version: 66.06
glider: 143
mission: 10
dive: 139
start: 11 16 109 2 46 52
data:
$ID,143
$MISSION,10
$DIVE,139
$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,-30101.197
$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,16
$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
$GPS1,024101,6659.505,-5736.734,37,1.1,37,-37.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-65.9
$GPS2,024632,6659.490,-5736.776,10,1.1,10,-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,130.5,35818,-16.9,-9.167
$D_GRID,842
$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,-146.0,0.0,0.0,0,133,0.00,0.00,-114.78,0.000,2,0.000,0.000,123,2463,3134,0,0,0,0,0,0
$GC,136,-0.73,-146.0,3.7,-6.4,22,159,10.15,2.67,-6.62,0.000,4,0.314,0.095,2147,863,3396,0,0,0,0,0,0
$GC,288,-0.73,-146.0,52.0,-29.9,49,294,0.00,2.62,0.00,0.000,6,0.000,0.079,2146,2459,3399,0,0,0,0,0,0
$GC,627,-0.73,-146.0,145.3,-24.8,95,631,0.00,2.47,0.00,0.000,4,0.000,0.094,2147,3910,3399,0,0,0,0,0,0
$GC,827,-0.73,-146.0,197.9,-25.5,112,834,0.00,2.38,0.00,0.000,6,0.000,0.069,2147,2472,3399,0,0,0,0,0,0
$GC,1152,-0.73,-146.0,273.6,-23.0,143,1156,0.00,2.47,0.00,0.000,4,0.000,0.094,2147,3914,3399,0,0,0,0,0,0
$GC,1409,-0.73,-146.0,335.4,-23.8,165,1415,0.00,2.38,0.00,0.000,6,0.000,0.070,2147,2495,3399,0,0,0,0,0,0
$GC,1734,-0.73,-146.0,405.5,-20.8,196,1738,0.00,2.42,0.00,0.000,4,0.000,0.093,2147,3916,3399,0,0,0,0,0,0
$GC,1907,-0.73,-146.0,445.5,-22.8,211,1911,0.00,2.33,0.00,0.000,6,0.000,0.070,2146,2500,3399,0,0,0,0,0,0
$GC,2231,-0.73,-146.0,516.7,-21.8,241,2235,0.00,2.40,0.00,0.000,4,0.000,0.093,2147,3910,3399,0,0,0,0,0,0
$GC,2304,-0.73,-146.0,533.0,-22.5,247,2308,0.00,2.30,0.00,0.000,6,0.000,0.069,2147,2506,3399,0,0,0,0,0,0
$GC,2628,-0.73,-146.0,602.0,-21.4,277,2632,0.00,2.38,0.00,0.000,4,0.000,0.092,2147,3910,3399,0,0,0,0,0,0
$GC,2744,-0.73,-146.0,628.1,-22.6,280,2748,0.00,2.33,0.00,0.000,6,0.000,0.069,2146,2515,3399,0,0,0,0,0,0
$GC,3062,-0.73,-146.0,694.0,-20.9,291,3066,0.00,2.40,0.00,0.000,4,0.000,0.092,2147,3920,3399,0,0,0,0,0,0
$GC,3173,-0.73,-146.0,718.1,-22.1,294,3177,0.00,2.30,0.00,0.000,6,0.000,0.069,2147,2514,3399,0,0,0,0,0,0
$GC,3502,-0.73,-146.0,784.8,-20.3,305,3506,0.00,2.38,0.00,0.000,4,0.000,0.093,2146,3909,3399,0,0,0,0,0,0
$GC,3579,-0.73,-146.0,801.0,-21.2,307,3583,0.00,2.25,0.00,0.000,6,0.000,0.069,2147,2529,3399,0,0,0,0,0,0
$STATE,3809,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3809,begin apogee
$GC,3814,-0.16,0.0,847.1,19.8,315,3940,0.77,0.00,122.62,1.321,6,0.255,0.000,2332,1949,2800,0,0,0,0,0,0
$STATE,3941,end apogee,CONTROL_FINISHED_OK
$STATE,3941,begin climb
$GC,3943,0.73,146.0,856.5,0.0,319,4080,1.05,2.97,127.93,1.259,4,0.184,0.086,2608,3531,2202,0,0,0,0,0,0
