version: 66.06
glider: 143
mission: 10
dive: 145
start: 11 17 109 0 39 45
data:
$ID,143
$MISSION,10
$DIVE,145
$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,-30215.436
$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
$GPS1,003337,6658.170,-5728.080,38,1.2,38,-37.6
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-65.9
$GPS2,003925,6658.164,-5728.097,9,1.2,14,-37.6
$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,65.4,30309,-16.9,-9.167
$D_GRID,811
$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,-146.0,0.0,0.0,0,124,0.00,0.00,-105.90,0.000,2,0.000,0.000,120,2462,3105,0,0,0,0,0,0
$GC,128,-0.73,-146.0,3.2,-5.1,20,154,10.02,2.70,-7.97,0.000,4,0.309,0.095,2147,874,3399,0,0,0,0,0,0
$GC,182,-0.73,-146.0,19.5,-29.3,30,189,0.00,2.62,0.00,0.000,6,0.000,0.077,2147,2460,3400,0,0,0,0,0,0
$GC,527,-0.73,-146.0,117.2,-25.4,86,532,0.00,2.50,0.00,0.000,4,0.000,0.093,2148,3909,3401,0,0,0,0,0,0
$GC,685,-0.73,-146.0,157.5,-24.2,99,690,0.00,2.38,0.00,0.000,6,0.000,0.067,2147,2462,3401,0,0,0,0,0,0
$GC,1008,-0.73,-146.0,232.4,-23.0,130,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2462,3401,0,0,0,0,0,0
$GC,1329,-0.73,-146.0,301.5,-21.7,160,1333,0.00,2.47,0.00,0.000,4,0.000,0.091,2147,3911,3401,0,0,0,0,0,0
$GC,1585,-0.73,-146.0,360.4,-23.1,182,1592,0.00,2.38,0.00,0.000,6,0.000,0.067,2147,2486,3400,0,0,0,0,0,0
$GC,1910,-0.73,-146.0,429.6,-21.4,213,1914,0.00,2.42,0.00,0.000,4,0.000,0.091,2147,3911,3401,0,0,0,0,0,0
$GC,2032,-0.73,-146.0,457.6,-22.3,223,2038,0.00,2.38,0.00,0.000,6,0.000,0.067,2147,2481,3401,0,0,0,0,0,0
$GC,2358,-0.73,-146.0,526.2,-20.8,254,2362,0.00,2.42,0.00,0.000,4,0.000,0.091,2147,3910,3401,0,0,0,0,0,0
$GC,2465,-0.73,-146.0,549.4,-21.8,263,2469,0.00,2.33,0.00,0.000,6,0.000,0.067,2147,2486,3401,0,0,0,0,0,0
$GC,2807,-0.73,-146.0,619.4,-20.2,289,2811,0.00,2.42,0.00,0.000,4,0.000,0.090,2147,3918,3401,0,0,0,0,0,0
$GC,2889,-0.73,-146.0,637.2,-21.6,291,2894,0.00,2.35,0.00,0.000,6,0.000,0.067,2147,2499,3401,0,0,0,0,0,0
$GC,3208,-0.73,-146.0,701.0,-20.0,302,3212,0.00,2.40,0.00,0.000,4,0.000,0.091,2147,3914,3401,0,0,0,0,0,0
$GC,3279,-0.73,-146.0,716.2,-20.5,304,3284,0.00,2.30,0.00,0.000,6,0.000,0.067,2147,2498,3400,0,0,0,0,0,0
$GC,3609,-0.73,-146.0,782.2,-20.3,315,3613,0.00,2.40,0.00,0.000,4,0.000,0.091,2147,3912,3400,0,0,0,0,0,0
$GC,3725,-0.73,-146.0,806.8,-20.0,318,3730,0.00,2.33,0.00,0.000,6,0.000,0.067,2147,2511,3400,0,0,0,0,0,0
$STATE,3766,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3766,begin apogee
$GC,3771,-0.16,0.0,814.6,19.1,320,3897,0.75,0.00,122.30,1.299,6,0.246,0.000,2330,1944,2800,0,0,0,0,0,0
