version: 66.06
glider: 143
mission: 10
dive: 147
start: 11 17 109 7 57 3
data:
$ID,143
$MISSION,10
$DIVE,147
$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,-30247.191
$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,24
$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
$GPS1,075136,6657.861,-5724.679,32,1.1,36,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-67.1
$GPS2,075644,6657.831,-5724.596,11,1.4,11,-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,62.7,28108,-16.9,-9.167
$D_GRID,797
$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,-146.0,0.0,0.0,0,122,0.00,0.00,-104.07,0.000,2,0.000,0.000,121,2465,3140,0,0,0,0,0,0
$GC,125,-0.73,-146.0,3.4,-5.6,20,151,10.25,2.72,-6.88,0.000,4,0.316,0.094,2147,861,3399,0,0,0,0,0,0
$GC,208,-0.73,-146.0,28.4,-30.5,35,214,0.00,2.62,0.00,0.000,6,0.000,0.077,2147,2458,3401,0,0,0,0,0,0
$GC,546,-0.73,-146.0,126.3,-25.9,87,551,0.00,2.50,0.00,0.000,4,0.000,0.092,2147,3915,3401,0,0,0,0,0,0
$GC,666,-0.73,-146.0,157.7,-26.9,97,670,0.00,2.40,0.00,0.000,6,0.000,0.067,2147,2465,3401,0,0,0,0,0,0
$GC,990,-0.73,-146.0,237.4,-23.8,127,994,0.00,2.50,0.00,0.000,4,0.000,0.091,2147,3921,3401,0,0,0,0,0,0
$GC,1224,-0.73,-146.0,294.8,-22.8,147,1230,0.00,2.35,0.00,0.000,6,0.000,0.067,2147,2488,3401,0,0,0,0,0,0
$GC,1549,-0.73,-146.0,363.6,-20.3,178,1553,0.00,2.42,0.00,0.000,4,0.000,0.091,2147,3912,3401,0,0,0,0,0,0
$GC,1592,-0.73,-146.0,373.2,-21.6,181,1598,0.00,2.35,0.00,0.000,6,0.000,0.067,2147,2478,3401,0,0,0,0,0,0
$GC,1917,-0.73,-146.0,440.2,-20.8,212,1921,0.00,2.45,0.00,0.000,4,0.000,0.090,2147,3916,3401,0,0,0,0,0,0
$GC,1956,-0.73,-146.0,448.5,-22.2,215,1960,0.00,2.35,0.00,0.000,6,0.000,0.067,2147,2482,3401,0,0,0,0,0,0
$GC,2280,-0.73,-146.0,514.8,-20.4,245,2284,0.00,2.42,0.00,0.000,4,0.000,0.091,2147,3911,3401,0,0,0,0,0,0
$GC,2363,-0.73,-146.0,532.8,-21.7,252,2367,0.00,2.33,0.00,0.000,6,0.000,0.067,2147,2488,3400,0,0,0,0,0,0
$GC,2687,-0.73,-146.0,601.5,-21.3,282,2691,0.00,2.42,0.00,0.000,4,0.000,0.091,2147,3912,3401,0,0,0,0,0,0
$GC,2764,-0.73,-146.0,618.9,-22.4,284,2768,0.00,2.35,0.00,0.000,6,0.000,0.067,2147,2496,3401,0,0,0,0,0,0
$GC,3088,-0.73,-146.0,685.8,-20.8,295,3092,0.00,2.40,0.00,0.000,4,0.000,0.090,2147,3912,3401,0,0,0,0,0,0
$GC,3154,-0.73,-146.0,700.3,-21.4,297,3159,0.00,2.38,0.00,0.000,6,0.000,0.067,2147,2485,3400,0,0,0,0,0,0
$GC,3491,-0.73,-146.0,767.6,-19.8,308,3495,0.00,2.42,0.00,0.000,4,0.000,0.091,2147,3911,3400,0,0,0,0,0,0
$GC,3551,-0.73,-146.0,780.2,-20.9,310,3555,0.00,2.33,0.00,0.000,6,0.000,0.067,2147,2491,3400,0,0,0,0,0,0
$STATE,3639,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3639,begin apogee
$GC,3644,-0.16,0.0,797.5,19.4,313,3771,0.75,0.00,122.15,1.285,6,0.251,0.000,2327,1951,2799,0,0,0,0,0,0
