version: 66.06
glider: 143
mission: 10
dive: 137
start: 11 15 109 19 10 35
data:
$ID,143
$MISSION,10
$DIVE,137
$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,325
$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,-30073.938
$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,17
$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
$GPS1,190407,6658.708,-5738.187,38,1.1,38,-37.7
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-66.6
$GPS2,191014,6658.642,-5738.185,14,1.3,14,-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,85.6,37128,-16.9,-9.167
$D_GRID,841
$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,-0.73,-146.0,0.0,0.0,0,141,0.00,0.00,-123.22,0.000,2,0.000,0.000,125,2469,3088,0,0,0,0,0,0
$GC,145,-0.73,-146.0,3.3,-5.4,23,173,10.02,2.72,-8.38,0.000,4,0.310,0.096,2148,871,3399,0,0,0,0,0,0
$GC,260,-0.73,-146.0,39.2,-33.2,43,266,0.00,2.65,0.00,0.000,6,0.000,0.081,2148,2463,3401,0,0,0,0,0,0
$GC,596,-0.73,-146.0,136.0,-25.8,92,600,0.00,2.47,0.00,0.000,4,0.000,0.095,2148,3913,3400,0,0,0,0,0,0
$GC,852,-0.73,-146.0,202.8,-25.0,114,859,0.00,2.45,0.00,0.000,6,0.000,0.069,2148,2449,3400,0,0,0,0,0,0
$GC,1177,-0.73,-146.0,279.9,-23.6,145,1181,0.00,2.50,0.00,0.000,4,0.000,0.092,2148,3914,3400,0,0,0,0,0,0
$GC,1255,-0.73,-146.0,299.0,-24.1,151,1262,0.00,2.38,0.00,0.000,6,0.000,0.069,2148,2463,3400,0,0,0,0,0,0
$GC,1579,-0.73,-146.0,374.6,-22.3,182,1583,0.00,2.47,0.00,0.000,4,0.000,0.091,2148,3915,3400,0,0,0,0,0,0
$GC,1623,-0.73,-146.0,385.0,-23.5,185,1629,0.00,2.38,0.00,0.000,6,0.000,0.069,2148,2467,3400,0,0,0,0,0,0
$GC,1948,-0.73,-146.0,458.4,-22.5,216,1952,0.00,2.45,0.00,0.000,4,0.000,0.092,2148,3912,3400,0,0,0,0,0,0
$GC,2014,-0.73,-146.0,474.0,-22.8,221,2020,0.00,2.35,0.00,0.000,6,0.000,0.068,2148,2475,3400,0,0,0,0,0,0
$GC,2339,-0.73,-146.0,543.6,-21.2,252,2343,0.00,2.45,0.00,0.000,4,0.000,0.092,2148,3913,3400,0,0,0,0,0,0
$GC,2422,-0.73,-146.0,562.6,-21.9,259,2427,0.00,2.35,0.00,0.000,6,0.000,0.069,2148,2477,3400,0,0,0,0,0,0
$GC,2762,-0.73,-146.0,633.1,-20.4,281,2767,0.00,2.45,0.00,0.000,4,0.000,0.093,2148,3921,3400,0,0,0,0,0,0
$GC,2858,-0.73,-146.0,654.4,-22.2,284,2863,0.00,2.35,0.00,0.000,6,0.000,0.069,2148,2483,3400,0,0,0,0,0,0
$GC,3192,-0.73,-146.0,724.0,-20.4,295,3197,0.00,2.42,0.00,0.000,4,0.000,0.092,2148,3912,3400,0,0,0,0,0,0
$GC,3264,-0.73,-146.0,739.9,-22.8,297,3268,0.00,2.33,0.00,0.000,6,0.000,0.068,2148,2485,3400,0,0,0,0,0,0
$GC,3594,-0.73,-146.0,806.0,-19.6,308,3598,0.00,2.42,0.00,0.000,4,0.000,0.092,2148,3912,3399,0,0,0,0,0,0
$GC,3751,-0.73,-146.0,838.7,-20.6,312,3756,0.00,2.33,0.00,0.000,6,0.000,0.070,2148,2490,3399,0,0,0,0,0,0
$STATE,3785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3785,begin apogee
$GC,3791,-0.16,0.0,845.8,19.8,314,3917,0.75,0.00,122.75,1.318,6,0.251,0.000,2328,1951,2800,0,0,0,0,0,0