$STATE,3898,end apogee,CONTROL_FINISHED_OK
$STATE,3898,begin climb
$GC,3900,0.73,146.0,827.4,0.0,324,4034,1.15,0.00,127.80,1.241,6,0.218,0.000,2609,1944,2204,0,0,0,0,0,0
$GC,4330,0.80,209.0,802.6,6.5,338,4391,0.12,0.00,55.03,1.223,6,0.170,0.000,2642,1944,1946,0,0,0,0,0,0
$GC,4698,0.81,217.5,772.2,8.8,350,4712,0.00,2.83,7.45,1.018,4,0.000,0.084,2642,3530,1912,0,0,0,0,0,0
$GC,4717,0.81,217.5,770.3,9.2,350,4721,0.00,2.50,0.00,0.000,6,0.000,0.070,2643,2066,1912,0,0,0,0,0,0
$GC,5036,0.81,217.5,740.7,9.6,361,5040,0.00,2.83,0.00,0.000,4,0.000,0.091,2643,365,1910,0,0,0,0,0,0
$GC,5158,0.84,235.6,730.3,8.4,364,5180,0.00,2.78,17.17,1.170,6,0.000,0.068,2643,2092,1839,0,0,0,0,0,0
$GC,5498,0.84,235.6,699.1,9.2,376,5503,0.00,2.88,0.00,0.000,4,0.000,0.091,2643,367,1834,0,0,0,0,0,0
$GC,5704,0.84,238.0,680.6,9.1,382,5709,0.00,2.80,0.00,0.000,6,0.000,0.068,2643,2119,1832,0,0,0,0,0,0
$GC,6028,0.85,247.1,652.9,8.8,393,6044,0.00,2.92,10.62,1.098,4,0.000,0.092,2643,366,1792,0,0,0,0,0,0
$GC,6217,0.85,247.1,635.3,9.8,398,6224,0.00,3.00,0.00,0.000,6,0.000,0.069,2643,2235,1790,0,0,0,0,0,0
$GC,6530,0.85,247.1,606.4,9.6,409,6534,0.00,2.17,0.00,0.000,4,0.000,0.087,2643,3537,1790,0,0,0,0,0,0
$GC,6789,0.85,247.1,579.1,11.4,428,6793,0.00,2.12,0.00,0.000,6,0.000,0.071,2643,2250,1788,0,0,0,0,0,0
$GC,7119,0.85,247.1,542.2,11.7,459,7123,0.00,3.08,0.00,0.000,4,0.000,0.091,2643,366,1788,0,0,0,0,0,0
$GC,7292,0.85,247.1,524.4,10.4,474,7297,0.00,3.00,0.00,0.000,6,0.000,0.071,2643,2251,1787,0,0,0,0,0,0
$GC,7616,0.85,251.6,494.1,9.0,504,7628,0.00,2.17,4.80,0.833,4,0.000,0.088,2643,3545,1774,0,0,0,0,0,0
$GC,7880,0.85,251.6,467.9,10.3,527,7887,0.00,2.17,0.00,0.000,6,0.000,0.071,2643,2243,1774,0,0,0,0,0,0
$GC,8205,0.85,251.6,437.3,9.9,558,8208,0.00,2.17,0.00,0.000,4,0.000,0.089,2643,3538,1774,0,0,0,0,0,0
$GC,8368,0.86,254.1,422.1,9.1,572,8377,0.00,2.05,4.22,0.759,6,0.000,0.071,2643,2291,1763,0,0,0,0,0,0
$GC,8702,0.86,256.3,391.0,9.1,604,8707,0.00,3.15,0.00,0.000,4,0.000,0.091,2643,363,1762,0,0,0,0,0,0
$GC,8775,0.87,263.4,384.6,8.9,610,8791,0.00,3.10,9.85,0.961,6,0.000,0.071,2643,2311,1726,0,0,0,0,0,0
$GC,9110,0.92,302.7,358.8,7.5,641,9152,0.12,3.33,34.42,1.001,4,0.167,0.092,2678,361,1565,0,0,0,0,0,0
$GC,9370,0.92,302.7,335.4,9.4,664,9377,0.00,3.15,0.00,0.000,6,0.000,0.071,2678,2314,1560,0,0,0,0,0,0
$GC,9695,0.92,302.7,303.6,11.4,695,9700,0.00,3.22,0.00,0.000,4,0.000,0.091,2678,367,1559,0,0,0,0,0,0
$GC,9790,0.93,312.7,293.9,8.7,703,9805,0.00,3.10,9.05,0.881,6,0.000,0.069,2678,2303,1524,0,0,0,0,0,0
$GC,10125,0.93,312.7,257.1,11.5,734,10126,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2303,1522,0,0,0,0,0,0