$STATE,3771,end apogee,CONTROL_FINISHED_OK
$STATE,3771,begin climb
$GC,3774,0.73,146.0,810.0,0.0,317,3907,1.15,0.00,127.30,1.228,6,0.216,0.000,2608,1951,2204,0,0,0,0,0,0
$GC,4231,0.78,194.2,781.3,7.1,332,4277,0.10,0.00,41.75,1.204,6,0.180,0.000,2633,1950,2007,0,0,0,0,0,0
$GC,4570,0.82,219.8,754.5,8.1,343,4601,0.00,2.78,22.62,1.174,4,0.000,0.092,2634,364,1901,0,0,0,0,0,0
$GC,4796,0.82,219.8,734.9,9.3,349,4803,0.00,2.72,0.00,0.000,6,0.000,0.067,2634,2046,1898,0,0,0,0,0,0
$GC,5109,0.86,253.5,709.2,7.8,360,5144,0.00,2.62,29.58,1.187,4,0.000,0.086,2634,3546,1766,0,0,0,0,0,0
$GC,5155,0.88,271.6,705.2,8.4,361,5180,0.12,2.42,17.92,1.132,6,0.130,0.069,2670,2126,1690,0,0,0,0,0,0
$GC,5505,0.88,271.6,669.5,10.9,373,5509,0.00,2.92,0.00,0.000,4,0.000,0.092,2671,364,1684,0,0,0,0,0,0
$GC,5645,0.89,277.7,655.7,8.9,377,5656,0.00,2.85,5.75,0.933,6,0.000,0.069,2671,2142,1666,0,0,0,0,0,0
$GC,5968,0.89,277.7,620.4,11.3,388,5972,0.00,2.38,0.00,0.000,4,0.000,0.089,2671,3544,1664,0,0,0,0,0,0
$GC,6001,0.89,277.7,616.7,11.2,389,6006,0.00,2.35,0.00,0.000,6,0.000,0.070,2671,2133,1663,0,0,0,0,0,0
$GC,6327,0.89,277.7,580.3,12.2,409,6331,0.00,2.90,0.00,0.000,4,0.000,0.092,2671,362,1663,0,0,0,0,0,0
$GC,6358,0.89,277.7,576.2,12.2,411,6367,0.00,2.85,0.00,0.000,6,0.000,0.071,2671,2146,1663,0,0,0,0,0,0
$GC,6683,0.89,277.7,540.6,12.4,442,6687,0.00,2.33,0.00,0.000,4,0.000,0.087,2671,3537,1663,0,0,0,0,0,0
$GC,6745,0.89,277.7,533.1,11.6,447,6749,0.00,2.25,0.00,0.000,6,0.000,0.071,2671,2170,1663,0,0,0,0,0,0
$GC,7076,0.89,277.7,492.1,12.9,478,7077,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2170,1663,0,0,0,0,0,0
$GC,7394,0.89,277.7,452.0,12.5,508,7398,0.00,2.30,0.00,0.000,4,0.000,0.087,2671,3539,1662,0,0,0,0,0,0
$GC,7460,0.89,277.7,443.9,11.3,513,7466,0.00,2.25,0.00,0.000,6,0.000,0.071,2671,2170,1662,0,0,0,0,0,0
$GC,7784,0.89,277.7,404.4,12.3,544,7788,0.00,2.30,0.00,0.000,4,0.000,0.087,2671,3538,1663,0,0,0,0,0,0
$GC,7835,0.89,277.7,398.5,11.3,548,7839,0.00,2.22,0.00,0.000,6,0.000,0.071,2671,2180,1662,0,0,0,0,0,0
$GC,8160,0.89,277.7,360.8,11.5,578,8161,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2180,1663,0,0,0,0,0,0
$GC,8479,0.89,277.7,324.8,11.1,608,8483,0.00,2.30,0.00,0.000,4,0.000,0.088,2671,3546,1662,0,0,0,0,0,0
$GC,8555,0.89,277.7,316.5,10.5,614,8562,0.00,2.28,0.00,0.000,6,0.000,0.071,2671,2182,1662,0,0,0,0,0,0
$GC,8880,0.89,277.7,283.1,10.7,645,8885,0.00,2.95,0.00,0.000,4,0.000,0.092,2670,363,1662,0,0,0,0,0,0
$GC,8932,0.89,283.8,278.1,8.9,649,8943,0.00,2.88,5.72,0.795,6,0.000,0.070,2671,2189,1642,0,0,0,0,0,0
$GC,9261,0.89,283.8,245.6,10.8,680,9266,0.00,2.97,0.00,0.000,4,0.000,0.091,2671,366,1642,0,0,0,0,0,0
$GC,9518,0.89,283.8,220.7,9.3,702,9524,0.00,2.88,0.00,0.000,6,0.000,0.067,2670,2193,1642,0,0,0,0,0,0
