version: 66.06
glider: 143
mission: 10
dive: 153
start: 11 18 109 5 0 40
data:
$ID,143
$MISSION,10
$DIVE,153
$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,-31390.264
$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,18
$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
$GPS1,045407,6701.948,-5719.746,45,1.2,45,-37.7
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-69.0
$GPS2,050022,6701.957,-5719.821,16,2.1,35,-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,77.9,23061,-16.9,-9.167
$D_GRID,778
$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,16,-0.73,-146.0,0.0,0.0,0,131,0.00,0.00,-112.10,0.000,2,0.000,0.000,123,2463,3182,0,0,0,0,0,0
$GC,135,-0.73,-146.0,3.6,-7.0,22,157,9.80,2.65,-5.45,0.000,4,0.303,0.092,2147,860,3398,0,0,0,0,0,0
$GC,253,-0.73,-146.0,40.7,-30.3,43,259,0.00,2.62,0.00,0.000,6,0.000,0.076,2147,2466,3400,0,0,0,0,0,0
$GC,589,-0.73,-146.0,133.6,-25.8,92,593,0.00,2.47,0.00,0.000,4,0.000,0.090,2147,3911,3401,0,0,0,0,0,0
$GC,801,-0.73,-146.0,187.7,-24.8,110,807,0.00,2.38,0.00,0.000,6,0.000,0.066,2147,2471,3399,0,0,0,0,0,0
$GC,1126,-0.73,-146.0,265.1,-24.2,141,1130,0.00,2.47,0.00,0.000,4,0.000,0.089,2147,3914,3400,0,0,0,0,0,0
$GC,1271,-0.73,-146.0,301.1,-23.8,153,1276,0.00,2.38,0.00,0.000,6,0.000,0.067,2147,2473,3399,0,0,0,0,0,0
$GC,1595,-0.73,-146.0,374.4,-22.1,184,1599,0.00,2.45,0.00,0.000,4,0.000,0.088,2147,3910,3399,0,0,0,0,0,0
$GC,1752,-0.73,-146.0,409.8,-22.1,197,1757,0.00,2.35,0.00,0.000,6,0.000,0.066,2147,2481,3400,0,0,0,0,0,0
$GC,2075,-0.73,-146.0,478.0,-21.3,228,2080,0.00,2.45,0.00,0.000,4,0.000,0.089,2147,3919,3399,0,0,0,0,0,0
$GC,2176,-0.73,-146.0,501.1,-22.6,236,2182,0.00,2.33,0.00,0.000,6,0.000,0.065,2146,2494,3400,0,0,0,0,0,0
$GC,2500,-0.73,-146.0,570.1,-20.7,267,2504,0.00,2.42,0.00,0.000,4,0.000,0.089,2147,3919,3400,0,0,0,0,0,0
$GC,2606,-0.73,-146.0,593.1,-21.4,276,2610,0.00,2.33,0.00,0.000,6,0.000,0.065,2147,2498,3400,0,0,0,0,0,0
$GC,2919,-0.73,-146.0,657.8,-20.0,288,2923,0.00,2.40,0.00,0.000,4,0.000,0.088,2147,3912,3400,0,0,0,0,0,0
$GC,2986,-0.73,-146.0,671.6,-20.2,290,2990,0.00,2.30,0.00,0.000,6,0.000,0.064,2147,2503,3400,0,0,0,0,0,0
$GC,3321,-0.73,-146.0,736.7,-19.8,301,3325,0.00,2.40,0.00,0.000,4,0.000,0.088,2147,3915,3400,0,0,0,0,0,0
$GC,3450,-0.73,-146.0,763.0,-21.2,305,3454,0.00,2.30,0.00,0.000,6,0.000,0.064,2147,2504,3399,0,0,0,0,0,0
$STATE,3537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3537,begin apogee
$GC,3543,-0.16,0.0,781.3,20.4,308,3667,0.73,0.00,121.28,1.254,6,0.235,0.000,2328,1947,2800,0,0,0,0,0,0
