version: 66.06
glider: 143
mission: 10
dive: 132
start: 11 14 109 23 52 10
data:
$ID,143
$MISSION,10
$DIVE,132
$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,578.41736
$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,-29973.453
$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,18
$R_STBD_OVSHOOT,19
$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,20
$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
$GPS1,233630,6657.926,-5742.436,37,1.2,38,-37.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-56.9
$GPS2,235150,6657.907,-5742.655,13,1.5,13,-37.7
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_E_IN
$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,116.7,40580,-16.9,-9.167
$D_GRID,855
$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,-146.0,0.0,0.0,0,175,0.00,0.00,-156.00,0.000,2,0.000,0.000,125,2475,3135,0,0,0,0,0,0
$GC,178,-0.73,-146.0,3.4,-5.5,29,199,10.12,0.00,-7.30,0.000,6,0.314,0.000,2150,2474,3396,0,0,0,0,0,0
$GC,539,-0.73,-146.0,103.6,-26.0,92,543,0.00,2.47,0.00,0.000,4,0.000,0.094,2150,3908,3400,0,0,0,0,0,0
$GC,600,-0.73,-146.0,120.1,-25.5,97,604,0.00,2.42,0.00,0.000,6,0.000,0.071,2151,2448,3400,0,0,0,0,0,0
$GC,924,-0.73,-146.0,200.6,-23.9,127,928,0.00,2.53,0.00,0.000,4,0.000,0.094,2150,3910,3399,0,0,0,0,0,0
$GC,1124,-0.73,-146.0,246.4,-21.7,144,1131,0.00,2.40,0.00,0.000,6,0.000,0.069,2150,2478,3399,0,0,0,0,0,0
$GC,1449,-0.73,-146.0,317.1,-22.9,175,1453,0.00,2.47,0.00,0.000,4,0.000,0.093,2150,3920,3400,0,0,0,0,0,0
$GC,1548,-0.73,-146.0,340.7,-24.2,183,1555,0.00,2.42,0.00,0.000,6,0.000,0.070,2150,2473,3400,0,0,0,0,0,0
$GC,1873,-0.73,-146.0,411.3,-21.2,214,1877,0.00,2.47,0.00,0.000,4,0.000,0.094,2150,3916,3400,0,0,0,0,0,0
$GC,1950,-0.73,-146.0,428.4,-22.2,220,1956,0.00,2.38,0.00,0.000,6,0.000,0.069,2150,2488,3400,0,0,0,0,0,0
$GC,2275,-0.73,-146.0,494.7,-20.7,251,2279,0.00,2.42,0.00,0.000,4,0.000,0.094,2150,3909,3400,0,0,0,0,0,0
$GC,2392,-0.73,-146.0,519.9,-21.3,261,2396,0.00,2.33,0.00,0.000,6,0.000,0.071,2150,2491,3400,0,0,0,0,0,0
$GC,2716,-0.73,-146.0,586.4,-20.3,291,2720,0.00,2.42,0.00,0.000,4,0.000,0.093,2150,3915,3400,0,0,0,0,0,0
$GC,2788,-0.73,-146.0,602.0,-21.9,297,2792,0.00,2.33,0.00,0.000,6,0.000,0.071,2150,2493,3400,0,0,0,0,0,0
$GC,3111,-0.73,-146.0,667.6,-20.2,308,3115,0.00,2.42,0.00,0.000,4,0.000,0.094,2150,3920,3400,0,0,0,0,0,0
$GC,3160,-0.73,-146.0,678.1,-20.7,309,3164,0.00,2.38,0.00,0.000,6,0.000,0.070,2151,2468,3400,0,0,0,0,0,0
$GC,3480,-0.73,-146.0,742.4,-20.1,320,3484,0.00,2.45,0.00,0.000,4,0.000,0.093,2150,3909,3400,0,0,0,0,0,0
$GC,3562,-0.73,-146.0,760.2,-21.3,322,3566,0.00,2.30,0.00,0.000,6,0.000,0.069,2150,2504,3400,0,0,0,0,0,0
$GC,3882,-0.73,-146.0,821.7,-19.1,333,3886,0.00,2.40,0.00,0.000,4,0.000,0.094,2150,3917,3400,0,0,0,0,0,0
$GC,3979,-0.73,-146.0,841.2,-20.6,336,3983,0.00,2.30,0.00,0.000,6,0.000,0.070,2151,2509,3400,0,0,0,0,0,0
