version: 66.06
glider: 143
mission: 10
dive: 89
start: 11 5 109 12 37 51
data:
$ID,143
$MISSION,10
$DIVE,89
$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,-25684.119
$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,15
$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,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
$GPS1,123057,6647.809,-5927.222,29,99.0,49,-37.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-68.1
$GPS2,123733,6647.843,-5927.278,15,99.0,34,-38.0
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_ADD1_WB
$TGT_LATLONG,6647.000,-5956.000
$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,276.7,21027,-16.9,-9.167
$D_GRID,923
$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,-146.0,0.0,0.0,0,94,0.00,0.00,-76.72,0.000,2,0.000,0.000,124,2467,2888,0,0,0,0,0,0
$GC,97,-0.73,-146.0,3.7,-6.7,15,130,10.32,2.78,-13.88,0.000,4,0.322,0.104,2147,869,3399,0,0,0,0,0,0
$GC,383,-0.73,-146.0,52.7,-14.8,66,388,0.00,2.67,0.00,0.000,6,0.000,0.086,2147,2463,3402,0,0,0,0,0,0
$GC,725,-0.73,-146.0,99.3,-13.0,127,731,0.00,2.67,0.00,0.000,4,0.000,0.093,2147,869,3402,0,0,0,0,0,0
$GC,984,-0.73,-146.0,135.4,-14.2,151,988,0.00,2.65,0.00,0.000,6,0.000,0.087,2147,2461,3402,0,0,0,0,0,0
$GC,1308,-0.73,-146.0,177.1,-12.6,181,1312,0.00,2.70,0.00,0.000,4,0.000,0.094,2147,863,3402,0,0,0,0,0,0
$GC,1564,-0.73,-146.0,207.7,-11.2,203,1571,0.00,2.65,0.00,0.000,6,0.000,0.087,2147,2464,3402,0,0,0,0,0,0
$GC,1889,-0.73,-146.0,242.8,-10.4,234,1893,0.00,2.67,0.00,0.000,4,0.000,0.096,2147,860,3402,0,0,0,0,0,0
$GC,2145,-0.73,-146.0,271.3,-11.0,256,2152,0.00,2.65,0.00,0.000,6,0.000,0.087,2147,2462,3402,0,0,0,0,0,0
$GC,2470,-0.73,-146.0,304.4,-10.0,287,2475,0.00,2.65,0.00,0.000,4,0.000,0.096,2148,869,3401,0,0,0,0,0,0
$GC,2727,-0.73,-146.0,332.2,-10.7,309,2733,0.00,2.62,0.00,0.000,6,0.000,0.088,2147,2459,3401,0,0,0,0,0,0
$GC,3053,-0.73,-146.0,363.0,-9.0,340,3057,0.00,2.65,0.00,0.000,4,0.000,0.096,2147,867,3401,0,0,0,0,0,0
$GC,3309,-0.73,-146.0,388.3,-9.5,362,3315,0.00,2.62,0.00,0.000,6,0.000,0.087,2147,2460,3401,0,0,0,0,0,0
$GC,3634,-0.73,-146.0,417.6,-9.0,393,3639,0.00,2.67,0.00,0.000,4,0.000,0.094,2147,863,3400,0,0,0,0,0,0
$GC,3891,-0.73,-146.0,441.6,-9.4,415,3898,0.00,2.60,0.00,0.000,6,0.000,0.085,2147,2456,3400,0,0,0,0,0,0
$GC,4216,-0.73,-146.0,469.2,-8.4,446,4220,0.00,2.62,0.00,0.000,4,0.000,0.094,2147,868,3400,0,0,0,0,0,0
