version: 66.06
glider: 143
mission: 10
dive: 170
start: 11 20 109 20 59 31
data:
$ID,143
$MISSION,10
$DIVE,170
$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,-32808.828
$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,20
$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
$GPS1,203807,6702.864,-5656.799,31,1.7,31,-37.6
$_CALLS,5
$_XMS_NAKs,21
$_XMS_TOUTs,4
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-57.2
$GPS2,205911,6702.895,-5656.893,49,1.8,64,-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,122.8,6425,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.73,-146.0,0.0,0.0,0,194,0.00,0.00,-173.90,0.000,6,0.000,0.000,126,2476,3396,0,0,0,0,0,0
$GC,197,-0.73,-146.0,3.9,-7.8,34,214,10.98,2.65,0.00,0.000,4,0.293,0.081,2453,866,3399,0,0,0,0,0,0
$GC,382,-0.73,-146.0,39.4,-15.3,67,388,0.00,2.60,0.00,0.000,6,0.000,0.075,2453,2460,3401,0,0,0,0,0,0
$GC,725,-0.73,-146.0,88.9,-12.5,128,732,0.00,2.55,0.00,0.000,4,0.000,0.092,2453,3915,3401,0,0,0,0,0,0
$GC,878,-0.73,-146.0,103.7,-8.1,151,883,0.00,2.42,0.00,0.000,6,0.000,0.065,2453,2454,3400,0,0,0,0,0,0
$GC,1202,-0.73,-146.0,130.5,-9.8,182,1206,0.00,2.55,0.00,0.000,4,0.000,0.091,2453,3921,3401,0,0,0,0,0,0
$GC,1290,-0.73,-146.0,139.3,-10.2,189,1296,0.00,2.45,0.00,0.000,6,0.000,0.064,2453,2472,3400,0,0,0,0,0,0
$GC,1616,-0.73,-146.0,169.1,-9.7,220,1620,0.00,2.50,0.00,0.000,4,0.000,0.090,2453,3914,3400,0,0,0,0,0,0
$GC,1715,-0.73,-146.0,179.3,-9.9,228,1722,0.00,2.40,0.00,0.000,6,0.000,0.064,2453,2482,3400,0,0,0,0,0,0
$GC,2040,-0.73,-146.0,211.8,-10.0,259,2044,0.00,2.60,0.00,0.000,4,0.000,0.081,2453,862,3401,0,0,0,0,0,0
$GC,2071,-0.73,-146.0,215.4,-11.0,261,2078,0.00,2.60,0.00,0.000,6,0.000,0.071,2453,2494,3401,0,0,0,0,0,0
$GC,2398,-0.73,-146.0,247.8,-9.7,292,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2494,3402,0,0,0,0,0,0
$GC,2716,-0.73,-146.0,277.1,-9.0,322,2720,0.00,2.42,0.00,0.000,4,0.000,0.087,2453,3915,3402,0,0,0,0,0,0
$GC,2846,-0.73,-146.0,289.3,-9.3,333,2850,0.00,2.35,0.00,0.000,6,0.000,0.061,2453,2481,3402,0,0,0,0,0,0
$GC,3172,-0.73,-146.0,318.0,-8.5,363,3176,0.00,2.45,0.00,0.000,4,0.000,0.087,2453,3909,3403,0,0,0,0,0,0
$GC,3222,-0.73,-146.0,322.7,-9.0,367,3226,0.00,2.33,0.00,0.000,6,0.000,0.061,2453,2490,3403,0,0,0,0,0,0
$GC,3548,-0.73,-146.0,349.1,-7.6,397,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2491,3404,0,0,0,0,0,0
$GC,3866,-0.73,-146.0,372.3,-7.2,427,3871,0.00,2.42,0.00,0.000,4,0.000,0.085,2453,3909,3404,0,0,0,0,0,0
$GC,3917,-0.73,-146.0,376.1,-7.7,431,3921,0.00,2.33,0.00,0.000,6,0.000,0.060,2453,2487,3405,0,0,0,0,0,0
$GC,4241,-0.73,-146.0,398.1,-6.7,461,4246,0.00,2.58,0.00,0.000,4,0.000,0.077,2453,865,3405,0,0,0,0,0,0
$GC,4273,-0.73,-146.0,400.6,-7.7,463,4279,0.00,2.58,0.00,0.000,6,0.000,0.068,2453,2494,3405,0,0,0,0,0,0
