version: 66.06
glider: 143
mission: 10
dive: 169
start: 11 20 109 17 25 55
data:
$ID,143
$MISSION,10
$DIVE,169
$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,-32742.516
$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,2690
$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,19
$R_STBD_OVSHOOT,22
$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
$GPS1,165706,6703.970,-5657.293,39,1.1,39,-37.6
$_CALLS,5
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-68.1
$GPS2,172536,6703.838,-5657.762,239,1.5,256,-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,157.6,7218,-16.9,-9.167
$D_GRID,552
$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,-146.0,0.0,0.0,0,112,0.00,0.00,-93.20,0.000,2,0.000,0.000,126,2475,3035,0,0,0,0,0,0
$GC,115,-0.73,-146.0,3.1,-5.4,18,142,11.05,2.65,-10.12,0.000,4,0.298,0.093,2445,863,3397,0,0,0,0,0,0
$GC,395,-0.73,-146.0,47.4,-15.3,68,401,0.00,2.58,0.00,0.000,6,0.000,0.074,2445,2456,3400,0,0,0,0,0,0
$GC,738,-0.73,-146.0,92.4,-11.1,129,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2455,3400,0,0,0,0,0,0
$GC,1071,-0.73,-146.0,125.5,-9.9,167,1076,0.00,2.53,0.00,0.000,4,0.000,0.092,2445,3919,3400,0,0,0,0,0,0
$GC,1148,-0.73,-146.0,133.0,-9.7,173,1155,0.00,2.45,0.00,0.000,6,0.000,0.064,2445,2460,3400,0,0,0,0,0,0
$GC,1473,-0.73,-146.0,164.2,-10.3,204,1477,0.00,2.53,0.00,0.000,4,0.000,0.089,2445,3911,3400,0,0,0,0,0,0
$GC,1534,-0.73,-146.0,170.5,-10.7,209,1538,0.00,2.40,0.00,0.000,6,0.000,0.064,2445,2458,3400,0,0,0,0,0,0
$GC,1858,-0.73,-146.0,202.9,-10.0,239,1862,0.00,2.50,0.00,0.000,4,0.000,0.088,2445,3911,3400,0,0,0,0,0,0
$GC,1896,-0.73,-146.0,206.8,-10.2,242,1900,0.00,2.38,0.00,0.000,6,0.000,0.063,2445,2470,3400,0,0,0,0,0,0
$GC,2226,-0.73,-146.0,236.7,-8.3,273,2230,0.00,2.47,0.00,0.000,4,0.000,0.088,2445,3911,3401,0,0,0,0,0,0
$GC,2315,-0.73,-146.0,243.7,-7.8,280,2321,0.00,2.35,0.00,0.000,6,0.000,0.061,2445,2479,3401,0,0,0,0,0,0
$GC,2640,-0.73,-146.0,268.6,-8.2,311,2644,0.00,2.47,0.00,0.000,4,0.000,0.087,2445,3920,3402,0,0,0,0,0,0
$GC,2717,-0.73,-146.0,275.2,-8.6,317,2724,0.00,2.33,0.00,0.000,6,0.000,0.061,2445,2496,3402,0,0,0,0,0,0
$GC,3042,-0.73,-146.0,303.0,-8.5,348,3043,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2496,3402,0,0,0,0,0,0
$GC,3362,-0.73,-146.0,331.4,-9.2,378,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2496,3403,0,0,0,0,0,0
$GC,3680,-0.73,-146.0,362.7,-10.1,408,3684,0.00,2.42,0.00,0.000,4,0.000,0.084,2445,3912,3404,0,0,0,0,0,0
$GC,3734,-0.73,-146.0,368.5,-10.8,412,3740,0.00,2.35,0.00,0.000,6,0.000,0.059,2445,2499,3404,0,0,0,0,0,0
$GC,4059,-0.73,-146.0,400.8,-9.4,443,4063,0.00,2.42,0.00,0.000,4,0.000,0.084,2445,3918,3404,0,0,0,0,0,0
