version: 66.06
glider: 143
mission: 10
dive: 146
start: 11 17 109 4 17 40
data:
$ID,143
$MISSION,10
$DIVE,146
$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,-30233.223
$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,21
$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
$GPS1,041207,6658.885,-5727.346,39,1.0,39,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-67.9
$GPS2,041720,6658.866,-5727.374,15,1.7,15,-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,114.4,29446,-16.9,-9.167
$D_GRID,823
$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,-146.0,0.0,0.0,0,126,0.00,0.00,-108.03,0.000,2,0.000,0.000,127,2460,3148,0,0,0,0,0,0
$GC,129,-0.73,-146.0,3.4,-5.6,21,152,9.98,2.65,-6.70,0.000,4,0.309,0.093,2147,869,3397,0,0,0,0,0,0
$GC,304,-0.73,-146.0,57.8,-31.9,52,310,0.00,2.62,0.00,0.000,6,0.000,0.078,2147,2462,3400,0,0,0,0,0,0
$GC,637,-0.73,-146.0,148.2,-24.7,96,641,0.00,2.47,0.00,0.000,4,0.000,0.092,2147,3911,3400,0,0,0,0,0,0
$GC,832,-0.73,-146.0,197.1,-23.3,113,837,0.00,2.38,0.00,0.000,6,0.000,0.067,2147,2470,3399,0,0,0,0,0,0
$GC,1156,-0.73,-146.0,274.5,-23.1,143,1161,0.00,2.47,0.00,0.000,4,0.000,0.092,2147,3920,3400,0,0,0,0,0,0
$GC,1240,-0.73,-146.0,294.8,-24.1,150,1244,0.00,2.38,0.00,0.000,6,0.000,0.068,2147,2477,3399,0,0,0,0,0,0
$GC,1564,-0.73,-146.0,368.2,-21.8,180,1569,0.00,2.45,0.00,0.000,4,0.000,0.091,2147,3914,3399,0,0,0,0,0,0
$GC,1731,-0.73,-146.0,405.6,-21.6,194,1738,0.00,2.35,0.00,0.000,6,0.000,0.067,2147,2503,3399,0,0,0,0,0,0
$GC,2056,-0.73,-146.0,472.9,-19.8,225,2061,0.00,2.40,0.00,0.000,4,0.000,0.091,2147,3913,3399,0,0,0,0,0,0
$GC,2156,-0.73,-146.0,495.1,-22.1,233,2162,0.00,2.33,0.00,0.000,6,0.000,0.067,2147,2493,3399,0,0,0,0,0,0
$GC,2482,-0.73,-146.0,563.9,-21.1,264,2486,0.00,2.42,0.00,0.000,4,0.000,0.091,2147,3918,3399,0,0,0,0,0,0
$GC,2565,-0.73,-146.0,581.9,-21.8,271,2569,0.00,2.33,0.00,0.000,6,0.000,0.067,2147,2497,3399,0,0,0,0,0,0
$GC,2901,-0.73,-146.0,650.7,-20.4,287,2905,0.00,2.40,0.00,0.000,4,0.000,0.091,2147,3910,3400,0,0,0,0,0,0
$GC,3001,-0.73,-146.0,672.0,-20.5,290,3005,0.00,2.28,0.00,0.000,6,0.000,0.067,2147,2512,3399,0,0,0,0,0,0
$GC,3337,-0.73,-146.0,739.4,-20.0,301,3341,0.00,2.38,0.00,0.000,4,0.000,0.091,2147,3910,3399,0,0,0,0,0,0
$GC,3408,-0.73,-146.0,754.7,-21.2,303,3412,0.00,2.33,0.00,0.000,6,0.000,0.067,2148,2512,3399,0,0,0,0,0,0
$GC,3737,-0.73,-146.0,821.5,-20.4,314,3742,0.00,2.38,0.00,0.000,4,0.000,0.091,2147,3910,3399,0,0,0,0,0,0
$STATE,3746,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3746,begin apogee
$GC,3753,-0.16,0.0,823.9,20.1,314,3878,0.73,0.00,121.97,1.305,6,0.249,0.000,2326,1941,2800,0,0,0,0,0,0
$STATE,3879,end apogee,CONTROL_FINISHED_OK
$STATE,3879,begin climb
$GC,3881,0.73,146.0,834.2,0.0,318,4020,1.17,3.03,128.00,1.244,4,0.219,0.082,2609,3532,2203,0,0,0,0,0,0
