version: 66.06
glider: 143
mission: 10
dive: 148
start: 11 17 109 11 26 21
data:
$ID,143
$MISSION,10
$DIVE,148
$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,-30260.461
$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,20
$R_STBD_OVSHOOT,21
$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
$GPS1,111807,6658.399,-5723.010,34,0.9,34,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-66.8
$GPS2,112602,6658.425,-5723.078,11,1.0,11,-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,64.1,26711,-16.9,-9.167
$D_GRID,798
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.73,-146.0,0.0,0.0,0,121,0.00,0.00,-102.45,0.000,2,0.000,0.000,128,2472,3169,0,0,0,0,0,0
$GC,124,-0.73,-146.0,3.8,-7.3,20,147,10.02,2.67,-5.95,0.000,4,0.310,0.094,2149,870,3397,0,0,0,0,0,0
$GC,220,-0.73,-146.0,33.1,-30.2,37,226,0.00,2.62,0.00,0.000,6,0.000,0.077,2149,2461,3400,0,0,0,0,0,0
$GC,563,-0.73,-146.0,128.5,-24.3,89,567,0.00,2.50,0.00,0.000,4,0.000,0.093,2150,3921,3400,0,0,0,0,0,0
$GC,726,-0.73,-146.0,168.9,-26.0,103,730,0.00,2.40,0.00,0.000,6,0.000,0.068,2150,2469,3400,0,0,0,0,0,0
$GC,1050,-0.73,-146.0,248.5,-24.0,133,1054,0.00,2.47,0.00,0.000,4,0.000,0.091,2150,3914,3399,0,0,0,0,0,0
$GC,1156,-0.73,-146.0,274.4,-23.5,142,1160,0.00,2.38,0.00,0.000,6,0.000,0.067,2150,2471,3400,0,0,0,0,0,0
$GC,1480,-0.73,-146.0,348.4,-21.6,172,1484,0.00,2.47,0.00,0.000,4,0.000,0.091,2150,3918,3400,0,0,0,0,0,0
$GC,1669,-0.73,-146.0,391.2,-23.2,188,1675,0.00,2.38,0.00,0.000,6,0.000,0.067,2150,2492,3400,0,0,0,0,0,0
$GC,1996,-0.73,-146.0,461.3,-21.8,219,2000,0.00,2.42,0.00,0.000,4,0.000,0.091,2150,3914,3400,0,0,0,0,0,0
$GC,2118,-0.73,-146.0,488.9,-22.4,229,2125,0.00,2.33,0.00,0.000,6,0.000,0.067,2150,2492,3400,0,0,0,0,0,0
$GC,2443,-0.73,-146.0,558.1,-21.1,260,2448,0.00,2.42,0.00,0.000,4,0.000,0.091,2150,3917,3400,0,0,0,0,0,0
$GC,2539,-0.73,-146.0,579.2,-21.8,268,2543,0.00,2.33,0.00,0.000,6,0.000,0.067,2150,2495,3400,0,0,0,0,0,0
$GC,2854,-0.73,-146.0,645.1,-20.4,284,2858,0.00,2.42,0.00,0.000,4,0.000,0.091,2149,3922,3400,0,0,0,0,0,0
$GC,2971,-0.73,-146.0,669.5,-19.7,287,2975,0.00,2.33,0.00,0.000,6,0.000,0.067,2150,2499,3400,0,0,0,0,0,0
$GC,3289,-0.73,-146.0,730.0,-18.8,298,3294,0.00,2.40,0.00,0.000,4,0.000,0.091,2150,3911,3400,0,0,0,0,0,0
$GC,3355,-0.73,-146.0,743.5,-20.4,300,3360,0.00,2.33,0.00,0.000,6,0.000,0.067,2150,2515,3400,0,0,0,0,0,0
$STATE,3658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3658,begin apogee
$GC,3664,-0.16,0.0,801.1,19.4,310,3789,0.73,0.00,121.93,1.288,6,0.240,0.000,2328,1947,2800,0,0,0,0,0,0
$STATE,3790,end apogee,CONTROL_FINISHED_OK
$STATE,3790,begin climb
$GC,3792,0.73,146.0,815.0,0.0,314,3929,1.15,2.97,127.50,1.231,4,0.212,0.090,2610,363,2203,0,0,0,0,0,0