$STATE,3918,end apogee,CONTROL_FINISHED_OK
$STATE,3918,begin climb
$GC,3919,0.73,146.0,858.7,0.0,318,4054,1.15,0.00,128.57,1.259,6,0.214,0.000,2610,1952,2203,0,0,0,0,0,0
$GC,4348,0.79,197.9,831.5,7.0,332,4401,0.12,2.90,44.85,1.235,4,0.193,0.084,2639,3542,1991,0,0,0,0,0,0
$GC,4654,0.80,206.9,806.6,8.8,341,4669,0.00,2.70,8.38,1.068,6,0.000,0.071,2640,1957,1956,0,0,0,0,0,0
$GC,4982,0.80,206.9,774.1,10.2,352,4986,0.00,2.70,0.00,0.000,4,0.000,0.085,2640,3539,1952,0,0,0,0,0,0
$GC,5238,0.81,216.3,750.0,8.8,359,5253,0.00,2.62,9.18,1.099,6,0.000,0.072,2640,1962,1918,0,0,0,0,0,0
$GC,5585,0.81,216.3,717.4,9.6,371,5590,0.00,2.67,0.00,0.000,4,0.000,0.087,2639,3544,1915,0,0,0,0,0,0
$GC,5841,0.81,218.8,694.8,9.1,378,5848,0.00,2.55,0.00,0.000,6,0.000,0.073,2640,2002,1913,0,0,0,0,0,0
$GC,6154,0.85,244.3,669.0,8.1,389,6185,0.00,0.00,25.38,1.181,6,0.000,0.000,2640,2003,1801,0,0,0,0,0,0
$GC,6491,0.86,258.7,639.8,8.6,400,6511,0.00,2.83,12.95,1.111,4,0.000,0.095,2640,359,1744,0,0,0,0,0,0
$GC,6619,0.87,262.4,628.7,9.0,403,6630,0.00,2.70,4.57,0.838,6,0.000,0.071,2640,2024,1730,0,0,0,0,0,0
$GC,6965,0.88,268.6,598.9,8.9,415,6979,0.00,2.65,6.85,0.978,4,0.000,0.087,2640,3548,1705,0,0,0,0,0,0
$GC,7058,0.88,268.6,590.7,10.1,423,7063,0.00,2.78,0.00,0.000,6,0.000,0.074,2640,1879,1703,0,0,0,0,0,0
$GC,7383,0.88,268.6,556.6,11.2,453,7387,0.00,2.80,0.00,0.000,4,0.000,0.087,2640,3539,1702,0,0,0,0,0,0
$GC,7493,0.88,268.6,545.6,9.9,462,7501,0.00,2.72,0.00,0.000,6,0.000,0.074,2640,1894,1701,0,0,0,0,0,0
$GC,7817,0.88,268.6,515.7,9.5,493,7822,0.00,2.78,0.00,0.000,4,0.000,0.088,2640,3542,1701,0,0,0,0,0,0
$GC,7860,0.88,268.6,511.4,10.6,496,7866,0.00,2.47,0.00,0.000,6,0.000,0.073,2640,2041,1701,0,0,0,0,0,0
$GC,8185,0.88,268.6,478.8,10.1,527,8189,0.00,2.75,0.00,0.000,4,0.000,0.094,2640,362,1701,0,0,0,0,0,0
$GC,8284,0.88,268.6,468.8,10.4,535,8290,0.00,2.67,0.00,0.000,6,0.000,0.071,2640,2053,1701,0,0,0,0,0,0
$GC,8609,0.89,282.8,440.6,8.6,566,8631,0.12,2.50,13.82,1.016,4,0.174,0.088,2674,3539,1645,0,0,0,0,0,0
$GC,8711,0.89,282.8,431.4,9.5,575,8715,0.00,2.72,0.00,0.000,6,0.000,0.074,2675,1896,1643,0,0,0,0,0,0
$GC,9036,0.89,282.8,398.4,10.8,605,9040,0.00,2.78,0.00,0.000,4,0.000,0.088,2675,3538,1641,0,0,0,0,0,0
$GC,9292,0.89,282.8,373.3,10.2,627,9299,0.00,2.67,0.00,0.000,6,0.000,0.073,2675,1918,1640,0,0,0,0,0,0
$GC,9617,0.89,282.8,338.1,11.0,658,9622,0.00,2.72,0.00,0.000,4,0.000,0.088,2675,3542,1640,0,0,0,0,0,0
$GC,9705,0.89,282.8,328.8,10.1,665,9712,0.00,2.62,0.00,0.000,6,0.000,0.073,2675,1946,1641,0,0,0,0,0,0
$GC,10030,0.89,282.8,295.3,10.6,696,10035,0.00,2.67,0.00,0.000,4,0.000,0.086,2674,3548,1640,0,0,0,0,0,0
$GC,10125,0.89,282.8,286.0,9.9,704,10130,0.00,2.62,0.00,0.000,6,0.000,0.073,2675,1946,1640,0,0,0,0,0,0
$GC,10449,0.89,282.8,254.0,9.6,734,10454,0.00,2.67,0.00,0.000,4,0.000,0.086,2675,3549,1640,0,0,0,0,0,0
