version: 66.06
glider: 143
mission: 10
dive: 167
start: 11 20 109 9 12 12
data:
$ID,143
$MISSION,10
$DIVE,167
$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,578.41736
$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,-32450.172
$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,2700
$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,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
$GPS1,084131,6703.133,-5701.662,40,1.0,40,-37.6
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,2
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-58.5
$GPS2,091153,6703.098,-5701.728,105,99.0,124,-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,119.9,9915,-16.9,-9.167
$D_GRID,648
$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,-146.0,0.0,0.0,0,169,0.00,0.00,-150.57,0.000,2,0.000,0.000,125,2469,3009,0,0,0,0,0,0
$GC,172,-0.73,-146.0,3.3,-6.2,29,200,11.27,2.72,-10.88,0.000,4,0.301,0.097,2457,868,3397,0,0,0,0,0,0
$GC,442,-0.73,-146.0,42.9,-13.7,77,447,0.00,2.58,0.00,0.000,6,0.000,0.075,2457,2457,3400,0,0,0,0,0,0
$GC,786,-0.73,-146.0,87.0,-11.2,138,793,0.00,2.53,0.00,0.000,4,0.000,0.094,2457,3920,3400,0,0,0,0,0,0
$GC,843,-0.73,-146.0,93.7,-11.4,148,849,0.00,2.42,0.00,0.000,6,0.000,0.065,2457,2457,3400,0,0,0,0,0,0
$GC,1171,-0.73,-146.0,129.4,-11.0,184,1176,0.00,2.53,0.00,0.000,4,0.000,0.092,2457,3916,3400,0,0,0,0,0,0
$GC,1266,-0.73,-146.0,139.9,-10.5,192,1271,0.00,2.40,0.00,0.000,6,0.000,0.065,2457,2465,3400,0,0,0,0,0,0
$GC,1592,-0.73,-146.0,171.1,-9.2,222,1596,0.00,2.50,0.00,0.000,4,0.000,0.091,2457,3915,3400,0,0,0,0,0,0
$GC,1646,-0.73,-146.0,176.5,-9.7,226,1653,0.00,2.40,0.00,0.000,6,0.000,0.064,2457,2481,3400,0,0,0,0,0,0
$GC,1971,-0.73,-146.0,205.6,-9.0,257,1976,0.00,2.47,0.00,0.000,4,0.000,0.090,2457,3919,3401,0,0,0,0,0,0
$GC,2022,-0.73,-146.0,210.2,-9.1,261,2026,0.00,2.35,0.00,0.000,6,0.000,0.064,2457,2487,3401,0,0,0,0,0,0
$GC,2347,-0.73,-146.0,239.9,-9.1,291,2351,0.00,2.45,0.00,0.000,4,0.000,0.089,2457,3915,3402,0,0,0,0,0,0
$GC,2435,-0.73,-146.0,248.0,-9.0,298,2442,0.00,2.33,0.00,0.000,6,0.000,0.062,2457,2492,3402,0,0,0,0,0,0
$GC,2760,-0.73,-146.0,274.7,-7.1,329,2764,0.00,2.45,0.00,0.000,4,0.000,0.087,2457,3924,3403,0,0,0,0,0,0
$GC,2826,-0.73,-146.0,279.9,-7.5,334,2833,0.00,2.33,0.00,0.000,6,0.000,0.061,2457,2496,3403,0,0,0,0,0,0
$GC,3150,-0.73,-146.0,303.4,-7.5,365,3152,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2496,3403,0,0,0,0,0,0
$GC,3471,-0.73,-146.0,327.1,-7.2,395,3472,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2496,3404,0,0,0,0,0,0
$GC,3789,-0.73,-146.0,350.1,-6.7,425,3793,0.00,2.42,0.00,0.000,4,0.000,0.086,2457,3921,3405,0,0,0,0,0,0
$GC,3832,-0.73,-146.0,353.4,-7.6,428,3838,0.00,2.30,0.00,0.000,6,0.000,0.060,2457,2499,3405,0,0,0,0,0,0
$GC,4157,-0.73,-146.0,374.9,-6.6,459,4158,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2500,3405,0,0,0,0,0,0
$GC,4477,-0.73,-146.0,396.6,-7.1,489,4478,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2500,3406,0,0,0,0,0,0