$GC,4008,0.80,206.9,804.4,6.6,320,4069,0.12,2.70,54.50,1.200,6,0.202,0.067,2638,1951,1955,0,0,0,0,0,0
$GC,4376,0.83,227.7,775.4,8.3,332,4400,0.00,2.80,18.33,1.155,4,0.000,0.091,2638,372,1871,0,0,0,0,0,0
$GC,4613,0.83,227.7,754.0,9.5,339,4617,0.00,2.62,0.00,0.000,6,0.000,0.067,2638,1989,1866,0,0,0,0,0,0
$GC,4946,0.85,245.9,724.6,8.4,350,4971,0.00,2.83,16.62,1.158,4,0.000,0.092,2638,365,1796,0,0,0,0,0,0
$GC,5033,0.85,247.3,717.1,9.1,352,5038,0.00,2.80,0.00,0.000,6,0.000,0.069,2638,2086,1794,0,0,0,0,0,0
$GC,5347,0.87,262.9,690.8,8.5,362,5368,0.00,2.50,16.20,1.147,4,0.000,0.085,2638,3538,1727,0,0,0,0,0,0
$GC,5502,0.89,280.1,676.7,8.4,366,5525,0.12,2.47,16.52,1.137,6,0.184,0.071,2669,2063,1656,0,0,0,0,0,0
$GC,5849,0.89,280.1,638.3,11.8,378,5854,0.00,2.83,0.00,0.000,4,0.000,0.093,2669,358,1652,0,0,0,0,0,0
$GC,5965,0.89,280.1,625.8,11.0,381,5970,0.00,2.75,0.00,0.000,6,0.000,0.069,2669,2074,1650,0,0,0,0,0,0
$GC,6280,0.89,280.1,591.0,12.2,395,6285,0.00,2.45,0.00,0.000,4,0.000,0.087,2669,3536,1651,0,0,0,0,0,0
$GC,6403,0.89,280.1,576.7,11.0,405,6409,0.00,2.42,0.00,0.000,6,0.000,0.071,2669,2072,1650,0,0,0,0,0,0
$GC,6729,0.89,280.1,538.2,11.4,436,6733,0.00,2.47,0.00,0.000,4,0.000,0.087,2669,3537,1650,0,0,0,0,0,0
$GC,6806,0.89,280.1,529.5,11.0,442,6812,0.00,2.38,0.00,0.000,6,0.000,0.071,2669,2094,1650,0,0,0,0,0,0
$GC,7130,0.89,280.1,492.9,11.4,473,7135,0.00,2.83,0.00,0.000,4,0.000,0.093,2669,365,1650,0,0,0,0,0,0
$GC,7196,0.89,280.1,486.1,9.3,478,7204,0.00,2.75,0.00,0.000,6,0.000,0.071,2669,2099,1649,0,0,0,0,0,0
$GC,7522,0.89,280.1,454.9,11.0,509,7526,0.00,2.40,0.00,0.000,4,0.000,0.087,2669,3536,1649,0,0,0,0,0,0
$GC,7594,0.90,284.4,447.6,9.0,515,7605,0.00,2.33,4.15,0.746,6,0.000,0.071,2669,2127,1638,0,0,0,0,0,0
$GC,7923,0.90,284.4,413.5,10.9,546,7928,0.00,2.88,0.00,0.000,4,0.000,0.093,2669,365,1638,0,0,0,0,0,0
$GC,7955,0.90,284.4,410.2,10.2,548,7961,0.00,2.83,0.00,0.000,6,0.000,0.071,2669,2146,1638,0,0,0,0,0,0
$GC,8281,0.90,284.4,377.2,10.9,579,8282,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2146,1637,0,0,0,0,0,0
$GC,8601,0.90,284.4,341.5,11.9,609,8605,0.00,2.92,0.00,0.000,4,0.000,0.092,2669,359,1637,0,0,0,0,0,0
$GC,8696,0.90,284.4,330.9,11.0,617,8700,0.00,2.80,0.00,0.000,6,0.000,0.068,2669,2138,1637,0,0,0,0,0,0
$GC,9020,0.90,284.4,297.0,11.2,647,9024,0.00,2.33,0.00,0.000,4,0.000,0.087,2669,3536,1637,0,0,0,0,0,0
$GC,9116,0.90,284.4,286.8,11.1,655,9120,0.00,2.28,0.00,0.000,6,0.000,0.071,2669,2150,1637,0,0,0,0,0,0
$GC,9440,0.90,284.4,252.1,11.6,685,9444,0.00,2.33,0.00,0.000,4,0.000,0.087,2669,3534,1637,0,0,0,0,0,0
$GC,9603,0.90,284.4,235.1,9.9,699,9607,0.00,2.28,0.00,0.000,6,0.000,0.071,2669,2146,1637,0,0,0,0,0,0