$GC,4473,-0.73,-146.0,492.9,-9.2,468,4479,0.00,2.60,0.00,0.000,6,0.000,0.085,2147,2458,3401,0,0,0,0,0,0
$GC,4798,-0.73,-146.0,519.2,-7.8,499,4802,0.00,2.62,0.00,0.000,4,0.000,0.093,2147,865,3401,0,0,0,0,0,0
$GC,5054,-0.73,-146.0,541.3,-8.5,521,5060,0.00,2.60,0.00,0.000,6,0.000,0.084,2147,2458,3402,0,0,0,0,0,0
$GC,5380,-0.73,-146.0,565.6,-7.3,552,5384,0.00,2.62,0.00,0.000,4,0.000,0.092,2147,862,3402,0,0,0,0,0,0
$GC,5637,-0.73,-146.0,586.7,-8.3,574,5643,0.00,2.60,0.00,0.000,6,0.000,0.083,2147,2459,3402,0,0,0,0,0,0
$GC,5967,-0.73,-146.0,612.3,-7.7,596,5971,0.00,2.62,0.00,0.000,4,0.000,0.091,2147,860,3402,0,0,0,0,0,0
$GC,6224,-0.73,-146.0,633.7,-8.3,603,6230,0.00,2.60,0.00,0.000,6,0.000,0.083,2147,2456,3403,0,0,0,0,0,0
$GC,6536,-0.73,-146.0,656.0,-7.0,614,6540,0.00,2.60,0.00,0.000,4,0.000,0.090,2147,868,3403,0,0,0,0,0,0
$GC,6793,-0.73,-146.0,675.8,-7.8,621,6799,0.00,2.58,0.00,0.000,6,0.000,0.082,2147,2456,3404,0,0,0,0,0,0
$GC,7106,-0.73,-146.0,697.4,-6.8,632,7110,0.00,2.60,0.00,0.000,4,0.000,0.090,2147,866,3404,0,0,0,0,0,0
$GC,7363,-0.73,-146.0,717.1,-7.6,639,7370,0.00,2.60,0.00,0.000,6,0.000,0.081,2147,2465,3404,0,0,0,0,0,0
$GC,7675,-0.73,-146.0,739.7,-7.1,650,7679,0.00,2.62,0.00,0.000,4,0.000,0.090,2147,861,3404,0,0,0,0,0,0
$GC,7932,-0.73,-146.0,760.4,-7.8,657,7938,0.00,2.60,0.00,0.000,6,0.000,0.081,2147,2463,3404,0,0,0,0,0,0
$GC,8245,-0.73,-146.0,783.8,-7.6,668,8249,0.00,2.60,0.00,0.000,4,0.000,0.089,2147,868,3404,0,0,0,0,0,0
$GC,8502,-0.73,-146.0,806.7,-8.8,675,8508,0.00,2.58,0.00,0.000,6,0.000,0.081,2147,2459,3404,0,0,0,0,0,0
$GC,8814,-0.73,-146.0,831.3,-7.8,686,8818,0.00,2.60,0.00,0.000,4,0.000,0.091,2147,868,3404,0,0,0,0,0,0
$GC,9070,-0.73,-146.0,852.8,-8.7,693,9076,0.00,2.58,0.00,0.000,6,0.000,0.081,2147,2455,3404,0,0,0,0,0,0
$GC,9384,-0.73,-146.0,878.1,-8.2,704,9388,0.00,2.60,0.00,0.000,4,0.000,0.090,2147,864,3405,0,0,0,0,0,0
$GC,9640,-0.73,-146.0,899.8,-7.9,711,9647,0.00,2.58,0.00,0.000,6,0.000,0.081,2147,2456,3405,0,0,0,0,0,0
$STATE,9951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9951,begin apogee
$GC,9957,-0.16,0.0,925.3,8.6,722,10085,0.68,0.00,124.82,1.374,6,0.193,0.000,2336,1947,2800,0,0,0,0,0,0
$STATE,10086,end apogee,CONTROL_FINISHED_OK
$STATE,10086,begin climb
$GC,10088,0.73,146.0,928.3,0.0,726,10229,0.95,3.12,130.68,1.313,4,0.133,0.088,2615,3541,2203,0,0,0,0,0,0
$GC,10481,0.73,146.0,887.8,13.0,738,10486,0.00,2.78,0.00,0.000,6,0.000,0.078,2627,1944,2194,0,0,0,0,0,0
