version: 66.06
glider: 143
mission: 10
dive: 142
start: 11 16 109 13 54 39
data:
$ID,143
$MISSION,10
$DIVE,142
$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,-30167.271
$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
$GPS1,134830,6658.765,-5734.920,39,1.6,44,-37.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-64.5
$GPS2,135420,6658.757,-5735.007,14,1.6,32,-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,102.6,34844,-16.9,-9.167
$D_GRID,833
$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,14,-0.73,-146.0,0.0,0.0,0,130,0.00,0.00,-112.85,0.000,2,0.000,0.000,121,2469,3111,0,0,0,0,0,0
$GC,134,-0.73,-146.0,3.4,-5.6,22,161,10.02,2.75,-7.43,0.000,4,0.310,0.095,2148,858,3399,0,0,0,0,0,0
$GC,235,-0.73,-146.0,35.3,-32.6,40,241,0.00,2.65,0.00,0.000,6,0.000,0.078,2147,2467,3400,0,0,0,0,0,0
$GC,573,-0.73,-146.0,128.1,-25.4,91,577,0.00,2.47,0.00,0.000,4,0.000,0.094,2148,3913,3401,0,0,0,0,0,0
$GC,690,-0.73,-146.0,158.9,-25.6,101,694,0.00,2.38,0.00,0.000,6,0.000,0.069,2148,2478,3401,0,0,0,0,0,0
$GC,1014,-0.73,-146.0,236.1,-23.1,131,1018,0.00,2.47,0.00,0.000,4,0.000,0.092,2148,3914,3401,0,0,0,0,0,0
$GC,1183,-0.73,-146.0,276.8,-24.0,146,1187,0.00,2.35,0.00,0.000,6,0.000,0.068,2148,2485,3401,0,0,0,0,0,0
$GC,1507,-0.73,-146.0,349.6,-22.7,176,1511,0.00,2.42,0.00,0.000,4,0.000,0.090,2148,3911,3401,0,0,0,0,0,0
$GC,1680,-0.73,-146.0,389.3,-22.9,191,1684,0.00,2.33,0.00,0.000,6,0.000,0.069,2148,2493,3401,0,0,0,0,0,0
$GC,2005,-0.73,-146.0,461.0,-21.6,221,2008,0.00,2.42,0.00,0.000,4,0.000,0.092,2148,3915,3401,0,0,0,0,0,0
$GC,2128,-0.73,-146.0,489.2,-23.5,232,2132,0.00,2.30,0.00,0.000,6,0.000,0.068,2148,2508,3401,0,0,0,0,0,0
$GC,2452,-0.73,-146.0,557.8,-20.5,262,2456,0.00,2.38,0.00,0.000,4,0.000,0.091,2148,3910,3401,0,0,0,0,0,0
$GC,2574,-0.73,-146.0,584.2,-21.8,272,2581,0.00,2.28,0.00,0.000,6,0.000,0.068,2148,2513,3401,0,0,0,0,0,0
$GC,2899,-0.73,-146.0,649.0,-19.7,288,2903,0.00,2.38,0.00,0.000,4,0.000,0.091,2148,3910,3401,0,0,0,0,0,0
$GC,2994,-0.73,-146.0,668.9,-21.6,290,3000,0.00,2.25,0.00,0.000,6,0.000,0.068,2148,2524,3401,0,0,0,0,0,0
$GC,3306,-0.73,-146.0,730.4,-19.7,301,3311,0.00,2.35,0.00,0.000,4,0.000,0.092,2148,3910,3401,0,0,0,0,0,0
$GC,3412,-0.73,-146.0,752.3,-20.6,304,3416,0.00,2.28,0.00,0.000,6,0.000,0.067,2148,2537,3401,0,0,0,0,0,0
$GC,3742,-0.73,-146.0,816.3,-19.4,315,3746,0.00,2.33,0.00,0.000,4,0.000,0.092,2148,3909,3401,0,0,0,0,0,0
$STATE,3823,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3823,begin apogee
$GC,3830,-0.16,0.0,833.8,21.8,317,3956,0.73,0.00,122.55,1.310,6,0.249,0.000,2327,1952,2799,0,0,0,0,0,0
$STATE,3957,end apogee,CONTROL_FINISHED_OK
$STATE,3957,begin climb