$GC,4133,0.80,204.4,819.8,6.7,325,4193,0.12,2.78,51.88,1.210,6,0.158,0.070,2640,1953,1966,0,0,0,0,0,0
$GC,4506,0.80,206.3,788.4,9.1,338,4510,0.00,2.70,0.00,0.000,4,0.000,0.092,2641,362,1958,0,0,0,0,0,0
$GC,4571,0.82,220.8,782.3,8.6,340,4591,0.00,2.67,14.38,1.144,6,0.000,0.067,2641,1999,1899,0,0,0,0,0,0
$GC,4904,0.82,222.4,752.8,9.1,351,4908,0.00,2.62,0.00,0.000,4,0.000,0.085,2641,3543,1895,0,0,0,0,0,0
$GC,5160,0.82,222.4,728.1,9.9,358,5167,0.00,2.60,0.00,0.000,6,0.000,0.071,2641,2005,1894,0,0,0,0,0,0
$GC,5473,0.82,222.4,698.5,9.8,369,5477,0.00,2.60,0.00,0.000,4,0.000,0.086,2641,3542,1893,0,0,0,0,0,0
$GC,5572,0.85,247.2,689.6,8.1,372,5602,0.00,2.53,23.70,1.181,6,0.000,0.071,2641,2010,1791,0,0,0,0,0,0
$GC,5938,0.87,263.7,659.1,8.5,384,5959,0.00,2.78,15.38,1.134,4,0.000,0.093,2641,362,1724,0,0,0,0,0,0
$GC,5992,0.88,273.4,654.2,8.8,385,6009,0.00,2.85,10.02,1.064,6,0.000,0.068,2641,2123,1684,0,0,0,0,0,0
$GC,6338,0.88,273.4,622.1,9.9,397,6344,0.10,2.97,0.00,0.000,4,0.172,0.093,2668,356,1681,0,0,0,0,0,0
$GC,6427,0.88,273.4,613.3,10.3,399,6434,0.00,2.88,0.00,0.000,6,0.000,0.069,2668,2152,1680,0,0,0,0,0,0
$GC,6746,0.89,276.4,583.1,9.0,420,6751,0.00,2.97,0.00,0.000,4,0.000,0.092,2668,353,1679,0,0,0,0,0,0
$GC,6812,0.89,276.4,576.7,9.2,425,6818,0.00,2.60,0.00,0.000,6,0.000,0.067,2668,1997,1679,0,0,0,0,0,0
$GC,7138,0.89,276.4,543.2,10.5,456,7142,0.00,2.58,0.00,0.000,4,0.000,0.088,2668,3536,1679,0,0,0,0,0,0
$GC,7215,0.89,276.4,535.2,9.8,462,7221,0.00,2.58,0.00,0.000,6,0.000,0.073,2668,1974,1678,0,0,0,0,0,0
$GC,7540,0.89,276.4,502.0,10.6,493,7544,0.00,2.62,0.00,0.000,4,0.000,0.087,2668,3537,1678,0,0,0,0,0,0
$GC,7646,0.89,276.4,491.5,9.7,502,7650,0.00,2.53,0.00,0.000,6,0.000,0.074,2668,2010,1678,0,0,0,0,0,0
$GC,7970,0.89,276.4,459.4,10.3,532,7974,0.00,2.58,0.00,0.000,4,0.000,0.087,2668,3545,1678,0,0,0,0,0,0
$GC,8008,0.89,276.4,455.8,9.4,535,8012,0.00,2.53,0.00,0.000,6,0.000,0.073,2668,2017,1678,0,0,0,0,0,0
$GC,8332,0.89,276.4,425.2,9.3,565,8333,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2018,1678,0,0,0,0,0,0
$GC,8651,0.89,276.4,394.8,9.4,595,8656,0.00,2.58,0.00,0.000,4,0.000,0.087,2668,3545,1679,0,0,0,0,0,0
$GC,8728,0.90,284.3,387.8,8.8,601,8745,0.00,2.47,9.70,0.952,6,0.000,0.072,2668,2036,1640,0,0,0,0,0,0
$GC,9064,0.90,284.3,355.5,10.9,633,9065,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2036,1639,0,0,0,0,0,0
$GC,9385,0.90,284.3,320.4,11.1,663,9390,0.00,2.53,0.00,0.000,4,0.000,0.087,2668,3536,1639,0,0,0,0,0,0
$GC,9451,0.90,284.3,312.4,10.6,668,9458,0.00,2.50,0.00,0.000,6,0.000,0.072,2668,2042,1639,0,0,0,0,0,0
$GC,9776,0.90,284.3,277.4,11.1,699,9778,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2042,1639,0,0,0,0,0,0