$GC,10810,0.73,146.0,847.9,12.2,749,10814,0.00,2.75,0.00,0.000,4,0.000,0.091,2628,3538,2192,0,0,0,0,0,0
$GC,11066,0.73,146.0,814.4,13.2,756,11073,0.00,2.67,0.00,0.000,6,0.000,0.079,2639,1940,2191,0,0,0,0,0,0
$GC,11379,0.73,146.0,774.9,12.6,767,11383,0.00,2.70,0.00,0.000,4,0.000,0.091,2639,3536,2191,0,0,0,0,0,0
$GC,11636,0.73,146.0,739.7,13.8,774,11642,0.00,2.62,0.00,0.000,6,0.000,0.079,2650,1949,2190,0,0,0,0,0,0
$GC,11948,0.73,146.0,699.2,13.0,785,11952,0.00,2.67,0.00,0.000,4,0.000,0.091,2650,3547,2190,0,0,0,0,0,0
$GC,12204,0.73,146.0,660.8,14.0,792,12211,0.15,2.62,0.00,0.000,6,0.216,0.078,2630,1948,2189,0,0,0,0,0,0
$GC,12517,0.73,146.0,623.6,11.7,803,12521,0.00,2.65,0.00,0.000,4,0.000,0.089,2630,3542,2189,0,0,0,0,0,0
$GC,12773,0.73,146.0,590.2,13.5,814,12779,0.00,2.65,0.00,0.000,6,0.000,0.079,2640,1923,2188,0,0,0,0,0,0
$GC,13098,0.73,146.0,552.0,11.3,845,13102,0.00,2.67,0.00,0.000,4,0.000,0.090,2640,3538,2189,0,0,0,0,0,0
$GC,13355,0.73,146.0,519.2,12.7,867,13362,0.00,2.60,0.00,0.000,6,0.000,0.078,2652,1944,2189,0,0,0,0,0,0
$GC,13679,0.73,146.0,481.6,11.1,898,13684,0.00,2.65,0.00,0.000,4,0.000,0.089,2652,3548,2189,0,0,0,0,0,0
$GC,13935,0.73,146.0,449.0,13.0,920,13942,0.17,2.62,0.00,0.000,6,0.209,0.078,2624,1934,2188,0,0,0,0,0,0
$GC,14260,0.73,146.0,415.7,10.5,951,14265,0.00,2.67,0.00,0.000,4,0.000,0.090,2623,3549,2189,0,0,0,0,0,0
$GC,14516,0.73,146.0,384.7,11.8,973,14523,0.00,2.60,0.00,0.000,6,0.000,0.078,2633,1950,2188,0,0,0,0,0,0
$GC,14841,0.73,146.0,348.1,11.2,1004,14846,0.00,2.62,0.00,0.000,4,0.000,0.091,2633,3538,2189,0,0,0,0,0,0
$GC,15098,0.73,146.0,317.5,11.9,1026,15104,0.00,2.62,0.00,0.000,6,0.000,0.078,2645,1926,2188,0,0,0,0,0,0
$GC,15423,0.73,146.0,282.4,10.0,1057,15428,0.00,2.67,0.00,0.000,4,0.000,0.091,2645,3546,2188,0,0,0,0,0,0
$GC,15680,0.73,146.0,254.1,10.4,1079,15687,0.15,2.60,0.00,0.000,6,0.207,0.078,2623,1947,2188,0,0,0,0,0,0
$GC,16005,0.77,186.3,228.1,7.5,1110,16045,0.00,2.70,31.73,0.924,4,0.000,0.090,2623,3537,2038,0,0,0,0,0,0
$GC,16297,0.77,186.3,200.9,10.1,1136,16303,0.00,2.62,0.00,0.000,6,0.000,0.080,2632,1954,2033,0,0,0,0,0,0
$GC,16622,0.77,186.3,170.9,9.2,1167,16626,0.00,2.67,0.00,0.000,4,0.000,0.093,2632,3546,2032,0,0,0,0,0,0
$GC,16878,0.77,186.3,144.4,9.3,1189,16885,0.00,2.62,0.00,0.000,6,0.000,0.081,2644,1951,2031,0,0,0,0,0,0