$GC,9928,0.90,284.4,203.2,9.8,729,9932,0.00,2.35,0.00,0.000,4,0.000,0.087,2669,3544,1637,0,0,0,0,0,0
$GC,9967,0.90,284.4,199.3,9.6,732,9972,0.00,2.55,0.00,0.000,6,0.000,0.071,2669,1992,1637,0,0,0,0,0,0
$GC,10291,0.90,284.4,167.0,10.1,762,10296,0.00,2.62,0.00,0.000,4,0.000,0.092,2669,363,1637,0,0,0,0,0,0
$GC,10323,0.91,295.3,163.9,8.7,764,10340,0.00,2.72,10.45,0.820,6,0.000,0.067,2669,2102,1595,0,0,0,0,0,0
$GC,10658,0.91,295.3,129.4,10.1,796,10663,0.00,2.85,0.00,0.000,4,0.000,0.091,2669,357,1593,0,0,0,0,0,0
$GC,10826,0.93,314.9,114.4,8.3,810,10854,0.00,2.83,17.95,0.815,6,0.000,0.067,2669,2155,1515,0,0,0,0,0,0
$GC,11181,0.94,318.1,84.1,9.0,859,11187,0.00,2.33,0.00,0.000,4,0.000,0.087,2669,3537,1511,0,0,0,0,0,0
$GC,11219,0.94,318.1,80.3,9.4,866,11225,0.00,2.05,0.00,0.000,6,0.000,0.067,2670,2292,1511,0,0,0,0,0,0
$GC,11561,0.99,359.7,49.7,7.4,927,11605,0.12,3.20,37.60,0.775,4,0.207,0.086,2699,361,1331,0,0,0,0,0,0
$GC,11778,0.99,359.7,27.8,10.5,966,11785,0.00,3.12,0.00,0.000,6,0.000,0.069,2699,2306,1326,0,0,0,0,0,0
$STATE,12051,end climb,SURFACE_DEPTH_REACHED
$STATE,12052,begin surface coast
$FINISH,0.4,1.000681
$STATE,12075,end surface coast,CONTROL_FINISHED_OK
$STATE,12076,begin surface
$SM_CCo,12151,0.00,0.000,0,0,1321,362.80
$SM_GC,1.26,7.40,0.00,0.00,0.077,0.000,0.000,126,2460,1321,-7.04,0.00,362.80
$RAFOS_CLK,789
$RAFOS,6,1258462141,12.833333,12.816944,113,66,61,0,0,0,783,204,148,0,0,0
$RAFOS,5,1258461665,12.700000,12.684722,139,58,57,0,0,0,563,208,126,0,0,0
$RAFOS,4,1258461181,12.566667,12.550278,131,66,58,0,0,0,813,193,137,0,0,0
$RAFOS,3,1258460716,12.433333,12.421111,70,60,59,0,0,0,201,218,159,0,0,0
$RAFOS,2,1258460223,12.300000,12.284166,99,60,59,0,0,0,995,189,217,0,0,0
$RAFOS,1,1258459745,12.166667,12.151389,82,58,58,0,0,0,973,209,174,0,0,0
$RAFOS,0,1258459264,12.033333,12.017777,73,56,55,0,0,0,1099,182,119,0,0,0
$RAFOS_FIX,6654.399902,-5727.819336,171109,121222,6,106,2.23
$IRIDIUM_FIX,6625.71,-5719.52,110299,080811
$TT8_MAMPS,0.026845
$HUMID,49.01
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,17.50
$XPDR_PINGS,11
$ALTIM_TOP_PING,19.4,19.1
$24V_AH,22.7,36.689
$10V_AH,10.1,18.798
$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,19.675,134.600,441.750,0.000,0.000,53.411,114.714,138.048,3.000,0.000,12.641,2028.397,7603.998,554.595,1975.688,479.743,0.000,1608.858,0.000,1942.530,2520.000,2.620,0.000
$DEVICE_MAMPS,309.868,93.574,1287.793,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,730.060,731.295,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188024
$DATA_FILE_SIZE,41046,1019
$CAP_FILE_SIZE,131268,0
$CFSIZE,260165632,238395392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.5
$CURRENT,0.353,269.6,1
$GPS,171109,145036,6700.391,-5724.000,35,0.8,40,-37.6