$STATE,3668,end apogee,CONTROL_FINISHED_OK
$STATE,3668,begin climb
$GC,3670,0.73,146.0,792.8,0.0,312,3803,1.12,0.00,126.47,1.200,6,0.210,0.000,2606,1948,2204,0,0,0,0,0,0
$GC,4098,0.80,206.9,766.9,6.6,326,4159,0.12,2.83,52.20,1.172,4,0.163,0.088,2641,368,1955,0,0,0,0,0,0
$GC,4339,0.82,223.7,745.9,8.5,333,4360,0.00,2.47,15.05,1.092,6,0.000,0.062,2641,1871,1888,0,0,0,0,0,0
$GC,4666,0.82,223.7,715.2,9.3,344,4670,0.00,2.50,0.00,0.000,4,0.000,0.089,2641,364,1884,0,0,0,0,0,0
$GC,4923,0.85,244.4,692.4,8.3,351,4948,0.00,2.50,19.25,1.118,6,0.000,0.062,2641,1954,1802,0,0,0,0,0,0
$GC,5268,0.85,244.4,659.0,10.4,363,5272,0.00,2.60,0.00,0.000,4,0.000,0.088,2641,368,1798,0,0,0,0,0,0
$GC,5322,0.85,244.4,653.4,9.5,364,5328,0.00,2.53,0.00,0.000,6,0.000,0.062,2641,1954,1798,0,0,0,0,0,0
$GC,5635,0.91,294.2,628.9,7.1,375,5685,0.12,2.75,43.30,1.123,4,0.154,0.089,2678,367,1599,0,0,0,0,0,0
$GC,5808,0.91,294.2,612.2,10.0,380,5812,0.00,2.80,0.00,0.000,6,0.000,0.063,2678,2114,1595,0,0,0,0,0,0
$GC,6136,0.91,294.2,577.5,10.9,402,6140,0.00,2.40,0.00,0.000,4,0.000,0.081,2678,3546,1593,0,0,0,0,0,0
$GC,6190,0.91,294.2,571.6,9.9,406,6196,0.00,2.42,0.00,0.000,6,0.000,0.065,2678,2102,1592,0,0,0,0,0,0
$GC,6516,0.91,294.2,535.9,10.9,437,6520,0.00,2.42,0.00,0.000,4,0.000,0.082,2678,3543,1592,0,0,0,0,0,0
$GC,6577,0.91,294.2,529.4,10.2,442,6581,0.00,2.38,0.00,0.000,6,0.000,0.066,2678,2100,1592,0,0,0,0,0,0
$GC,6901,0.91,294.2,493.1,12.2,472,6905,0.00,2.42,0.00,0.000,4,0.000,0.081,2678,3549,1592,0,0,0,0,0,0
$GC,6956,0.91,294.2,487.1,10.3,476,6963,0.00,2.35,0.00,0.000,6,0.000,0.067,2678,2113,1590,0,0,0,0,0,0
$GC,7282,0.91,294.2,450.1,11.5,507,7287,0.00,2.83,0.00,0.000,4,0.000,0.088,2678,358,1590,0,0,0,0,0,0
$GC,7325,0.91,294.2,445.3,10.1,510,7331,0.00,2.75,0.00,0.000,6,0.000,0.064,2678,2124,1589,0,0,0,0,0,0
$GC,7650,0.91,294.2,410.9,11.1,541,7654,0.00,2.35,0.00,0.000,4,0.000,0.082,2678,3542,1589,0,0,0,0,0,0
$GC,7823,0.91,294.2,393.1,11.3,556,7827,0.00,2.35,0.00,0.000,6,0.000,0.067,2678,2106,1589,0,0,0,0,0,0
$GC,8147,0.91,294.2,358.0,11.6,586,8151,0.00,2.40,0.00,0.000,4,0.000,0.082,2678,3542,1589,0,0,0,0,0,0
$GC,8204,0.91,294.2,352.2,9.9,591,8208,0.00,2.33,0.00,0.000,6,0.000,0.067,2678,2118,1589,0,0,0,0,0,0
$GC,8530,0.91,294.2,318.7,10.2,621,8531,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2119,1589,0,0,0,0,0,0
$GC,8848,0.91,294.2,284.4,10.4,651,8852,0.00,2.38,0.00,0.000,4,0.000,0.082,2678,3543,1589,0,0,0,0,0,0
$GC,8910,0.91,294.2,278.5,9.3,656,8915,0.00,2.30,0.00,0.000,6,0.000,0.067,2678,2132,1589,0,0,0,0,0,0
