.73,-146.0,689.9,-8.9,680,7384,0.00,2.60,0.00,0.000,6,0.000,0.081,2148,2472,3402,0,0,0,0,0,0
$GC,7691,-0.73,-146.0,713.1,-7.2,691,7696,0.00,2.62,0.00,0.000,4,0.000,0.089,2148,861,3402,0,0,0,0,0,0
$GC,7948,-0.73,-146.0,734.0,-8.1,698,7954,0.00,2.60,0.00,0.000,6,0.000,0.081,2148,2468,3401,0,0,0,0,0,0
$GC,8260,-0.73,-146.0,756.7,-7.3,709,8265,0.00,2.62,0.00,0.000,4,0.000,0.089,2148,859,3401,0,0,0,0,0,0
$GC,8517,-0.73,-146.0,778.0,-9.0,716,8523,0.00,2.60,0.00,0.000,6,0.000,0.080,2148,2465,3402,0,0,0,0,0,0
$GC,8829,-0.73,-146.0,801.2,-7.4,727,8833,0.00,2.60,0.00,0.000,4,0.000,0.089,2148,866,3402,0,0,0,0,0,0
$GC,9086,-0.73,-146.0,822.0,-8.3,734,9092,0.00,2.60,0.00,0.000,6,0.000,0.081,2148,2473,3402,0,0,0,0,0,0
$GC,9398,-0.73,-146.0,845.0,-7.4,745,9403,0.00,2.62,0.00,0.000,4,0.000,0.090,2148,865,3402,0,0,0,0,0,0
$GC,9655,-0.73,-146.0,866.0,-8.4,752,9661,0.00,2.60,0.00,0.000,6,0.000,0.081,2148,2472,3402,0,0,0,0,0,0
$GC,9968,-0.73,-146.0,888.7,-7.3,763,9972,0.00,2.62,0.00,0.000,4,0.000,0.090,2148,864,3401,0,0,0,0,0,0
$GC,10225,-0.73,-146.0,909.2,-7.6,770,10231,0.00,2.60,0.00,0.000,6,0.000,0.081,2148,2469,3402,0,0,0,0,0,0
$GC,10537,-0.73,-146.0,931.4,-7.1,781,10542,0.00,2.62,0.00,0.000,4,0.000,0.089,2148,858,3402,0,0,0,0,0,0
$STATE,10753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10753,begin apogee
$GC,10760,-0.16,0.0,948.2,7.7,787,10891,0.62,0.00,124.65,1.387,6,0.193,0.000,2328,1952,2799,0,0,0,0,0,0
$STATE,10892,end apogee,CONTROL_FINISHED_OK
$STATE,10892,begin climb
$GC,10894,0.73,146.0,950.7,0.0,792,11035,0.98,3.08,130.80,1.328,4,0.133,0.091,2614,3534,2203,0,0,0,0,0,0
$GC,11287,0.73,146.0,908.6,12.9,804,11291,0.00,2.75,0.00,0.000,6,0.000,0.078,2626,1948,2194,0,0,0,0,0,0
$GC,11622,0.73,146.0,868.8,12.0,815,11626,0.00,2.75,0.00,0.000,4,0.000,0.094,2627,3535,2192,0,0,0,0,0,0
$GC,11879,0.73,146.0,835.3,13.2,822,11885,0.00,2.67,0.00,0.000,6,0.000,0.080,2638,1942,2191,0,0,0,0,0,0
$GC,12191,0.73,146.0,795.8,12.6,833,12195,0.00,2.72,0.00,0.000,4,0.000,0.095,2638,3542,2190,0,0,0,0,0,0
$GC,12448,0.73,146.0,760.2,13.6,840,12454,0.00,2.65,0.00,0.000,6,0.000,0.081,2650,1943,2189,0,0,0,0,0,0
$GC,12760,0.73,146.0,718.6,13.3,851,12764,0.00,2.70,0.00,0.000,4,0.000,0.094,2650,3542,2189,0,0,0,0,0,0
$GC,13016,0.73,146.0,681.3,14.7,858,13023,0.15,2.62,0.00,0.000,6,0.218,0.080,2630,1950,2189,0,0,0,0,0,0
$GC,13329,0.73,146.0,643.2,12.0,869,13333,0.00,2.65,0.00,0.000,4,0.000,0.092,2630,3536,2189,0,0,0,0,0,0
$GC,13585,0.73,146.0,609.9,13.4,876,13591,0.00,2.60,0.00,0.000,6,0.000,0.079,2639,1947,2188,0,0,0,0,0,0
$GC,13909,0.73,146.0,569.8,12.1,901,13914,0.00,2.65,0.00,0.000,4,0.000,0.092,2639,3540,2188,0,0,0,0,0,0
$GC,14165,0.73,146.0,532.9,15.0,923,14171,0.00,2.60,0.00,0.000,6,0.000,0.079,2651,1944,2188,0,0,0,0,0,0
$GC,14490,0.73,146.0,489.3,13.3,954,14495,0.00,2.65,0.00,0.000,4,0.000,0.091,2651,3542,2188,0,0,0,0,0,0
$GC,14747,0.73,146.0,451.3,14.9,976,14754,0.15,2.60,0.00,0.000,6,0.213,0.078,2630,1946,2187,0,0,0,0,0,0