$GC,3959,0.73,146.0,846.2,0.0,321,4094,1.17,0.00,128.23,1.252,6,0.219,0.000,2611,1952,2204,0,0,0,0,0,0
$GC,4387,0.80,209.6,822.8,6.5,335,4449,0.12,2.85,55.33,1.234,4,0.173,0.091,2644,361,1943,0,0,0,0,0,0
$GC,4533,0.82,225.6,811.2,8.5,339,4553,0.00,2.67,14.82,1.144,6,0.000,0.066,2643,1952,1879,0,0,0,0,0,0
$GC,4889,0.82,225.6,779.1,9.7,351,4894,0.00,2.72,0.00,0.000,4,0.000,0.085,2643,3539,1873,0,0,0,0,0,0
$GC,5011,0.82,225.6,767.6,9.3,354,5017,0.00,2.65,0.00,0.000,6,0.000,0.071,2643,1962,1872,0,0,0,0,0,0
$GC,5324,0.83,232.3,739.6,8.9,365,5337,0.00,2.70,6.30,0.996,4,0.000,0.085,2643,3537,1851,0,0,0,0,0,0
$GC,5438,0.83,232.3,729.2,9.2,368,5442,0.00,2.50,0.00,0.000,6,0.000,0.071,2643,2034,1850,0,0,0,0,0,0
$GC,5761,0.83,232.3,699.6,9.6,379,5766,0.00,2.55,0.00,0.000,4,0.000,0.087,2644,3543,1850,0,0,0,0,0,0
$GC,6018,0.85,246.8,677.2,8.6,386,6038,0.00,2.53,14.07,1.142,6,0.000,0.072,2644,2018,1793,0,0,0,0,0,0
$GC,6362,0.85,246.8,645.5,9.7,398,6367,0.00,2.58,0.00,0.000,4,0.000,0.087,2643,3539,1789,0,0,0,0,0,0
$GC,6619,0.85,246.8,622.4,9.3,405,6626,0.00,2.53,0.00,0.000,6,0.000,0.071,2643,2037,1789,0,0,0,0,0,0
$GC,6935,0.85,246.8,593.0,9.9,420,6939,0.00,2.53,0.00,0.000,4,0.000,0.087,2644,3538,1788,0,0,0,0,0,0
$GC,7119,0.85,246.8,575.0,9.5,436,7124,0.00,2.47,0.00,0.000,6,0.000,0.072,2643,2037,1788,0,0,0,0,0,0
$GC,7444,0.86,257.4,544.7,8.7,466,7460,0.00,2.80,9.90,1.040,4,0.000,0.094,2644,366,1749,0,0,0,0,0,0
$GC,7561,0.90,284.5,535.3,8.0,476,7593,0.12,2.80,24.98,1.101,6,0.210,0.071,2673,2114,1640,0,0,0,0,0,0
$GC,7911,0.90,284.5,500.6,11.3,509,7916,0.00,2.40,0.00,0.000,4,0.000,0.088,2674,3537,1634,0,0,0,0,0,0
$GC,7956,0.90,284.5,495.7,10.5,512,7962,0.00,2.35,0.00,0.000,6,0.000,0.071,2674,2119,1633,0,0,0,0,0,0
$GC,8283,0.90,284.5,459.0,12.0,543,8284,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2120,1632,0,0,0,0,0,0
$GC,8598,0.90,284.5,422.3,11.3,573,8603,0.00,2.40,0.00,0.000,4,0.000,0.088,2674,3542,1632,0,0,0,0,0,0
$GC,8642,0.90,284.5,417.4,11.1,576,8648,0.00,2.38,0.00,0.000,6,0.000,0.071,2674,2128,1633,0,0,0,0,0,0
$GC,8968,0.90,284.5,380.3,11.8,607,8969,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2128,1632,0,0,0,0,0,0
$GC,9287,0.90,284.5,344.3,11.2,637,9289,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2128,1632,0,0,0,0,0,0
$GC,9604,0.90,284.5,311.5,10.5,667,9608,0.00,2.38,0.00,0.000,4,0.000,0.088,2674,3543,1632,0,0,0,0,0,0
$GC,9655,0.92,302.7,306.7,8.4,671,9676,0.00,2.33,15.60,0.944,6,0.000,0.073,2674,2127,1565,0,0,0,0,0,0
$GC,9997,0.92,302.7,272.0,11.2,703,9998,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2128,1562,0,0,0,0,0,0
$GC,10314,0.92,302.7,234.9,11.9,733,10315,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2128,1562,0,0,0,0,0,0