$GC,4796,-0.73,-146.0,419.2,-6.7,519,4800,0.00,2.40,0.00,0.000,4,0.000,0.084,2457,3914,3406,0,0,0,0,0,0
$GC,4846,-0.73,-146.0,422.9,-7.2,523,4850,0.00,2.30,0.00,0.000,6,0.000,0.059,2457,2498,3406,0,0,0,0,0,0
$GC,5170,-0.73,-146.0,445.2,-6.9,553,5172,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2498,3406,0,0,0,0,0,0
$GC,5491,-0.73,-146.0,467.9,-7.2,583,5492,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2498,3406,0,0,0,0,0,0
$GC,5809,-0.73,-146.0,490.5,-7.0,613,5810,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2498,3406,0,0,0,0,0,0
$GC,6128,-0.73,-146.0,512.8,-6.8,643,6129,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2498,3406,0,0,0,0,0,0
$GC,6448,-0.73,-146.0,534.8,-7.1,673,6449,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2498,3406,0,0,0,0,0,0
$GC,6766,-0.73,-146.0,557.2,-7.2,703,6767,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2499,3406,0,0,0,0,0,0
$GC,7083,-0.73,-146.0,580.3,-7.2,733,7087,0.00,2.42,0.00,0.000,4,0.000,0.085,2457,3923,3407,0,0,0,0,0,0
$GC,7122,-0.73,-146.0,583.2,-7.4,736,7128,0.00,2.30,0.00,0.000,6,0.000,0.058,2457,2505,3407,0,0,0,0,0,0
$GC,7454,-0.73,-146.0,607.2,-7.6,762,7455,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2505,3407,0,0,0,0,0,0
$GC,7760,-0.73,-146.0,628.8,-6.2,772,7764,0.00,2.40,0.00,0.000,4,0.000,0.084,2457,3916,3407,0,0,0,0,0,0
$STATE,7904,end dive,NO_VERTICAL_VELOCITY
$STATE,7904,begin apogee
$GC,7911,-0.16,0.0,628.8,0.0,776,8035,0.57,0.00,120.35,1.142,6,0.133,0.000,2641,1949,2800,0,0,0,0,0,0
$STATE,8036,end apogee,CONTROL_FINISHED_OK
$STATE,8036,begin climb
$GC,8038,0.73,146.0,628.8,0.0,780,8169,0.93,2.97,122.85,1.095,4,0.127,0.077,2922,3539,2203,0,0,0,0,0,0
$GC,8197,0.73,146.0,615.6,12.1,785,8202,0.00,2.85,0.00,0.000,6,0.000,0.064,2934,1948,2200,0,0,0,0,0,0
$GC,8519,0.73,146.0,576.3,11.9,806,8521,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1949,2196,0,0,0,0,0,0
$GC,8838,0.73,146.0,538.1,12.2,836,8839,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1949,2195,0,0,0,0,0,0
$GC,9157,0.73,146.0,497.8,12.4,866,9158,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1949,2194,0,0,0,0,0,0
$GC,9475,0.73,146.0,459.8,11.7,896,9479,0.00,2.58,0.00,0.000,4,0.000,0.086,2946,352,2193,0,0,0,0,0,0
$GC,9514,0.73,146.0,455.0,12.2,899,9519,0.00,2.53,0.00,0.000,6,0.000,0.063,2946,1966,2193,0,0,0,0,0,0
$GC,9838,0.73,146.0,415.6,12.4,929,9839,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,1966,2192,0,0,0,0,0,0
$GC,10159,0.73,146.0,377.4,11.9,959,10163,0.00,2.60,0.00,0.000,4,0.000,0.086,2957,359,2192,0,0,0,0,0,0
$GC,10202,0.73,146.0,371.6,12.4,962,10209,0.00,2.50,0.00,0.000,6,0.000,0.063,2957,1943,2192,0,0,0,0,0,0
$GC,10527,0.73,146.0,332.2,12.1,993,10531,0.00,2.65,0.00,0.000,4,0.000,0.079,2957,3544,2192,0,0,0,0,0,0
$GC,10565,0.73,146.0,327.0,14.2,996,10570,0.15,2.62,0.00,0.000,6,0.206,0.068,2936,1947,2191,0,0,0,0,0,0
$GC,10889,0.73,146.0,289.1,11.3,1026,10890,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,1947,2191,0,0,0,0,0,0