$GC,4108,-0.73,-146.0,405.4,-9.4,447,4112,0.00,2.30,0.00,0.000,6,0.000,0.058,2445,2504,3404,0,0,0,0,0,0
$GC,4432,-0.73,-146.0,434.0,-8.6,477,4433,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2505,3405,0,0,0,0,0,0
$GC,4752,-0.73,-146.0,460.5,-8.1,507,4756,0.00,2.42,0.00,0.000,4,0.000,0.084,2445,3919,3405,0,0,0,0,0,0
$GC,4797,-0.73,-146.0,464.3,-8.7,511,4801,0.00,2.30,0.00,0.000,6,0.000,0.058,2445,2504,3405,0,0,0,0,0,0
$GC,5121,-0.73,-146.0,488.7,-7.1,541,5125,0.00,2.42,0.00,0.000,4,0.000,0.084,2445,3922,3405,0,0,0,0,0,0
$GC,5204,-0.73,-146.0,495.0,-7.6,548,5210,0.00,2.30,0.00,0.000,6,0.000,0.058,2445,2504,3406,0,0,0,0,0,0
$GC,5528,-0.73,-146.0,518.6,-7.3,579,5529,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2505,3406,0,0,0,0,0,0
$GC,5849,-0.73,-146.0,543.0,-7.6,609,5853,0.00,2.40,0.00,0.000,4,0.000,0.083,2444,3912,3406,0,0,0,0,0,0
$GC,5948,-0.73,-146.0,551.0,-7.9,617,5955,0.00,2.28,0.00,0.000,6,0.000,0.058,2445,2509,3406,0,0,0,0,0,0
$STATE,5963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5963,begin apogee
$GC,5969,-0.16,0.0,552.1,7.8,619,6095,0.65,0.00,118.53,1.090,6,0.176,0.000,2629,1943,2800,0,0,0,0,0,0
$STATE,6095,end apogee,CONTROL_FINISHED_OK
$STATE,6096,begin climb
$GC,6097,0.73,146.0,555.0,0.0,632,6224,0.95,0.00,121.15,1.046,6,0.131,0.000,2915,1943,2203,0,0,0,0,0,0
$GC,6539,0.73,146.0,513.3,10.3,674,6543,0.00,2.78,0.00,0.000,4,0.000,0.077,2915,3547,2195,0,0,0,0,0,0
$GC,6582,0.73,146.0,508.1,12.1,677,6589,0.00,2.70,0.00,0.000,6,0.000,0.065,2928,1954,2193,0,0,0,0,0,0
$GC,6906,0.73,146.0,472.6,10.9,708,6911,0.00,2.70,0.00,0.000,4,0.000,0.077,2927,3546,2193,0,0,0,0,0,0
$GC,6938,0.73,146.0,468.8,11.5,710,6944,0.00,2.65,0.00,0.000,6,0.000,0.066,2940,1957,2192,0,0,0,0,0,0
$GC,7264,0.73,146.0,430.9,12.1,741,7269,0.00,2.67,0.00,0.000,4,0.000,0.077,2940,3548,2192,0,0,0,0,0,0
$GC,7285,0.73,146.0,428.0,12.6,742,7291,0.00,2.65,0.00,0.000,6,0.000,0.067,2952,1954,2192,0,0,0,0,0,0
$GC,7610,0.73,146.0,388.0,12.1,773,7614,0.00,2.55,0.00,0.000,4,0.000,0.085,2963,362,2192,0,0,0,0,0,0
$GC,7648,0.73,146.0,383.3,12.5,776,7653,0.17,2.50,0.00,0.000,6,0.199,0.063,2923,1967,2192,0,0,0,0,0,0
$GC,7972,0.73,146.0,351.4,9.9,806,7977,0.00,2.62,0.00,0.000,4,0.000,0.079,2923,3543,2192,0,0,0,0,0,0
$GC,8011,0.73,146.0,347.1,11.1,809,8016,0.00,2.62,0.00,0.000,6,0.000,0.067,2933,1956,2192,0,0,0,0,0,0
$GC,8335,0.73,146.0,311.0,11.6,839,8340,0.00,2.65,0.00,0.000,4,0.000,0.078,2933,3540,2192,0,0,0,0,0,0
$GC,8367,0.73,146.0,307.0,13.0,841,8374,0.00,2.65,0.00,0.000,6,0.000,0.067,2945,1962,2192,0,0,0,0,0,0
$GC,8692,0.73,146.0,267.4,11.8,872,8696,0.00,2.55,0.00,0.000,4,0.000,0.086,2957,362,2192,0,0,0,0,0,0
