version: 66.06
glider: 143
mission: 10
dive: 168
start: 11 20 109 13 20 59
data:
$ID,143
$MISSION,10
$DIVE,168
$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,-32483.521
$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,18
$R_STBD_OVSHOOT,23
$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
$GPS1,130637,6703.222,-5658.356,38,2.0,38,-37.6
$_CALLS,1
$_XMS_NAKs,53
$_XMS_TOUTs,4
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-58.0
$GPS2,132040,6703.245,-5658.353,11,2.7,30,-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,128.4,7490,-16.9,-9.167
$D_GRID,601
$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,-146.0,0.0,0.0,0,174,0.00,0.00,-155.07,0.000,2,0.000,0.000,131,2474,3150,0,0,0,0,0,0
$GC,177,-0.73,-146.0,3.3,-6.0,30,205,11.30,2.72,-6.38,0.000,4,0.301,0.091,2456,863,3399,0,0,0,0,0,0
$GC,357,-0.73,-146.0,30.7,-13.2,62,363,0.00,2.60,0.00,0.000,6,0.000,0.074,2456,2457,3401,0,0,0,0,0,0
$GC,703,-0.73,-146.0,70.4,-10.2,123,709,0.00,2.53,0.00,0.000,4,0.000,0.092,2456,3914,3401,0,0,0,0,0,0
$GC,816,-0.73,-146.0,83.0,-11.0,143,821,0.00,2.40,0.00,0.000,6,0.000,0.063,2456,2464,3401,0,0,0,0,0,0
$GC,1149,-0.73,-146.0,119.8,-10.3,187,1154,0.00,2.50,0.00,0.000,4,0.000,0.090,2456,3912,3401,0,0,0,0,0,0
$GC,1200,-0.73,-146.0,125.0,-10.4,191,1204,0.00,2.35,0.00,0.000,6,0.000,0.063,2455,2484,3401,0,0,0,0,0,0
$GC,1524,-0.73,-146.0,152.9,-8.0,221,1528,0.00,2.47,0.00,0.000,4,0.000,0.089,2456,3921,3401,0,0,0,0,0,0
$GC,1601,-0.73,-146.0,159.4,-8.8,227,1607,0.00,2.35,0.00,0.000,6,0.000,0.062,2456,2490,3401,0,0,0,0,0,0
$GC,1925,-0.73,-146.0,188.9,-9.4,258,1930,0.00,2.45,0.00,0.000,4,0.000,0.088,2456,3915,3401,0,0,0,0,0,0
$GC,1969,-0.73,-146.0,193.1,-9.5,261,1975,0.00,2.33,0.00,0.000,6,0.000,0.061,2456,2498,3401,0,0,0,0,0,0
$GC,2294,-0.73,-146.0,221.0,-8.1,292,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2499,3402,0,0,0,0,0,0
$GC,2614,-0.73,-146.0,245.0,-7.3,322,2615,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2499,3403,0,0,0,0,0,0
$GC,2933,-0.73,-146.0,268.0,-7.2,352,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2499,3403,0,0,0,0,0,0
$GC,3251,-0.73,-146.0,293.2,-8.5,382,3255,0.00,2.42,0.00,0.000,4,0.000,0.086,2456,3918,3404,0,0,0,0,0,0
$GC,3358,-0.73,-146.0,302.8,-9.1,391,3362,0.00,2.33,0.00,0.000,6,0.000,0.059,2456,2487,3404,0,0,0,0,0,0
$GC,3682,-0.73,-146.0,331.5,-8.7,421,3683,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2488,3405,0,0,0,0,0,0
$GC,4003,-0.73,-146.0,358.5,-7.8,451,4007,0.00,2.45,0.00,0.000,4,0.000,0.084,2456,3923,3405,0,0,0,0,0,0
$GC,4064,-0.73,-146.0,363.5,-7.7,456,4068,0.00,2.33,0.00,0.000,6,0.000,0.058,2456,2491,3405,0,0,0,0,0,0