$GC,4599,-0.73,-146.0,422.0,-6.4,494,4600,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2494,3406,0,0,0,0,0,0
$GC,4918,-0.73,-146.0,443.0,-6.7,524,4922,0.00,2.40,0.00,0.000,4,0.000,0.084,2453,3910,3406,0,0,0,0,0,0
$GC,5036,-0.73,-146.0,451.4,-6.5,534,5040,0.00,2.33,0.00,0.000,6,0.000,0.059,2453,2483,3406,0,0,0,0,0,0
$GC,5360,-0.73,-146.0,471.8,-6.0,564,5361,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2483,3407,0,0,0,0,0,0
$GC,5680,-0.73,-146.0,492.3,-6.8,594,5684,0.00,2.42,0.00,0.000,4,0.000,0.084,2453,3911,3407,0,0,0,0,0,0
$GC,5741,-0.73,-146.0,497.1,-8.0,599,5745,0.00,2.30,0.00,0.000,6,0.000,0.059,2453,2497,3407,0,0,0,0,0,0
$GC,6066,-0.73,-146.0,521.8,-7.7,629,6067,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2497,3407,0,0,0,0,0,0
$GC,6385,-0.73,-146.0,546.1,-8.0,659,6390,0.00,2.42,0.00,0.000,4,0.000,0.084,2453,3917,3407,0,0,0,0,0,0
$GC,6440,-0.73,-146.0,550.7,-8.1,663,6446,0.00,2.30,0.00,0.000,6,0.000,0.058,2453,2502,3407,0,0,0,0,0,0
$GC,6765,-0.73,-146.0,576.1,-7.6,694,6770,0.00,2.58,0.00,0.000,4,0.000,0.077,2453,871,3407,0,0,0,0,0,0
$GC,6821,-0.73,-146.0,580.5,-8.0,698,6826,0.00,2.58,0.00,0.000,6,0.000,0.068,2453,2505,3407,0,0,0,0,0,0
$GC,7146,-0.73,-146.0,597.9,0.0,729,7150,0.00,2.38,0.00,0.000,4,0.000,0.084,2453,3911,3408,0,0,0,0,0,0
$STATE,7221,end dive,NO_VERTICAL_VELOCITY
$STATE,7221,begin apogee
$GC,7229,-0.16,0.0,597.9,0.0,735,7356,0.55,0.00,119.35,1.118,6,0.135,0.000,2629,1946,2801,0,0,0,0,0,0
$STATE,7356,end apogee,CONTROL_FINISHED_OK
$STATE,7356,begin climb
$GC,7358,0.73,146.0,597.8,0.0,748,7495,0.95,2.88,122.12,1.071,4,0.129,0.083,2927,367,2202,0,0,0,0,0,0
$GC,7702,0.73,146.0,562.7,12.0,779,7708,0.00,2.58,0.00,0.000,6,0.000,0.061,2927,1962,2196,0,0,0,0,0,0
$GC,8026,0.73,146.0,524.7,11.8,810,8028,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,1962,2195,0,0,0,0,0,0
$GC,8347,0.73,146.0,488.4,11.6,840,8351,0.00,2.60,0.00,0.000,4,0.000,0.085,2939,362,2194,0,0,0,0,0,0
$GC,8378,0.73,146.0,484.4,11.9,842,8384,0.00,2.50,0.00,0.000,6,0.000,0.061,2939,1939,2194,0,0,0,0,0,0
$GC,8705,0.73,146.0,447.9,11.0,873,8710,0.00,2.55,0.00,0.000,4,0.000,0.085,2950,364,2193,0,0,0,0,0,0
$GC,8739,0.73,146.0,443.8,11.9,875,8744,0.00,2.45,0.00,0.000,6,0.000,0.061,2950,1944,2193,0,0,0,0,0,0
$GC,9063,0.73,146.0,407.1,11.2,906,9064,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,1944,2192,0,0,0,0,0,0
$GC,9382,0.73,146.0,370.0,12.1,936,9387,0.00,2.55,0.00,0.000,4,0.000,0.085,2962,359,2193,0,0,0,0,0,0
$GC,9455,0.73,146.0,360.4,13.0,942,9460,0.15,2.45,0.00,0.000,6,0.195,0.062,2927,1942,2192,0,0,0,0,0,0
$GC,9778,0.73,146.0,323.0,11.8,972,9783,0.00,2.65,0.00,0.000,4,0.000,0.078,2927,3538,2192,0,0,0,0,0,0
$GC,9822,0.73,146.0,317.2,13.0,975,9828,0.00,2.62,0.00,0.000,6,0.000,0.067,2938,1942,2192,0,0,0,0,0,0
$GC,10147,0.73,146.0,277.4,11.9,1006,10148,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1943,2191,0,0,0,0,0,0