$GC,17204,0.82,220.6,116.7,7.7,1220,17238,0.00,2.78,28.15,0.878,4,0.000,0.094,2644,3539,1899,0,0,0,0,0,0
$GC,17492,0.82,221.5,89.9,9.1,1255,17498,0.00,2.65,0.00,0.000,6,0.000,0.082,2656,1953,1894,0,0,0,0,0,0
$GC,17838,0.85,246.7,60.9,8.1,1316,17869,0.00,2.80,21.92,0.851,4,0.000,0.094,2656,3542,1793,0,0,0,0,0,0
$GC,18122,0.85,246.7,33.8,9.4,1367,18128,0.00,2.67,0.00,0.000,6,0.000,0.084,2668,1948,1788,0,0,0,0,0,0
$GC,18466,0.90,290.3,4.6,7.3,1428,18503,0.00,0.00,34.03,0.818,2,0.000,0.000,2667,1948,1624,0,0,0,0,0,0
$STATE,18503,end climb,SURFACE_DEPTH_REACHED
$STATE,18503,begin surface coast
$FINISH,0.5,1.024034
$STATE,18532,end surface coast,CONTROL_FINISHED_OK
$STATE,18532,begin surface
$SM_CCo,18609,0.00,0.000,0,0,1616,290.44
$SM_GC,1.57,7.68,0.00,0.00,0.094,0.000,0.000,124,2459,1616,-7.05,-0.03,290.44
$RAFOS_CLK,1241
$RAFOS,6,1257439746,16.833334,16.818333,72,60,58,0,0,0,708,216,132,0,0,0
$RAFOS,5,1257439266,16.700001,16.684999,97,59,57,0,0,0,795,146,195,0,0,0
$RAFOS,4,1257438781,16.566668,16.550278,75,61,56,0,0,0,603,120,151,0,0,0
$RAFOS,3,1257438306,16.433332,16.418333,69,60,52,0,0,0,215,196,186,0,0,0
$RAFOS,2,1257437822,16.299999,16.283890,99,61,59,0,0,0,697,188,200,0,0,0
$RAFOS,1,1257437342,16.166666,16.150555,59,59,59,0,0,0,148,193,628,0,0,0
$RAFOS,0,1257436863,16.033333,16.017500,66,61,57,0,0,0,754,169,157,0,0,0
$RAFOS,6,1257425343,12.833333,12.817500,65,64,63,0,0,0,736,198,174,0,0,0
$RAFOS,5,1257424861,12.700000,12.683611,91,63,59,0,0,0,842,211,145,0,0,0
$RAFOS,3,1257423906,12.433333,12.418333,63,61,59,0,0,0,210,184,118,0,0,0
$RAFOS_FIX,6643.791992,-5929.601562,051109,121248,5,83,0.00
$IRIDIUM_FIX,6620.33,-5929.30,300199,070758
$TT8_MAMPS,0.026845
$HUMID,49.21
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,16.30
$XPDR_PINGS,4
$24V_AH,22.5,26.312
$10V_AH,10.2,13.698
$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,20.100,166.175,371.325,0.000,0.000,28.558,41.073,177.664,1.000,0.000,36.839,2865.361,11788.767,550.470,3380.410,471.679,0.000,2189.251,0.000,3294.399,3240.000,0.531,0.000
$DEVICE_MAMPS,322.140,104.312,1374.464,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1049.000,1012.916,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188048
$DATA_FILE_SIZE,56741,1440
$CAP_FILE_SIZE,189703,0
$CFSIZE,260165632,243011584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.1
$CURRENT,0.436,334.1,1
$GPS,051109,175051,6649.956,-5928.214,35,99.0,55,-38.0