$GC,9843,0.89,283.8,189.9,10.7,733,9848,0.00,2.97,0.00,0.000,4,0.000,0.090,2671,366,1642,0,0,0,0,0,0
$GC,10017,0.89,283.8,171.6,10.4,748,10021,0.00,2.92,0.00,0.000,6,0.000,0.068,2671,2226,1641,0,0,0,0,0,0
$GC,10341,0.89,283.8,137.7,10.4,778,10346,0.00,3.03,0.00,0.000,4,0.000,0.090,2671,365,1642,0,0,0,0,0,0
$GC,10514,0.91,293.4,121.4,8.8,793,10529,0.00,2.95,9.85,0.797,6,0.000,0.068,2670,2241,1603,0,0,0,0,0,0
$GC,10851,0.93,312.3,95.7,8.4,828,10877,0.00,2.25,17.20,0.808,4,0.000,0.085,2671,3539,1525,0,0,0,0,0,0
$GC,10901,0.93,312.3,91.3,9.5,837,10909,0.00,2.05,0.00,0.000,6,0.000,0.067,2671,2297,1523,0,0,0,0,0,0
$GC,11245,0.94,318.9,57.8,8.9,898,11262,0.00,3.17,6.43,0.697,4,0.000,0.087,2671,359,1500,0,0,0,0,0,0
$GC,11329,0.94,322.2,50.6,9.0,913,11340,0.00,3.12,4.53,0.609,6,0.000,0.070,2671,2312,1486,0,0,0,0,0,0
$GC,11679,0.94,322.2,20.2,10.3,975,11685,0.00,3.17,0.00,0.000,4,0.000,0.091,2671,359,1485,0,0,0,0,0,0
$GC,11754,0.96,337.9,12.8,8.5,988,11777,0.00,3.10,14.88,0.752,6,0.000,0.070,2671,2305,1421,0,0,0,0,0,0
$STATE,11866,end climb,SURFACE_DEPTH_REACHED
$STATE,11866,begin surface coast
$FINISH,0.4,1.003348
$STATE,11889,end surface coast,CONTROL_FINISHED_OK
$STATE,11889,begin surface
$SM_CCo,11965,0.00,0.000,0,0,1414,339.99
$SM_GC,1.26,7.32,0.00,0.00,0.077,0.000,0.000,128,2471,1414,-7.03,0.31,339.99
$RAFOS_CLK,767
$RAFOS,6,1258447743,8.833333,8.817500,123,64,61,0,0,0,783,146,205,0,0,0
$RAFOS,5,1258447266,8.700000,8.685000,115,72,58,0,0,0,565,201,182,0,0,0
$RAFOS,4,1258446784,8.566667,8.551111,83,62,56,0,0,0,803,197,154,0,0,0
$RAFOS,3,1258446304,8.433333,8.417778,83,68,62,0,0,0,917,158,212,0,0,0
$RAFOS,2,1258445824,8.300000,8.284445,75,63,62,0,0,0,986,161,215,0,0,0
$RAFOS,1,1258445345,8.166667,8.151389,75,75,70,0,0,0,199,968,213,0,0,0
$RAFOS,0,1258444863,8.033334,8.017500,75,64,58,0,0,0,1101,222,156,0,0,0
$RAFOS_FIX,6654.949707,-5729.170410,171109,080813,6,92,3.13
$IRIDIUM_FIX,6631.12,-5724.14,110299,040436
$TT8_MAMPS,0.027612
$HUMID,49.01
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,17.60
$XPDR_PINGS,11
$ALTIM_TOP_PING,19.6,19.0
$24V_AH,22.8,36.527
$10V_AH,10.2,18.730
$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,19.700,130.325,425.675,0.000,0.000,23.697,39.898,131.885,3.000,0.000,13.340,2023.293,7442.797,557.154,1892.642,370.600,0.000,1569.828,0.000,1860.693,2520.000,2.634,0.000
$DEVICE_MAMPS,316.004,93.574,1284.725,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,726.997,726.034,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188060
$DATA_FILE_SIZE,41047,1012
$CAP_FILE_SIZE,128465,0
$CFSIZE,260165632,238469120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.8
$CURRENT,0.474,200.2,1
$GPS,171109,111807,6658.399,-5723.010,34,0.9,34,-37.6