$GC,10444,0.93,312.7,219.4,11.9,764,10449,0.00,3.20,0.00,0.000,4,0.000,0.091,2678,361,1521,0,0,0,0,0,0
$GC,10511,0.93,312.7,211.8,10.1,769,10517,0.00,3.05,0.00,0.000,6,0.000,0.068,2678,2286,1521,0,0,0,0,0,0
$GC,10836,0.93,312.7,173.5,13.0,800,10841,0.00,3.15,0.00,0.000,4,0.000,0.089,2679,364,1521,0,0,0,0,0,0
$GC,11092,0.93,312.7,142.1,12.0,822,11099,0.00,3.03,0.00,0.000,6,0.000,0.069,2678,2274,1521,0,0,0,0,0,0
$GC,11418,0.93,312.7,106.7,9.8,853,11423,0.00,3.12,0.00,0.000,4,0.000,0.090,2678,363,1521,0,0,0,0,0,0
$GC,11503,0.93,312.7,98.2,10.2,861,11511,0.00,3.08,0.00,0.000,6,0.000,0.069,2679,2306,1521,0,0,0,0,0,0
$GC,11845,0.93,312.7,66.4,9.3,922,11851,0.00,2.05,0.00,0.000,4,0.000,0.089,2678,3539,1521,0,0,0,0,0,0
$GC,11935,0.93,312.7,58.1,9.9,938,11941,0.00,2.03,0.00,0.000,6,0.000,0.068,2678,2295,1521,0,0,0,0,0,0
$GC,12276,0.99,364.1,28.1,7.0,999,12325,0.00,3.22,42.47,0.776,4,0.000,0.089,2678,361,1314,0,0,0,0,0,0
$GC,12342,0.99,364.1,21.6,12.9,1011,12350,0.00,3.15,0.00,0.000,6,0.000,0.067,2678,2312,1312,0,0,0,0,0,0
$STATE,12544,end climb,SURFACE_DEPTH_REACHED
$STATE,12544,begin surface coast
$FINISH,0.6,1.026578
$STATE,12565,end surface coast,CONTROL_FINISHED_OK
$STATE,12565,begin surface
$SM_CCo,12641,0.00,0.000,0,0,1304,366.97
$SM_GC,1.21,7.35,0.00,0.00,0.076,0.000,0.000,128,2460,1304,-7.03,0.00,366.97
$RAFOS_CLK,811
$RAFOS,0,1258430464,4.033333,4.017778,83,67,63,0,0,0,1074,169,118,0,0,0
$RAFOS,6,1258418944,0.833333,0.817778,83,61,60,0,0,0,762,196,211,0,0,0
$RAFOS,5,1258418465,0.700000,0.684722,83,64,63,0,0,0,553,138,153,0,0,0
$RAFOS,3,1258417503,0.433333,0.417500,106,57,56,0,0,0,907,211,174,0,0,0
$RAFOS_FIX,6654.962402,-5736.924805,171109,000026,5,86,0.00
$IRIDIUM_FIX,6631.12,-5731.73,100299,212120
$TT8_MAMPS,0.029146
$HUMID,48.85
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.50
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.6,19.4
$24V_AH,22.7,36.217
$10V_AH,10.1,18.597
$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,19.525,129.575,445.200,0.000,0.000,29.533,31.830,170.811,2.750,0.000,15.602,2113.690,7821.223,575.262,2082.902,407.960,0.000,1662.264,0.000,2043.765,1440.000,2.621,0.000
$DEVICE_MAMPS,309.101,100.477,1298.531,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,751.963,753.230,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,187980
$DATA_FILE_SIZE,44231,1050
$CAP_FILE_SIZE,132734,0
$CFSIZE,260165632,238604288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.2
$CURRENT,0.304,256.5,1
$GPS,171109,041207,6658.885,-5727.346,39,1.0,39,-37.6