$STATE,4066,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4066,begin apogee
$GC,4071,-0.16,0.0,859.2,19.7,339,4198,0.75,0.00,123.62,1.325,6,0.250,0.000,2331,1943,2800,0,0,0,0,0,0
$STATE,4199,end apogee,CONTROL_FINISHED_OK
$STATE,4199,begin climb
$GC,4201,0.73,146.0,872.2,0.0,343,4341,1.17,2.95,129.48,1.269,4,0.225,0.091,2610,360,2202,0,0,0,0,0,0
$GC,4369,0.79,200.0,862.5,6.9,348,4425,0.12,2.78,49.20,1.226,6,0.179,0.068,2639,1949,1983,0,0,0,0,0,0
$GC,4754,0.81,211.0,829.4,8.7,361,4769,0.00,2.80,9.45,1.091,4,0.000,0.087,2639,3539,1939,0,0,0,0,0,0
$GC,5020,0.81,219.0,805.8,8.8,369,5035,0.00,2.55,7.88,1.061,6,0.000,0.072,2639,2030,1908,0,0,0,0,0,0
$GC,5354,0.83,233.4,777.7,8.6,380,5373,0.00,2.85,14.23,1.176,4,0.000,0.095,2639,357,1847,0,0,0,0,0,0
$GC,5384,0.88,275.7,775.3,7.4,381,5430,0.12,2.83,38.78,1.225,6,0.175,0.071,2672,2078,1674,0,0,0,0,0,0
$GC,5747,0.88,275.7,737.0,11.2,393,5752,0.00,2.50,0.00,0.000,4,0.000,0.090,2672,3544,1666,0,0,0,0,0,0
$GC,6004,0.88,275.7,709.3,11.2,400,6011,0.00,2.47,0.00,0.000,6,0.000,0.072,2673,2086,1664,0,0,0,0,0,0
$GC,6317,0.88,275.7,675.6,10.7,411,6321,0.00,2.47,0.00,0.000,4,0.000,0.090,2673,3541,1662,0,0,0,0,0,0
$GC,6573,0.88,275.7,648.8,10.7,418,6579,0.00,2.42,0.00,0.000,6,0.000,0.074,2673,2102,1662,0,0,0,0,0,0
$GC,6886,0.88,275.7,616.2,10.7,429,6890,0.00,2.42,0.00,0.000,4,0.000,0.088,2673,3538,1662,0,0,0,0,0,0
$GC,6934,0.88,275.7,610.9,9.9,430,6939,0.00,2.38,0.00,0.000,6,0.000,0.073,2673,2097,1662,0,0,0,0,0,0
$GC,7260,0.88,275.7,576.7,10.7,453,7262,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2097,1660,0,0,0,0,0,0
$GC,7580,0.88,275.7,542.6,10.4,483,7584,0.00,2.42,0.00,0.000,4,0.000,0.090,2673,3539,1661,0,0,0,0,0,0
$GC,7663,0.88,275.7,533.9,10.1,490,7667,0.00,2.35,0.00,0.000,6,0.000,0.073,2673,2111,1661,0,0,0,0,0,0
$GC,7987,0.88,275.7,498.9,10.8,520,7988,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2111,1661,0,0,0,0,0,0
$GC,8307,0.88,275.7,463.1,11.3,550,8311,0.00,2.40,0.00,0.000,4,0.000,0.090,2673,3539,1660,0,0,0,0,0,0
$GC,8373,0.88,275.7,455.5,11.3,555,8379,0.00,2.35,0.00,0.000,6,0.000,0.073,2673,2108,1661,0,0,0,0,0,0
$GC,8697,0.88,275.7,417.6,12.3,586,8701,0.00,2.40,0.00,0.000,4,0.000,0.089,2673,3536,1660,0,0,0,0,0,0
$GC,8754,0.88,275.7,411.0,11.5,591,8758,0.00,2.33,0.00,0.000,6,0.000,0.073,2673,2119,1660,0,0,0,0,0,0
$GC,9078,0.88,275.7,372.1,12.5,621,9083,0.00,2.88,0.00,0.000,4,0.000,0.095,2672,360,1660,0,0,0,0,0,0
$GC,9166,0.88,275.7,361.7,11.2,628,9173,0.00,2.83,0.00,0.000,6,0.000,0.071,2673,2142,1659,0,0,0,0,0,0
$GC,9492,0.88,275.7,323.1,12.1,659,9497,0.00,2.33,0.00,0.000,4,0.000,0.087,2673,3544,1659,0,0,0,0,0,0
$GC,9525,0.88,275.7,319.1,11.9,661,9531,0.00,2.35,0.00,0.000,6,0.000,0.074,2673,2139,1659,0,0,0,0,0,0
$GC,9850,0.88,275.7,282.1,11.7,692,9855,0.00,2.90,0.00,0.000,4,0.000,0.094,2673,358,1659,0,0,0,0,0,0