$GC,10631,0.92,302.7,197.7,11.5,763,10635,0.00,2.38,0.00,0.000,4,0.000,0.087,2674,3540,1561,0,0,0,0,0,0
$GC,10725,0.92,302.7,188.2,9.5,771,10731,0.00,2.33,0.00,0.000,6,0.000,0.071,2673,2124,1560,0,0,0,0,0,0
$GC,11050,0.92,302.7,157.1,10.1,802,11051,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2124,1561,0,0,0,0,0,0
$GC,11370,0.92,302.7,124.6,10.3,832,11374,0.00,2.38,0.00,0.000,4,0.000,0.088,2674,3539,1561,0,0,0,0,0,0
$GC,11622,0.92,302.7,99.0,10.4,854,11628,0.00,2.20,0.00,0.000,6,0.000,0.071,2674,2185,1559,0,0,0,0,0,0
$GC,11961,0.95,332.6,67.2,7.9,915,11994,0.00,3.03,25.67,0.810,4,0.000,0.092,2674,364,1441,0,0,0,0,0,0
$GC,12017,0.97,343.2,62.5,8.7,925,12035,0.00,2.67,9.95,0.750,6,0.000,0.069,2674,2033,1399,0,0,0,0,0,0
$GC,12370,0.97,343.2,30.7,12.0,988,12376,0.00,2.53,0.00,0.000,4,0.000,0.087,2674,3536,1394,0,0,0,0,0,0
$GC,12415,0.97,343.2,25.9,10.6,996,12421,0.00,2.72,0.00,0.000,6,0.000,0.072,2673,1892,1393,0,0,0,0,0,0
$STATE,12654,end climb,SURFACE_DEPTH_REACHED
$STATE,12654,begin surface coast
$FINISH,0.4,1.026571
$STATE,12678,end surface coast,CONTROL_FINISHED_OK
$STATE,12678,begin surface
$SM_CCo,12754,0.00,0.000,0,0,1390,345.87
$SM_GC,1.33,7.32,0.00,0.00,0.079,0.000,0.000,126,2466,1390,-7.03,0.17,345.87
$RAFOS_CLK,819
$RAFOS,6,1258390149,16.833334,16.819166,104,64,58,0,0,0,721,177,218,0,0,0
$RAFOS,5,1258389671,16.700001,16.686388,105,58,56,0,0,0,499,183,144,0,0,0
$RAFOS,4,1258389186,16.566668,16.551666,99,58,57,0,0,0,755,200,167,0,0,0
$RAFOS,3,1258388708,16.433332,16.418888,67,62,59,0,0,0,870,162,185,0,0,0
$RAFOS,2,1258388222,16.299999,16.283890,91,67,61,0,0,0,960,215,206,0,0,0
$RAFOS,1,1258387745,16.166666,16.151388,83,59,56,0,0,0,927,122,168,0,0,0
$RAFOS,0,1258387264,16.033333,16.017778,73,58,57,0,0,0,154,117,133,0,0,0
$RAFOS_FIX,6656.631348,-5743.466309,161109,161617,6,92,0.77
$IRIDIUM_FIX,6625.71,-5734.67,100299,101002
$TT8_MAMPS,0.026845
$HUMID,49.37
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.20
$XPDR_PINGS,11
$ALTIM_TOP_PING,19.8,18.9
$24V_AH,22.7,35.747
$10V_AH,10.2,18.395
$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,19.500,116.325,427.400,0.000,0.000,27.591,39.624,147.831,3.000,0.000,33.840,2092.468,8024.899,543.659,2058.482,394.590,0.000,1614.762,0.000,2004.384,2520.000,2.621,0.000
$DEVICE_MAMPS,309.868,95.108,1310.036,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,747.559,751.988,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,187876
$DATA_FILE_SIZE,44106,1043
$CAP_FILE_SIZE,130366,0
$CFSIZE,260165632,238817280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.9
$CURRENT,0.813,234.4,1
$GPS,161109,172855,6658.494,-5734.221,40,0.9,40,-37.7