$GC,9234,0.91,294.2,245.3,10.5,686,9235,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2133,1589,0,0,0,0,0,0
$GC,9554,0.91,294.2,211.3,10.5,716,9555,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2133,1588,0,0,0,0,0,0
$GC,9874,0.91,294.2,175.6,11.7,746,9875,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2133,1589,0,0,0,0,0,0
$GC,10191,0.91,294.2,135.6,11.9,776,10196,0.00,2.38,0.00,0.000,4,0.000,0.081,2678,3550,1589,0,0,0,0,0,0
$GC,10226,0.91,294.2,131.5,12.2,779,10230,0.00,2.33,0.00,0.000,6,0.000,0.066,2678,2129,1589,0,0,0,0,0,0
$GC,10553,0.93,312.3,99.6,8.4,810,10575,0.00,2.42,15.02,0.778,4,0.000,0.081,2678,3546,1525,0,0,0,0,0,0
$GC,10611,0.93,312.3,94.4,9.2,820,10616,0.00,2.28,0.00,0.000,6,0.000,0.066,2678,2156,1522,0,0,0,0,0,0
$GC,10951,0.95,329.0,64.6,8.5,881,10972,0.00,2.92,14.90,0.765,4,0.000,0.086,2678,356,1457,0,0,0,0,0,0
$GC,11024,0.95,329.0,57.7,9.7,894,11030,0.00,2.95,0.00,0.000,6,0.000,0.062,2678,2238,1454,0,0,0,0,0,0
$GC,11366,0.96,335.1,26.0,8.9,955,11382,0.00,3.05,6.28,0.665,4,0.000,0.084,2678,367,1432,0,0,0,0,0,0
$GC,11451,0.96,335.1,17.6,10.7,970,11459,0.00,3.05,0.00,0.000,6,0.000,0.063,2678,2311,1432,0,0,0,0,0,0
$STATE,11620,end climb,SURFACE_DEPTH_REACHED
$STATE,11620,begin surface coast
$FINISH,0.5,1.026507
$STATE,11644,end surface coast,CONTROL_FINISHED_OK
$STATE,11644,begin surface
$SM_CCo,11720,0.00,0.000,0,0,1429,336.31
$SM_GC,1.28,7.25,0.00,0.00,0.074,0.000,0.000,128,2467,1429,-7.03,0.17,336.31
$RAFOS_CLK,734
$RAFOS,0,1258531265,8.033334,8.018056,62,57,54,0,0,0,171,196,209,0,0,0
$RAFOS,6,1258519742,4.833333,4.817222,62,58,55,0,0,0,212,222,127,0,0,0
$RAFOS_FIX,6700.097656,-5720.794922,181109,040444,4,107,0.19
$IRIDIUM_FIX,6631.12,-5713.57,120299,010150
$TT8_MAMPS,0.028379
$HUMID,47.91
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,17.70
$XPDR_PINGS,8
$ALTIM_TOP_PING,19.3,19.1
$24V_AH,22.8,37.461
$10V_AH,10.2,19.155
$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,19.150,116.275,413.750,0.000,0.000,29.316,32.163,174.024,2.250,0.000,37.966,1968.785,7259.338,533.760,1916.342,409.486,0.000,1539.613,0.000,1861.695,720.000,2.624,0.000
$DEVICE_MAMPS,302.965,94.341,1254.045,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,720.615,716.094,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188004
$DATA_FILE_SIZE,41004,1004
$CAP_FILE_SIZE,123380,0
$CFSIZE,260165632,238059520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.4
$CURRENT,0.901,218.0,1
$GPS,181109,081724,6701.570,-5718.517,41,1.2,41,-37.6