$GC,10696,0.89,282.8,229.6,10.7,755,10702,0.00,2.60,0.00,0.000,6,0.000,0.073,2675,1961,1640,0,0,0,0,0,0
$GC,11020,0.89,282.8,194.4,11.7,786,11025,0.00,2.62,0.00,0.000,4,0.000,0.087,2674,3539,1640,0,0,0,0,0,0
$GC,11277,0.89,282.8,166.7,11.4,808,11284,0.00,2.60,0.00,0.000,6,0.000,0.073,2675,1972,1640,0,0,0,0,0,0
$GC,11602,0.89,282.8,135.9,9.3,839,11607,0.00,2.60,0.00,0.000,4,0.000,0.086,2675,3541,1640,0,0,0,0,0,0
$GC,11618,0.90,288.2,134.5,8.9,840,11629,0.00,2.53,5.18,0.716,6,0.000,0.072,2675,1993,1624,0,0,0,0,0,0
$GC,11948,0.90,289.4,104.0,9.1,871,11953,0.00,2.60,0.00,0.000,4,0.000,0.088,2675,3548,1622,0,0,0,0,0,0
$GC,11957,0.91,293.2,103.1,9.0,871,11968,0.00,2.38,5.72,0.719,6,0.000,0.071,2675,2116,1604,0,0,0,0,0,0
$GC,12305,0.91,293.2,69.1,9.6,929,12310,0.00,2.40,0.00,0.000,4,0.000,0.087,2675,3547,1603,0,0,0,0,0,0
$GC,12400,0.92,308.2,60.2,8.5,946,12421,0.00,2.33,14.27,0.790,6,0.000,0.071,2675,2122,1542,0,0,0,0,0,0
$GC,12759,0.95,332.3,30.1,8.2,1010,12785,0.00,2.42,20.95,0.780,4,0.000,0.086,2676,3541,1444,0,0,0,0,0,0
$GC,12797,0.97,341.4,26.5,8.8,1017,12812,0.00,2.08,8.95,0.708,6,0.000,0.068,2675,2290,1407,0,0,0,0,0,0
$STATE,13101,end climb,SURFACE_DEPTH_REACHED
$STATE,13101,begin surface coast
$FINISH,0.6,1.026517
$STATE,13132,end surface coast,CONTROL_FINISHED_OK
$STATE,13132,begin surface
$SM_CCo,13207,0.00,0.000,0,0,1398,343.91
$SM_GC,1.35,7.38,0.00,0.00,0.079,0.000,0.000,125,2471,1398,-7.04,0.31,343.91
$RAFOS_CLK,854
$RAFOS,6,1258318142,20.833334,20.817223,70,64,58,0,0,0,752,214,191,0,0,0
$RAFOS,5,1258317663,20.700001,20.684166,104,58,57,0,0,0,543,147,211,0,0,0
$RAFOS,4,1258317184,20.566668,20.551111,76,55,53,0,0,0,206,174,122,0,0,0
$RAFOS,3,1258316702,20.433332,20.417223,56,55,52,0,0,0,211,191,125,0,0,0
$RAFOS,2,1258316224,20.299999,20.284445,67,61,58,0,0,0,210,135,117,0,0,0
$RAFOS,1,1258315765,20.166666,20.156944,64,59,55,0,0,0,119,194,159,0,0,0
$RAFOS,0,1258315272,20.033333,20.020000,57,56,55,0,0,0,204,223,178,0,0,0
$RAFOS_FIX,6659.715820,-5738.987793,151109,202056,2,87,0.36
$IRIDIUM_FIX,6631.12,-5745.67,090299,151506
$TT8_MAMPS,0.026845
$HUMID,49.29
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.40
$XPDR_PINGS,13
$ALTIM_TOP_PING,19.8,19.2
$24V_AH,22.7,34.919
$10V_AH,10.1,18.042
$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,19.550,139.575,432.375,0.000,0.000,25.620,33.627,191.528,3.500,0.000,16.426,2074.468,8298.795,595.606,2172.488,434.584,0.000,1733.483,0.000,2131.461,2520.000,2.621,0.000
$DEVICE_MAMPS,309.868,95.875,1317.706,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,771.389,774.274,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,187972
$DATA_FILE_SIZE,44226,1076
$CAP_FILE_SIZE,141821,0
$CFSIZE,260165632,239165440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.7
$CURRENT,0.630,205.0,1
$GPS,151109,225209,6658.543,-5736.403,35,1.8,35,-37.7