$GC,10466,0.73,146.0,242.0,10.8,1036,10471,0.00,2.53,0.00,0.000,4,0.000,0.085,2949,360,2191,0,0,0,0,0,0
$GC,10498,0.73,146.0,238.2,11.4,1038,10505,0.00,2.47,0.00,0.000,6,0.000,0.062,2950,1941,2192,0,0,0,0,0,0
$GC,10824,0.73,146.0,199.3,12.9,1069,10825,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1940,2192,0,0,0,0,0,0
$GC,11143,0.73,146.0,158.5,12.4,1099,11145,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1941,2192,0,0,0,0,0,0
$GC,11461,0.73,146.0,121.8,10.3,1129,11465,0.00,2.55,0.00,0.000,4,0.000,0.086,2960,351,2192,0,0,0,0,0,0
$GC,11499,0.73,146.0,117.7,11.2,1132,11504,0.15,2.45,0.00,0.000,6,0.189,0.061,2925,1942,2192,0,0,0,0,0,0
$GC,11829,0.79,195.3,94.2,7.1,1169,11873,0.00,2.75,37.50,0.782,4,0.000,0.077,2925,3538,2002,0,0,0,0,0,0
$GC,11919,0.79,195.3,87.0,9.2,1185,11925,0.00,2.67,0.00,0.000,6,0.000,0.067,2934,1936,1998,0,0,0,0,0,0
$GC,12263,0.79,195.3,54.5,9.3,1246,12269,0.00,2.70,0.00,0.000,4,0.000,0.077,2935,3542,1996,0,0,0,0,0,0
$GC,12326,0.79,195.3,47.9,10.7,1257,12333,0.00,2.62,0.00,0.000,6,0.000,0.067,2947,1949,1995,0,0,0,0,0,0
$GC,12672,0.79,197.1,15.4,9.1,1318,12678,0.00,2.58,0.00,0.000,4,0.000,0.085,2958,354,1995,0,0,0,0,0,0
$GC,12734,0.79,197.1,8.3,11.1,1329,12740,0.00,2.47,0.00,0.000,6,0.000,0.061,2958,1953,1995,0,0,0,0,0,0
$STATE,12794,end climb,SURFACE_DEPTH_REACHED
$STATE,12795,begin surface coast
$FINISH,0.5,1.026533
$STATE,12824,end surface coast,CONTROL_FINISHED_OK
$STATE,12826,begin surface
$SM_CCo,12843,211.68,0.708,0,0,441,578.42
$SM_GC,0.94,0.00,0.00,211.68,0.000,0.000,0.708,125,2470,441,-8.02,0.28,578.42
$RAFOS_CLK,850
$RAFOS,3,1258763101,0.433333,0.416944,58,57,57,0,0,0,202,178,211,0,0,0
$RAFOS,2,1258762624,0.300000,0.284444,59,58,58,0,0,0,122,202,216,0,0,0
$RAFOS,1,1258762145,0.166667,0.151389,66,56,54,0,0,0,197,129,148,0,0,0
$RAFOS,0,1258761667,0.033333,0.018611,59,59,57,0,0,0,135,207,160,0,0,0
$RAFOS_FIX,6701.097168,-5701.487793,201109,121201,3,77,0.29
$IRIDIUM_FIX,6631.12,-5653.72,140299,202044
$TT8_MAMPS,0.029146
$HUMID,44.80
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,17.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,18.6
$24V_AH,23.1,40.239
$10V_AH,10.2,20.471
$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,20.975,122.175,278.975,211.675,0.000,132.355,288.584,400.077,0.500,0.000,65.683,2301.872,8054.687,693.017,2209.587,1054.354,0.000,1815.095,0.000,2128.518,1800.000,2.624,0.000
$DEVICE_MAMPS,292.994,92.040,1117.519,707.941,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,984.169,918.503,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,187932
$DATA_FILE_SIZE,50484,1345
$CAP_FILE_SIZE,150354,0
$CFSIZE,260165632,236793856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1470.4
$CURRENT,0.100,153.1,1
$GPS,211109,003831,6702.280,-5651.873,40,1.4,40,-37.5