$GC,11208,0.73,146.0,253.7,10.9,1056,11209,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,1948,2192,0,0,0,0,0,0
$GC,11526,0.73,146.0,219.2,11.1,1086,11531,0.00,2.53,0.00,0.000,4,0.000,0.085,2946,362,2192,0,0,0,0,0,0
$GC,11559,0.73,146.0,215.4,11.2,1088,11565,0.00,2.47,0.00,0.000,6,0.000,0.063,2946,1957,2191,0,0,0,0,0,0
$GC,11884,0.73,146.0,179.4,10.9,1119,11885,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,1957,2192,0,0,0,0,0,0
$GC,12204,0.73,146.0,145.3,10.9,1149,12205,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,1957,2191,0,0,0,0,0,0
$GC,12521,0.73,146.0,112.6,10.6,1179,12522,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,1958,2192,0,0,0,0,0,0
$GC,12850,0.73,146.0,78.4,10.1,1227,12856,0.00,2.58,0.00,0.000,4,0.000,0.085,2957,354,2192,0,0,0,0,0,0
$GC,12878,0.73,146.0,75.5,10.3,1232,12884,0.00,2.47,0.00,0.000,6,0.000,0.062,2958,1955,2192,0,0,0,0,0,0
$GC,13223,0.73,146.0,45.8,9.8,1293,13228,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,1955,2191,0,0,0,0,0,0
$GC,13567,0.74,154.3,13.1,8.8,1354,13578,0.00,0.00,5.95,0.643,6,0.000,0.000,2958,1955,2171,0,0,0,0,0,0
$STATE,13694,end climb,SURFACE_DEPTH_REACHED
$STATE,13694,begin surface coast
$FINISH,0.4,1.026523
$STATE,13723,end surface coast,CONTROL_FINISHED_OK
$STATE,13723,begin surface
$SM_CCo,13740,234.18,0.708,0,0,442,578.42
$SM_GC,1.02,0.00,0.00,234.18,0.000,0.000,0.708,131,2470,442,-8.03,0.28,578.42
$RAFOS_CLK,946
$RAFOS,6,1258721343,12.833333,12.817500,81,59,59,0,0,0,828,178,140,0,0,0
$RAFOS,5,1258720861,12.700000,12.683611,83,67,60,0,0,0,653,206,140,0,0,0
$RAFOS,4,1258720383,12.566667,12.550834,66,58,57,0,0,0,869,165,207,0,0,0
$RAFOS,3,1258719905,12.433333,12.418056,63,59,59,0,0,0,208,198,222,0,0,0
$RAFOS,2,1258719421,12.300000,12.283611,68,54,53,0,0,0,190,199,134,0,0,0
$RAFOS,1,1258718943,12.166667,12.150833,65,62,59,0,0,0,201,218,191,0,0,0
$RAFOS,0,1258718466,12.033333,12.018333,59,59,58,0,0,0,156,179,120,0,0,0
$RAFOS,4,1258705985,8.566667,8.551389,71,60,58,0,0,0,220,208,145,0,0,0
$RAFOS_FIX,6701.097168,-5701.487793,201109,121201,3,77,0.29
$IRIDIUM_FIX,6636.54,-5652.31,140299,090904
$TT8_MAMPS,0.026845
$HUMID,45.07
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,18.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,18.8
$24V_AH,23.0,39.754
$10V_AH,10.2,20.222
$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,21.125,86.425,249.150,234.175,0.000,146.207,225.778,873.539,0.500,0.000,127.105,2427.479,8879.013,679.473,2263.575,1544.545,0.000,1759.863,0.000,2122.963,2520.000,3.576,0.000
$DEVICE_MAMPS,300.664,96.642,1142.063,707.941,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1016.156,948.637,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188432
$DATA_FILE_SIZE,53529,1382
$CAP_FILE_SIZE,151635,0
$CFSIZE,260165632,236974080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.3
$CURRENT,0.061,262.6,1
$GPS,201109,130637,6703.222,-5658.356,38,2.0,38,-37.6