version: 66.06
glider: 143
mission: 10
dive: 160
start: 11 19 109 4 49 58
data:
$ID,143
$MISSION,10
$DIVE,160
$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,-31574.957
$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,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
$GPS1,044426,6703.675,-5713.732,34,3.5,53,-37.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-67.1
$GPS2,044938,6703.682,-5713.802,11,1.5,11,-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,144.8,18676,-16.9,-9.167
$D_GRID,743
$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,15,-0.73,-146.0,0.0,0.0,0,117,0.00,0.00,-99.15,0.000,2,0.000,0.000,120,2458,3100,0,0,0,0,0,0
$GC,120,-0.73,-146.0,3.3,-5.7,19,148,9.73,2.67,-7.97,0.000,4,0.301,0.090,2149,859,3398,0,0,0,0,0,0
$GC,350,-0.73,-146.0,70.0,-29.6,60,356,0.00,2.60,0.00,0.000,6,0.000,0.074,2150,2469,3400,0,0,0,0,0,0
$GC,680,-0.73,-146.0,159.8,-25.7,100,685,0.00,2.47,0.00,0.000,4,0.000,0.087,2149,3916,3399,0,0,0,0,0,0
$GC,938,-0.73,-146.0,227.7,-25.4,122,944,0.00,2.40,0.00,0.000,6,0.000,0.064,2149,2456,3398,0,0,0,0,0,0
$GC,1263,-0.73,-146.0,302.3,-21.3,153,1267,0.00,2.47,0.00,0.000,4,0.000,0.085,2149,3912,3399,0,0,0,0,0,0
$GC,1497,-0.73,-146.0,354.1,-21.6,173,1503,0.00,2.35,0.00,0.000,6,0.000,0.064,2150,2476,3399,0,0,0,0,0,0
$GC,1822,-0.73,-146.0,421.1,-20.9,204,1826,0.00,2.45,0.00,0.000,4,0.000,0.085,2150,3912,3399,0,0,0,0,0,0
$GC,1995,-0.73,-146.0,459.8,-22.1,219,2002,0.00,2.35,0.00,0.000,6,0.000,0.064,2149,2499,3399,0,0,0,0,0,0
$GC,2320,-0.73,-146.0,528.8,-21.5,250,2324,0.00,2.40,0.00,0.000,4,0.000,0.084,2150,3918,3399,0,0,0,0,0,0
$GC,2561,-0.73,-146.0,583.9,-22.7,271,2565,0.00,2.28,0.00,0.000,6,0.000,0.062,2149,2522,3399,0,0,0,0,0,0
$GC,2886,-0.73,-146.0,651.9,-20.5,286,2890,0.00,2.35,0.00,0.000,4,0.000,0.084,2150,3914,3399,0,0,0,0,0,0
$GC,3064,-0.73,-146.0,690.2,-21.7,291,3068,0.00,2.28,0.00,0.000,6,0.000,0.061,2149,2538,3399,0,0,0,0,0,0
$STATE,3355,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3355,begin apogee
$GC,3361,-0.16,0.0,748.3,19.9,301,3485,0.70,0.00,119.82,1.219,6,0.219,0.000,2331,1944,2800,0,0,0,0,0,0
$STATE,3486,end apogee,CONTROL_FINISHED_OK
$STATE,3486,begin climb
$GC,3488,0.73,146.0,749.7,0.0,305,3625,1.10,2.97,124.15,1.167,4,0.202,0.075,2611,3537,2203,0,0,0,0,0,0
$GC,3747,0.80,209.5,734.8,6.5,313,3809,0.12,2.75,55.33,1.135,6,0.127,0.064,2645,1952,1945,0,0,0,0,0,0
$GC,4114,0.82,226.6,704.9,8.4,325,4134,0.00,2.67,14.82,1.064,4,0.000,0.086,2646,364,1875,0,0,0,0,0,0
$GC,4156,0.86,257.5,701.3,7.9,326,4191,0.00,2.62,28.67,1.106,6,0.000,0.058,2645,1996,1749,0,0,0,0,0,0
$GC,4512,0.87,264.1,669.6,8.9,338,4525,0.00,2.62,6.38,0.904,4,0.000,0.077,2646,3543,1723,0,0,0,0,0,0
$GC,4615,0.87,264.1,659.6,10.0,341,4619,0.00,2.45,0.00,0.000,6,0.000,0.062,2646,2093,1722,0,0,0,0,0,0
$GC,4950,0.87,266.9,630.7,9.0,352,4955,0.00,2.42,0.00,0.000,4,0.000,0.080,2645,3535,1721,0,0,0,0,0,0
$GC,5114,0.88,271.0,615.2,9.0,357,5128,0.00,2.30,7.38,0.945,6,0.000,0.063,2646,2129,1695,0,0,0,0,0,0
$GC,5449,0.88,271.4,584.8,9.1,377,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2129,1693,0,0,0,0,0,0
$GC,5768,0.88,271.4,552.8,10.3,407,5772,0.00,2.35,0.00,0.000,4,0.000,0.078,2646,3537,1693,0,0,0,0,0,0
$GC,6026,0.88,271.4,526.1,10.5,429,6032,0.00,2.30,0.00,0.000,6,0.000,0.064,2646,2127,1693,0,0,0,0,0,0
$GC,6350,0.88,271.4,491.7,10.7,460,6354,0.00,2.35,0.00,0.000,4,0.000,0.078,2646,3546,1693,0,0,0,0,0,0
$GC,6394,0.88,271.4,487.3,9.7,464,6398,0.00,2.25,0.00,0.000,6,0.000,0.064,2645,2166,1693,0,0,0,0,0,0