$GC,4388,-0.73,-146.0,386.3,-6.7,486,4390,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2493,3405,0,0,0,0,0,0
$GC,4708,-0.73,-146.0,409.0,-7.7,516,4712,0.00,2.42,0.00,0.000,4,0.000,0.084,2456,3918,3406,0,0,0,0,0,0
$GC,4861,-0.73,-146.0,421.3,-8.4,529,4865,0.00,2.30,0.00,0.000,6,0.000,0.058,2456,2497,3406,0,0,0,0,0,0
$GC,5186,-0.73,-146.0,446.3,-7.6,559,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2498,3406,0,0,0,0,0,0
$GC,5505,-0.73,-146.0,469.9,-7.2,589,5506,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2498,3407,0,0,0,0,0,0
$GC,5826,-0.73,-146.0,493.6,-7.6,619,5827,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2499,3407,0,0,0,0,0,0
$GC,6142,-0.73,-146.0,517.9,-7.3,649,6143,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2498,3407,0,0,0,0,0,0
$GC,6462,-0.73,-146.0,541.2,-7.1,679,6463,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2498,3407,0,0,0,0,0,0
$GC,6779,-0.73,-146.0,564.2,-7.0,709,6780,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2498,3407,0,0,0,0,0,0
$GC,7099,-0.73,-146.0,586.8,-7.2,739,7103,0.00,2.42,0.00,0.000,4,0.000,0.084,2456,3923,3407,0,0,0,0,0,0
$STATE,7275,end dive,NO_VERTICAL_VELOCITY
$STATE,7275,begin apogee
$GC,7283,-0.16,0.0,589.7,0.0,754,7410,0.60,0.00,119.38,1.115,6,0.139,0.000,2644,1950,2798,0,0,0,0,0,0
$STATE,7411,end apogee,CONTROL_FINISHED_OK
$STATE,7411,begin climb
$GC,7413,0.73,146.0,589.5,0.0,767,7539,0.93,0.00,121.90,1.067,6,0.127,0.000,2926,1950,2204,0,0,0,0,0,0
$GC,7852,0.73,146.0,543.3,11.6,809,7857,0.00,2.75,0.00,0.000,4,0.000,0.077,2926,3540,2196,0,0,0,0,0,0
$GC,7891,0.73,146.0,538.4,12.9,812,7895,0.00,2.70,0.00,0.000,6,0.000,0.065,2939,1949,2194,0,0,0,0,0,0
$GC,8215,0.73,146.0,498.9,12.3,842,8219,0.00,2.58,0.00,0.000,4,0.000,0.084,2950,362,2194,0,0,0,0,0,0
$GC,8246,0.73,146.0,494.7,13.4,844,8253,0.00,2.55,0.00,0.000,6,0.000,0.061,2950,1961,2194,0,0,0,0,0,0
$GC,8573,0.73,146.0,453.9,12.9,875,8578,0.00,2.60,0.00,0.000,4,0.000,0.085,2962,360,2193,0,0,0,0,0,0
$GC,8606,0.73,146.0,449.2,13.2,877,8612,0.00,2.47,0.00,0.000,6,0.000,0.061,2961,1949,2193,0,0,0,0,0,0
$GC,8930,0.73,146.0,407.1,13.0,908,8931,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,1949,2192,0,0,0,0,0,0
$GC,9250,0.73,146.0,365.4,13.3,938,9251,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,1949,2192,0,0,0,0,0,0
$GC,9569,0.73,146.0,324.0,13.1,968,9573,0.00,2.62,0.00,0.000,4,0.000,0.077,2962,3534,2192,0,0,0,0,0,0
$GC,9622,0.73,146.0,316.7,12.6,972,9629,0.17,2.62,0.00,0.000,6,0.199,0.067,2933,1942,2191,0,0,0,0,0,0
$GC,9948,0.73,146.0,282.3,10.1,1003,9952,0.00,2.53,0.00,0.000,4,0.000,0.085,2943,360,2191,0,0,0,0,0,0
$GC,9979,0.73,146.0,278.8,11.1,1005,9985,0.00,2.45,0.00,0.000,6,0.000,0.062,2943,1948,2191,0,0,0,0,0,0