$GC,8843,0.73,146.0,248.2,12.7,885,8848,0.12,2.45,0.00,0.000,6,0.202,0.064,2930,1947,2192,0,0,0,0,0,0
$GC,9167,0.73,146.0,210.8,11.1,915,9168,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,1947,2192,0,0,0,0,0,0
$GC,9487,0.73,146.0,173.3,11.1,945,9491,0.00,2.62,0.00,0.000,4,0.000,0.079,2929,3535,2191,0,0,0,0,0,0
$GC,9537,0.73,146.0,167.2,12.2,949,9541,0.00,2.62,0.00,0.000,6,0.000,0.067,2939,1936,2191,0,0,0,0,0,0
$GC,9860,0.73,146.0,131.3,10.2,979,9865,0.00,2.50,0.00,0.000,4,0.000,0.084,2951,364,2192,0,0,0,0,0,0
$GC,9904,0.73,146.0,126.2,11.3,982,9910,0.00,2.42,0.00,0.000,6,0.000,0.061,2951,1942,2192,0,0,0,0,0,0
$GC,10233,0.73,146.0,89.5,10.7,1021,10239,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,1941,2192,0,0,0,0,0,0
$GC,10576,0.73,146.0,54.4,9.8,1082,10581,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,1942,2192,0,0,0,0,0,0
$GC,10919,0.74,155.4,26.4,8.8,1143,10935,0.00,2.60,6.88,0.662,4,0.000,0.085,2963,358,2166,0,0,0,0,0,0
$GC,11048,0.74,155.4,13.7,9.2,1166,11054,0.15,2.42,0.00,0.000,6,0.184,0.061,2927,1935,2166,0,0,0,0,0,0
$STATE,11187,end climb,SURFACE_DEPTH_REACHED
$STATE,11187,begin surface coast
$FINISH,0.3,1.014212
$STATE,11211,end surface coast,CONTROL_FINISHED_OK
$STATE,11211,begin surface
$SM_CCo,11228,226.95,0.705,0,0,441,578.42
$SM_GC,1.03,0.00,0.00,226.95,0.000,0.000,0.705,127,2472,441,-8.01,0.34,578.42
$RAFOS_CLK,772
$RAFOS,3,1258748702,20.433332,20.417223,65,57,55,0,0,0,215,192,155,0,0,0
$RAFOS,2,1258748225,20.299999,20.284721,71,64,61,0,0,0,193,210,165,0,0,0
$RAFOS,1,1258747751,20.166666,20.153055,56,56,54,0,0,0,162,199,133,0,0,0
$RAFOS,0,1258747269,20.033333,20.019167,65,59,57,0,0,0,170,193,202,0,0,0
$RAFOS,6,1258735746,16.833334,16.818333,60,59,58,0,0,0,201,142,190,0,0,0
$RAFOS_FIX,6701.097168,-5701.487793,201109,121201,3,77,0.29
$IRIDIUM_FIX,6636.54,-5702.96,140299,171743
$TT8_MAMPS,0.027612
$HUMID,44.64
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,17.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,19.0
$24V_AH,23.2,40.071
$10V_AH,10.2,20.386
$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,21.175,106.950,246.550,226.950,0.000,140.934,202.567,710.946,1.000,0.000,258.365,2077.728,7015.844,630.520,2152.648,1283.669,0.000,1613.983,0.000,1882.322,1440.000,2.623,0.000
$DEVICE_MAMPS,297.596,92.807,1089.907,704.873,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,873.743,817.214,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,187964
$DATA_FILE_SIZE,47363,1195
$CAP_FILE_SIZE,142540,0
$CFSIZE,260165632,236883968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1470.4
$CURRENT,0.145,262.9,1
$GPS,201109,203807,6702.864,-5656.799,31,1.7,31,-37.6