$GC,10097,0.90,284.3,243.0,10.3,729,10101,0.00,2.53,0.00,0.000,4,0.000,0.087,2668,3545,1639,0,0,0,0,0,0
$GC,10163,0.91,296.3,236.5,8.7,734,10180,0.00,2.47,11.62,0.879,6,0.000,0.071,2668,2041,1591,0,0,0,0,0,0
$GC,10498,0.91,296.3,205.9,9.9,766,10502,0.00,2.53,0.00,0.000,4,0.000,0.085,2668,3541,1588,0,0,0,0,0,0
$GC,10529,0.91,296.3,202.4,10.5,768,10537,0.00,2.62,0.00,0.000,6,0.000,0.071,2668,1943,1588,0,0,0,0,0,0
$GC,10856,0.91,296.3,168.5,11.6,799,10860,0.00,2.58,0.00,0.000,4,0.000,0.092,2668,358,1588,0,0,0,0,0,0
$GC,10944,0.91,296.3,158.9,10.2,806,10950,0.00,2.55,0.00,0.000,6,0.000,0.066,2668,1990,1587,0,0,0,0,0,0
$GC,11268,0.91,296.3,128.4,9.7,837,11273,0.00,2.58,0.00,0.000,4,0.000,0.084,2668,3542,1588,0,0,0,0,0,0
$GC,11379,0.91,297.1,117.4,9.1,846,11385,0.00,2.53,0.00,0.000,6,0.000,0.071,2668,2001,1588,0,0,0,0,0,0
$GC,11709,0.95,331.9,88.2,7.7,890,11749,0.00,2.70,30.38,0.809,4,0.000,0.086,2668,3540,1446,0,0,0,0,0,0
$GC,11761,0.97,344.2,83.6,8.6,899,11781,0.00,2.65,11.80,0.752,6,0.000,0.070,2668,1953,1395,0,0,0,0,0,0
$GC,12118,0.98,353.3,52.7,8.8,963,12135,0.12,2.75,8.27,0.720,4,0.166,0.084,2702,3538,1357,0,0,0,0,0,0
$GC,12389,0.98,353.3,27.3,10.4,1011,12395,0.00,2.70,0.00,0.000,6,0.000,0.070,2703,1903,1355,0,0,0,0,0,0
$STATE,12641,end climb,SURFACE_DEPTH_REACHED
$STATE,12641,begin surface coast
$FINISH,0.5,1.011789
$STATE,12663,end surface coast,CONTROL_FINISHED_OK
$STATE,12663,begin surface
$SM_CCo,12739,0.00,0.000,0,0,1352,355.19
$SM_GC,1.21,7.38,0.00,0.00,0.075,0.000,0.000,122,2464,1352,-7.05,0.11,355.19
$RAFOS_CLK,815
$RAFOS,6,1258433345,4.833333,4.818056,105,61,61,0,0,0,768,210,193,0,0,0
$RAFOS,5,1258432863,4.700000,4.684166,99,61,57,0,0,0,571,158,199,0,0,0
$RAFOS,4,1258432391,4.566667,4.553056,90,63,58,0,0,0,755,205,167,0,0,0
$RAFOS,3,1258431903,4.433333,4.417500,88,59,59,0,0,0,911,210,163,0,0,0
$RAFOS,1,1258430945,4.166667,4.151389,64,61,59,0,0,0,946,211,179,0,0,0
$RAFOS_FIX,6657.439453,-5729.220703,171109,040409,6,88,4.19
$IRIDIUM_FIX,6625.71,-5727.10,110299,000011
$TT8_MAMPS,0.026845
$HUMID,49.25
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.60
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.5,19.3
$24V_AH,22.7,36.375
$10V_AH,10.2,18.665
$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,19.600,140.425,437.100,0.000,0.000,28.550,30.267,137.236,2.750,0.000,17.161,2095.704,8015.146,564.821,2011.508,379.143,0.000,1638.838,0.000,1977.047,1440.000,2.621,0.000
$DEVICE_MAMPS,309.101,92.807,1304.667,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,759.978,764.651,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,187992
$DATA_FILE_SIZE,44201,1060
$CAP_FILE_SIZE,134811,0
$CFSIZE,260165632,238534656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.0
$CURRENT,0.640,227.1,1
$GPS,171109,075136,6657.861,-5724.679,32,1.1,36,-37.6