$GC,15072,0.73,146.0,412.2,11.3,1007,15076,0.00,2.65,0.00,0.000,4,0.000,0.091,2630,3545,2188,0,0,0,0,0,0
$GC,15328,0.73,146.0,378.3,13.2,1029,15335,0.00,2.60,0.00,0.000,6,0.000,0.077,2639,1943,2188,0,0,0,0,0,0
$GC,15653,0.73,146.0,339.4,11.4,1060,15657,0.00,2.65,0.00,0.000,4,0.000,0.091,2639,3547,2188,0,0,0,0,0,0
$GC,15910,0.73,146.0,306.2,13.7,1082,15916,0.00,2.60,0.00,0.000,6,0.000,0.077,2651,1945,2188,0,0,0,0,0,0
$GC,16234,0.73,146.0,267.6,11.1,1113,16239,0.00,2.65,0.00,0.000,4,0.000,0.091,2651,3546,2187,0,0,0,0,0,0
$GC,16491,0.73,146.0,233.8,13.0,1135,16498,0.15,2.60,0.00,0.000,6,0.208,0.077,2629,1942,2188,0,0,0,0,0,0
$GC,16817,0.73,146.0,199.2,10.0,1166,16821,0.00,2.62,0.00,0.000,4,0.000,0.089,2629,3538,2188,0,0,0,0,0,0
$GC,17073,0.73,146.0,170.1,11.3,1188,17079,0.00,2.58,0.00,0.000,6,0.000,0.077,2639,1944,2188,0,0,0,0,0,0
$GC,17398,0.74,155.3,139.5,8.8,1219,17412,0.00,2.72,6.53,0.769,4,0.000,0.091,2639,3547,2166,0,0,0,0,0,0
$GC,17665,0.75,169.7,113.9,8.6,1243,17687,0.00,2.60,13.23,0.828,6,0.000,0.078,2651,1956,2107,0,0,0,0,0,0
$GC,18015,0.76,177.2,83.4,8.9,1291,18032,0.00,2.70,7.57,0.777,4,0.000,0.092,2651,3531,2076,0,0,0,0,0,0
$GC,18285,0.76,177.2,54.5,11.3,1339,18291,0.00,2.60,0.00,0.000,6,0.000,0.079,2663,1948,2074,0,0,0,0,0,0
$GC,18630,0.78,193.7,22.8,8.5,1400,18651,0.00,2.70,14.80,0.797,4,0.000,0.094,2663,3542,2009,0,0,0,0,0,0
$STATE,18834,end climb,SURFACE_DEPTH_REACHED
$STATE,18834,begin surface coast
$FINISH,0.4,1.016822
$STATE,18852,end surface coast,CONTROL_FINISHED_OK
$STATE,18852,begin surface
$SM_CCo,18870,64.65,0.788,0,0,1677,275.23
$SM_GC,1.23,0.00,0.00,64.65,0.000,0.000,0.788,129,2457,1677,-7.06,-0.08,275.23
$RAFOS_CLK,1252
$RAFOS,6,1256993343,12.833333,12.817500,99,59,57,0,0,0,670,209,190,0,0,0
$RAFOS,5,1256992861,12.700000,12.683611,67,63,62,0,0,0,157,198,170,0,0,0
$RAFOS,4,1256992406,12.566667,12.557222,67,59,59,0,0,0,208,130,549,0,0,0
$RAFOS,3,1256991929,12.433333,12.424723,66,59,57,0,0,0,687,196,209,0,0,0
$RAFOS,2,1256991451,12.300000,12.291945,75,59,57,0,0,0,719,142,184,0,0,0
$RAFOS,1,1256990943,12.166667,12.150833,83,67,57,0,0,0,839,205,123,0,0,0
$RAFOS,0,1256990466,12.033333,12.018333,64,58,58,0,0,0,203,186,220,0,0,0
$RAFOS_FIX,6656.239258,-5824.645996,311009,121212,4,81,1.14
$IRIDIUM_FIX,6631.12,-5811.32,250199,030345
$TT8_MAMPS,0.027612
$HUMID,49.25
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.50
$XPDR_PINGS,6
$24V_AH,22.5,23.117
$10V_AH,10.2,11.485
$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,19.575,172.800,297.575,64.650,0.000,24.470,33.690,286.928,1.500,0.000,14.694,2865.519,11993.012,567.831,3408.575,577.470,0.000,2220.185,0.000,3343.771,2520.000,0.530,0.000
$DEVICE_MAMPS,317.538,100.477,1386.736,788.476,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1043.169,1021.938,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188276
$DATA_FILE_SIZE,56696,1440
$CAP_FILE_SIZE,194900,0
$CFSIZE,260165632,244879360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.0
$CURRENT,0.389,318.6,1
$GPS,311009,145937,6658.260,-5810.854,31,1.9,32,-37.8