$GC,4201,0.82,226.5,847.0,5.8,327,4282,0.15,2.78,71.32,1.235,6,0.131,0.071,2649,1955,1875,0,0,0,0,0,0
$GC,4601,0.86,254.2,817.0,8.0,340,4633,0.00,2.80,24.77,1.203,4,0.000,0.094,2649,356,1762,0,0,0,0,0,0
$GC,4689,0.87,262.8,809.2,8.8,342,4704,0.00,2.53,9.18,1.075,6,0.000,0.066,2649,1885,1727,0,0,0,0,0,0
$GC,5040,0.88,272.5,779.0,8.8,354,5055,0.00,2.65,9.10,1.092,4,0.000,0.095,2649,366,1689,0,0,0,0,0,0
$GC,5066,0.89,282.3,776.5,8.8,354,5081,0.00,2.28,10.85,1.111,6,0.000,0.069,2649,1759,1649,0,0,0,0,0,0
$GC,5407,0.89,282.3,745.3,9.2,366,5412,0.00,2.33,0.00,0.000,4,0.000,0.097,2649,367,1645,0,0,0,0,0,0
$GC,5467,0.89,282.3,739.3,9.4,367,5473,0.00,2.25,0.00,0.000,6,0.000,0.067,2649,1746,1644,0,0,0,0,0,0
$GC,5781,0.89,283.7,710.9,9.1,378,5785,0.00,2.30,0.00,0.000,4,0.000,0.097,2649,362,1643,0,0,0,0,0,0
$GC,5886,0.89,283.7,700.5,9.8,381,5892,0.00,2.12,0.00,0.000,6,0.000,0.066,2649,1680,1643,0,0,0,0,0,0
$GC,6216,0.89,284.1,669.5,9.1,392,6220,0.00,2.17,0.00,0.000,4,0.000,0.096,2649,361,1643,0,0,0,0,0,0
$GC,6270,0.89,284.1,664.2,9.3,393,6276,0.00,2.22,0.00,0.000,6,0.000,0.068,2649,1745,1642,0,0,0,0,0,0
$GC,6583,0.91,292.6,636.7,8.8,404,6594,0.00,0.00,9.43,1.075,6,0.000,0.000,2650,1745,1607,0,0,0,0,0,0
$GC,6889,0.92,303.6,609.6,8.7,414,6909,0.12,3.12,11.38,1.091,4,0.202,0.089,2679,3543,1559,0,0,0,0,0,0
$GC,7161,0.92,303.6,580.0,12.3,430,7168,0.00,3.22,0.00,0.000,6,0.000,0.076,2679,1611,1557,0,0,0,0,0,0
$GC,7486,0.92,303.6,541.8,11.9,461,7491,0.00,3.25,0.00,0.000,4,0.000,0.085,2679,3542,1557,0,0,0,0,0,0
$GC,7594,0.92,303.6,530.1,10.2,470,7599,0.00,3.15,0.00,0.000,6,0.000,0.077,2679,1643,1557,0,0,0,0,0,0
$GC,7918,0.92,303.6,493.0,11.9,500,7923,0.00,3.17,0.00,0.000,4,0.000,0.085,2679,3538,1557,0,0,0,0,0,0
$GC,8082,0.92,303.6,474.9,11.4,514,8087,0.00,3.10,0.00,0.000,6,0.000,0.077,2679,1663,1557,0,0,0,0,0,0
$GC,8406,0.92,303.6,436.4,12.1,544,8411,0.00,3.12,0.00,0.000,4,0.000,0.085,2679,3538,1557,0,0,0,0,0,0
$GC,8580,0.92,303.6,416.5,11.7,559,8585,0.00,3.08,0.00,0.000,6,0.000,0.076,2679,1677,1557,0,0,0,0,0,0
$GC,8904,0.92,303.6,377.8,12.3,589,8909,0.00,3.10,0.00,0.000,4,0.000,0.085,2678,3538,1557,0,0,0,0,0,0
$GC,9083,0.92,303.6,357.9,10.7,604,9089,0.00,3.00,0.00,0.000,6,0.000,0.076,2679,1718,1557,0,0,0,0,0,0
$GC,9407,0.92,303.6,322.6,10.9,635,9412,0.00,3.05,0.00,0.000,4,0.000,0.085,2679,3542,1557,0,0,0,0,0,0
$GC,9626,0.92,303.6,300.2,9.7,654,9631,0.00,2.97,0.00,0.000,6,0.000,0.075,2679,1733,1557,0,0,0,0,0,0
$GC,9951,0.92,303.6,268.1,9.8,684,9955,0.00,3.00,0.00,0.000,4,0.000,0.085,2679,3537,1557,0,0,0,0,0,0
$GC,10207,0.92,303.6,244.7,9.4,706,10214,0.00,2.92,0.00,0.000,6,0.000,0.075,2679,1755,1557,0,0,0,0,0,0
$GC,10533,0.92,303.6,212.6,10.1,737,10537,0.00,2.97,0.00,0.000,4,0.000,0.086,2679,3544,1557,0,0,0,0,0,0