$GC,10304,0.73,146.0,242.0,11.8,1036,10305,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,1948,2191,0,0,0,0,0,0
$GC,10623,0.73,146.0,206.6,10.3,1066,10624,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,1948,2191,0,0,0,0,0,0
$GC,10944,0.73,146.0,174.7,10.2,1096,10945,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,1948,2191,0,0,0,0,0,0
$GC,11260,0.73,146.0,141.8,10.0,1126,11261,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,1948,2191,0,0,0,0,0,0
$GC,11578,0.75,162.2,112.1,8.5,1156,11592,0.00,0.00,12.05,0.751,6,0.000,0.000,2943,1949,2138,0,0,0,0,0,0
$GC,11916,0.75,162.2,81.3,10.6,1204,11920,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,1949,2137,0,0,0,0,0,0
$GC,12259,0.76,170.8,47.8,8.8,1265,12276,0.00,2.60,8.30,0.696,4,0.000,0.084,2954,365,2103,0,0,0,0,0,0
$GC,12388,0.76,170.8,35.0,10.3,1288,12393,0.00,2.42,0.00,0.000,6,0.000,0.060,2954,1938,2102,0,0,0,0,0,0
$GC,12732,0.76,170.8,3.9,11.0,1349,12737,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1937,2102,0,0,0,0,0,0
$STATE,12752,end climb,SURFACE_DEPTH_REACHED
$STATE,12752,begin surface coast
$FINISH,0.4,1.026592
$STATE,12776,end surface coast,CONTROL_FINISHED_OK
$STATE,12776,begin surface
$SM_CCo,12793,88.75,0.726,0,0,1473,325.02
$SM_GC,1.22,0.00,0.00,88.75,0.000,0.000,0.726,128,2471,1473,-8.04,0.31,325.02
$RAFOS_CLK,814
$RAFOS,5,1258735262,16.700001,16.683889,59,58,54,0,0,0,211,193,221,0,0,0
$RAFOS,4,1258734782,16.566668,16.550556,68,61,60,0,0,0,188,210,166,0,0,0
$RAFOS,3,1258734304,16.433332,16.417778,64,55,55,0,0,0,206,193,984,0,0,0
$RAFOS,2,1258733827,16.299999,16.285278,72,62,61,0,0,0,1043,177,201,0,0,0
$RAFOS,1,1258733349,16.166666,16.152500,64,63,59,0,0,0,196,167,216,0,0,0
$RAFOS,0,1258732864,16.033333,16.017778,66,60,59,0,0,0,205,158,184,0,0,0
$RAFOS_FIX,6701.097168,-5701.487793,201109,121201,3,77,0.29
$IRIDIUM_FIX,6636.54,-5658.34,140299,090953
$TT8_MAMPS,0.029146
$HUMID,46.61
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,18.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,19.3
$24V_AH,23.1,39.893
$10V_AH,10.2,20.302
$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,21.175,76.375,261.625,88.750,0.000,40.685,29.663,632.544,1.000,0.000,32.722,2322.536,7871.902,533.091,2101.093,889.040,0.000,1582.979,0.000,2057.789,2520.000,2.623,0.000
$DEVICE_MAMPS,300.664,92.040,1115.218,725.582,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,993.904,929.448,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188440
$DATA_FILE_SIZE,50466,1357
$CAP_FILE_SIZE,138867,0
$CFSIZE,260165632,236965888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1470.6
$CURRENT,0.216,303.2,1
$GPS,201109,165706,6703.970,-5657.293,39,1.1,39,-37.6