$GC,9933,0.88,275.7,273.6,9.7,699,9938,0.00,2.83,0.00,0.000,6,0.000,0.071,2673,2146,1659,0,0,0,0,0,0
$GC,10258,0.88,275.7,243.7,9.7,729,10262,0.00,2.30,0.00,0.000,4,0.000,0.088,2673,3536,1659,0,0,0,0,0,0
$GC,10515,0.88,275.7,218.8,10.3,751,10521,0.00,2.35,0.00,0.000,6,0.000,0.074,2673,2123,1659,0,0,0,0,0,0
$GC,10840,0.89,283.1,190.2,8.9,782,10851,0.00,2.40,4.95,0.719,4,0.000,0.091,2673,3546,1644,0,0,0,0,0,0
$GC,11103,0.89,283.1,164.2,10.6,805,11109,0.00,2.25,0.00,0.000,6,0.000,0.072,2673,2194,1644,0,0,0,0,0,0
$GC,11428,0.89,283.1,130.6,9.4,836,11432,0.00,2.25,0.00,0.000,4,0.000,0.089,2673,3538,1644,0,0,0,0,0,0
$GC,11617,0.91,293.0,113.5,8.8,852,11634,0.00,2.25,9.93,0.792,6,0.000,0.071,2673,2182,1603,0,0,0,0,0,0
$GC,11961,0.97,347.4,88.5,6.9,898,12013,0.00,3.05,45.20,0.813,4,0.000,0.089,2673,364,1381,0,0,0,0,0,0
$GC,12019,1.00,367.5,84.0,8.3,909,12043,0.12,2.90,17.52,0.762,6,0.209,0.069,2702,2143,1301,0,0,0,0,0,0
$GC,12380,1.00,367.5,45.8,11.0,973,12386,0.00,2.35,0.00,0.000,4,0.000,0.087,2702,3536,1291,0,0,0,0,0,0
$GC,12447,1.00,367.5,38.7,9.8,985,12452,0.00,2.35,0.00,0.000,6,0.000,0.069,2703,2116,1289,0,0,0,0,0,0
$STATE,12777,end climb,SURFACE_DEPTH_REACHED
$STATE,12777,begin surface coast
$FINISH,0.5,1.019035
$STATE,12796,end surface coast,CONTROL_FINISHED_OK
$STATE,12796,begin surface
$SM_CCo,12812,139.20,0.732,0,0,442,578.42
$SM_GC,1.05,0.00,0.00,139.20,0.000,0.000,0.732,128,2465,442,-7.07,0.14,578.42
$RAFOS_CLK,873
$RAFOS,6,1258246144,0.833333,0.817778,74,69,60,0,0,0,733,203,155,0,0,0
$RAFOS,5,1258245685,0.700000,0.690278,115,58,56,0,0,0,409,162,201,0,0,0
$RAFOS,4,1258245189,0.566667,0.552500,106,63,61,0,0,0,722,203,121,0,0,0
$RAFOS,3,1258244705,0.433333,0.418056,59,57,56,0,0,0,151,199,208,0,0,0
$RAFOS,2,1258244221,0.300000,0.283611,83,59,54,0,0,0,950,213,203,0,0,0
$RAFOS,1,1258243741,0.166667,0.150278,107,64,56,0,0,0,939,162,218,0,0,0
$RAFOS,0,1258243264,0.033333,0.017778,89,58,55,0,0,0,1048,147,200,0,0,0
$RAFOS_FIX,6652.736816,-5748.613281,151109,000044,5,92,5.33
$IRIDIUM_FIX,6631.12,-5736.37,080299,232354
$TT8_MAMPS,0.026845
$HUMID,46.88
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,17.40
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.6,19.4
$24V_AH,22.7,33.991
$10V_AH,10.1,17.668
$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,19.850,131.075,450.225,139.200,0.000,155.728,400.426,0.000,2.750,0.000,14.536,2101.338,8206.577,741.683,2090.489,740.075,0.000,1854.520,0.000,2056.343,2520.000,2.620,0.000
$DEVICE_MAMPS,313.703,95.108,1324.609,732.485,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,753.040,753.825,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188408
$DATA_FILE_SIZE,44284,1048
$CAP_FILE_SIZE,136913,0
$CFSIZE,260165632,239415296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.2
$CURRENT,0.511,215.6,1
$GPS,151109,032937,6657.882,-5741.365,32,1.9,32,-37.7