$GC,10663,0.92,304.9,200.6,9.1,748,10668,0.00,2.90,0.00,0.000,6,0.000,0.074,2679,1774,1557,0,0,0,0,0,0
$GC,10987,0.92,304.9,171.0,9.4,778,10992,0.00,2.95,0.00,0.000,4,0.000,0.087,2679,3542,1555,0,0,0,0,0,0
$GC,11243,0.92,304.9,144.9,10.7,800,11250,0.00,2.78,0.00,0.000,6,0.000,0.074,2679,1846,1555,0,0,0,0,0,0
$GC,11568,0.92,304.9,112.2,9.8,831,11569,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1847,1555,0,0,0,0,0,0
$GC,11897,0.94,320.0,82.5,8.5,878,11920,0.00,2.50,14.30,0.795,4,0.000,0.095,2679,357,1494,0,0,0,0,0,0
$GC,11926,0.95,327.5,80.0,8.9,883,11939,0.00,2.12,7.85,0.726,6,0.000,0.067,2679,1714,1465,0,0,0,0,0,0
$GC,12276,0.97,344.9,49.0,8.4,945,12301,0.00,2.33,15.82,0.775,4,0.000,0.094,2679,358,1392,0,0,0,0,0,0
$GC,12314,0.99,363.3,45.7,8.4,951,12337,0.00,2.25,16.55,0.759,6,0.000,0.067,2679,1781,1317,0,0,0,0,0,0
$GC,12674,0.99,363.3,14.9,10.4,1015,12680,0.00,2.95,0.00,0.000,4,0.000,0.085,2679,3538,1311,0,0,0,0,0,0
$GC,12724,0.99,363.3,9.5,10.8,1024,12731,0.00,2.88,0.00,0.000,6,0.000,0.073,2679,1806,1309,0,0,0,0,0,0
$STATE,12803,end climb,SURFACE_DEPTH_REACHED
$STATE,12803,begin surface coast
$FINISH,0.6,1.024312
$STATE,12828,end surface coast,CONTROL_FINISHED_OK
$STATE,12828,begin surface
$SM_CCo,12904,0.00,0.000,0,0,1307,365.99
$SM_GC,1.52,7.40,0.00,0.00,0.082,0.000,0.000,123,2466,1307,-7.04,0.17,365.99
$RAFOS_CLK,833
$RAFOS,6,1258346947,4.833333,4.818611,83,62,58,0,0,0,723,204,138,0,0,0
$RAFOS,5,1258346468,4.700000,4.685555,107,63,58,0,0,0,507,121,202,0,0,0
$RAFOS,4,1258346009,4.566667,4.558055,67,60,58,0,0,0,620,159,209,0,0,0
$RAFOS,3,1258345502,4.433333,4.417222,65,59,57,0,0,0,201,184,148,0,0,0
$RAFOS,2,1258345023,4.300000,4.284167,62,61,59,0,0,0,179,953,197,0,0,0
$RAFOS,1,1258344557,4.166667,4.154722,61,59,56,0,0,0,190,161,213,0,0,0
$RAFOS,0,1258344088,4.033333,4.024445,69,64,64,0,0,0,196,153,208,0,0,0
$RAFOS_FIX,6658.441406,-5741.166504,161109,040444,3,86,0.53
$IRIDIUM_FIX,6631.12,-5739.31,090299,232344
$TT8_MAMPS,0.026845
$HUMID,49.48
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.40
$XPDR_PINGS,10
$ALTIM_TOP_PING,20.0,20.3
$24V_AH,22.7,35.253
$10V_AH,10.1,18.184
$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,19.650,139.850,451.100,0.000,0.000,27.605,32.909,158.143,2.750,0.000,12.327,2071.264,8069.549,583.877,2106.341,406.446,0.000,1695.304,0.000,2070.905,2520.000,2.623,0.000
$DEVICE_MAMPS,314.470,96.642,1320.774,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,751.417,748.509,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,187960
$DATA_FILE_SIZE,41137,1042
$CAP_FILE_SIZE,136648,0
$CFSIZE,260165632,239022080
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.5
$CURRENT,0.689,229.7,1
$GPS,161109,062330,6658.114,-5735.736,35,1.0,40,-37.7