$GC,6718,0.90,291.0,458.8,8.3,494,6743,0.12,2.92,18.55,1.006,4,0.167,0.086,2681,363,1612,0,0,0,0,0,0
$GC,6845,0.90,291.0,446.4,10.2,505,6851,0.00,3.05,0.00,0.000,6,0.000,0.062,2681,2304,1610,0,0,0,0,0,0
$GC,7170,0.90,291.0,409.6,11.9,536,7174,0.00,2.05,0.00,0.000,4,0.000,0.081,2681,3535,1608,0,0,0,0,0,0
$GC,7247,0.90,291.0,400.9,10.5,543,7251,0.00,2.03,0.00,0.000,6,0.000,0.063,2681,2296,1609,0,0,0,0,0,0
$GC,7578,0.90,291.0,364.5,11.4,574,7583,0.00,3.10,0.00,0.000,4,0.000,0.084,2681,362,1608,0,0,0,0,0,0
$GC,7639,0.90,291.0,357.9,10.4,579,7644,0.00,3.03,0.00,0.000,6,0.000,0.061,2681,2304,1608,0,0,0,0,0,0
$GC,7964,0.90,291.0,324.9,10.8,609,7968,0.00,2.05,0.00,0.000,4,0.000,0.081,2681,3541,1607,0,0,0,0,0,0
$GC,8126,0.90,291.0,307.9,9.5,623,8132,0.00,2.03,0.00,0.000,6,0.000,0.063,2681,2294,1607,0,0,0,0,0,0
$GC,8450,0.90,291.0,271.8,11.8,654,8455,0.00,3.10,0.00,0.000,4,0.000,0.084,2681,352,1607,0,0,0,0,0,0
$GC,8549,0.90,291.0,261.2,10.0,662,8558,0.00,3.03,0.00,0.000,6,0.000,0.061,2681,2302,1607,0,0,0,0,0,0
$GC,8875,0.90,291.0,227.3,11.6,693,8879,0.00,2.05,0.00,0.000,4,0.000,0.080,2681,3547,1607,0,0,0,0,0,0
$GC,8921,0.90,291.0,222.3,10.6,697,8925,0.00,2.05,0.00,0.000,6,0.000,0.062,2681,2285,1607,0,0,0,0,0,0
$GC,9251,0.90,291.0,190.0,9.4,728,9255,0.00,2.10,0.00,0.000,4,0.000,0.080,2681,3544,1607,0,0,0,0,0,0
$GC,9509,0.90,291.0,161.3,10.7,751,9513,0.00,2.22,0.00,0.000,6,0.000,0.063,2681,2172,1607,0,0,0,0,0,0
$GC,9835,0.90,291.0,128.6,10.2,781,9839,0.00,2.28,0.00,0.000,4,0.000,0.077,2681,3546,1607,0,0,0,0,0,0
$GC,9929,0.90,291.0,119.0,10.1,789,9933,0.00,2.33,0.00,0.000,6,0.000,0.062,2681,2103,1607,0,0,0,0,0,0
$GC,10260,0.91,295.7,89.5,9.0,829,10271,0.00,2.40,4.55,0.604,4,0.000,0.078,2681,3548,1593,0,0,0,0,0,0
$GC,10300,0.93,313.9,86.1,8.4,836,10324,0.00,2.58,17.05,0.770,6,0.000,0.064,2681,1961,1519,0,0,0,0,0,0
$GC,10658,0.94,321.7,54.9,8.8,900,10675,0.00,2.67,7.55,0.694,4,0.000,0.076,2681,3536,1487,0,0,0,0,0,0
$GC,10737,0.94,321.7,47.4,9.5,914,10742,0.00,2.33,0.00,0.000,6,0.000,0.063,2681,2112,1487,0,0,0,0,0,0
$GC,11080,0.97,343.8,18.5,8.2,975,11110,0.00,2.47,19.65,0.747,4,0.000,0.081,2681,3540,1397,0,0,0,0,0,0
$GC,11178,0.99,360.3,10.4,8.5,992,11201,0.00,2.47,14.73,0.724,6,0.000,0.061,2680,2032,1330,0,0,0,0,0,0
$STATE,11295,end climb,SURFACE_DEPTH_REACHED
$STATE,11295,begin surface coast
$FINISH,0.5,1.003817
$STATE,11317,end surface coast,CONTROL_FINISHED_OK
$STATE,11317,begin surface
$SM_CCo,11394,0.00,0.000,0,0,1324,362.31
$SM_GC,1.16,7.22,0.00,0.00,0.066,0.000,0.000,128,2464,1324,-7.03,0.11,362.31
$RAFOS_CLK,696
$RAFOS,5,1258605661,4.700000,4.683611,78,70,56,0,0,0,612,218,139,0,0,0
$RAFOS_FIX,6705.455078,-5721.962891,191109,040412,2,79,0.00
$IRIDIUM_FIX,6636.54,-5718.20,130299,010130
$TT8_MAMPS,0.026845
$HUMID,48.26
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.90
$XPDR_PINGS,8
$ALTIM_TOP_PING,20.0,19.3
$24V_AH,22.9,38.497
$10V_AH,10.2,19.623
$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,19.000,115.150,438.625,0.000,0.000,25.878,31.918,145.562,2.250,0.000,12.863,2018.491,6820.569,545.233,1970.824,374.460,0.000,1582.658,0.000,1934.291,0.000,2.624,0.000
$DEVICE_MAMPS,300.664,89.739,1218.763,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,729.076,715.880,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188024
$DATA_FILE_SIZE,41045,1017
$CAP_FILE_SIZE,123905,0
$CFSIZE,260165632,237580288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1468.8
$CURRENT,0.459,250.2,1
$GPS,191109,080137,6703.073,-5713.592,36,1.0,36,-37.7