version: 66.06
glider: 143
mission: 10
dive: 171
start: 11 21 109 1 3 54
data:
$ID,143
$MISSION,10
$DIVE,171
$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,-32913.156
$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,0.045000002
$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,17
$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
$GPS1,003831,6702.280,-5651.873,40,1.4,40,-37.5
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,4
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-58.4
$GPS2,010335,6702.155,-5651.342,96,2.0,102,-37.5
$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,71.3,2877,-16.9,-9.167
$D_GRID,561
$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,13,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,194,0.00,0.00,-175.55,0.000,2,0.000,0.000,120,2472,3394,0,0,0,0,0,0
$GC,197,-0.73,-146.0,3.3,-6.7,34,214,9.55,2.65,0.00,0.000,4,0.295,0.081,2161,862,3397,0,0,0,0,0,0
$GC,360,0.30,-146.0,53.2,-28.8,63,367,1.38,2.60,0.00,0.000,6,0.249,0.075,2475,2459,3399,0,0,0,0,0,0
$GC,705,0.30,-146.0,92.4,-9.1,124,711,0.00,2.60,0.00,0.000,4,0.000,0.084,2475,868,3399,0,0,0,0,0,0
$GC,779,0.30,-146.0,99.4,-9.1,137,785,0.00,2.58,0.00,0.000,6,0.000,0.074,2475,2458,3399,0,0,0,0,0,0
$GC,1107,0.24,-146.0,126.9,-8.2,168,1111,0.00,2.53,0.00,0.000,4,0.000,0.093,2475,3918,3399,0,0,0,0,0,0
$GC,1179,0.14,-146.0,133.7,-8.9,174,1185,0.12,2.45,0.00,0.000,6,0.114,0.064,2433,2442,3399,0,0,0,0,0,0
$GC,1504,0.22,-146.0,169.4,-10.9,204,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2442,3399,0,0,0,0,0,0
$GC,1824,0.29,-146.0,203.4,-10.4,234,1829,0.17,2.55,0.00,0.000,4,0.206,0.087,2464,3914,3400,0,0,0,0,0,0
$GC,1948,0.23,-146.0,215.4,-9.5,244,1954,0.00,2.40,0.00,0.000,6,0.000,0.062,2465,2454,3400,0,0,0,0,0,0
$GC,2273,0.17,-146.0,244.8,-9.0,275,2277,0.00,2.50,0.00,0.000,4,0.000,0.087,2465,3913,3401,0,0,0,0,0,0
$GC,2350,0.11,-146.0,251.8,-9.0,281,2357,0.12,2.40,0.00,0.000,6,0.111,0.061,2419,2448,3401,0,0,0,0,0,0
$GC,2677,0.20,-146.0,284.7,-9.8,312,2682,0.12,2.53,0.00,0.000,4,0.216,0.084,2437,3914,3402,0,0,0,0,0,0
$GC,2731,0.20,-146.0,290.6,-9.5,316,2739,0.00,2.42,0.00,0.000,6,0.000,0.059,2437,2454,3402,0,0,0,0,0,0
$GC,3057,0.20,-146.0,320.0,-9.0,347,3061,0.00,2.50,0.00,0.000,4,0.000,0.085,2437,3916,3402,0,0,0,0,0,0
$GC,3122,0.20,-146.0,326.1,-9.2,352,3130,0.00,2.42,0.00,0.000,6,0.000,0.059,2437,2458,3402,0,0,0,0,0,0
$GC,3448,0.20,-146.0,352.4,-8.2,383,3452,0.00,2.50,0.00,0.000,4,0.000,0.084,2437,3924,3403,0,0,0,0,0,0
$GC,3548,0.20,-146.0,360.9,-8.5,391,3554,0.00,2.35,0.00,0.000,6,0.000,0.058,2437,2477,3403,0,0,0,0,0,0
$GC,3873,0.20,-146.0,387.1,-7.8,422,3877,0.00,2.45,0.00,0.000,4,0.000,0.084,2437,3914,3404,0,0,0,0,0,0
$GC,3950,0.20,-146.0,393.3,-8.1,428,3957,0.00,2.33,0.00,0.000,6,0.000,0.059,2437,2480,3404,0,0,0,0,0,0
$GC,4275,0.20,-146.0,418.7,-7.8,459,4276,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2480,3405,0,0,0,0,0,0
$GC,4595,0.20,-146.0,443.4,-7.8,489,4599,0.00,2.45,0.00,0.000,4,0.000,0.083,2437,3917,3405,0,0,0,0,0,0
$GC,4668,0.20,-146.0,449.5,-8.8,495,4672,0.00,2.35,0.00,0.000,6,0.000,0.058,2437,2473,3405,0,0,0,0,0,0
$GC,4994,0.20,-146.0,474.4,-7.7,525,4998,0.00,2.45,0.00,0.000,4,0.000,0.084,2437,3914,3405,0,0,0,0,0,0
$GC,5060,0.20,-146.0,479.9,-7.8,530,5066,0.00,2.33,0.00,0.000,6,0.000,0.058,2437,2481,3405,0,0,0,0,0,0
$GC,5385,0.20,-146.0,504.1,-7.7,561,5389,0.00,2.45,0.00,0.000,4,0.000,0.084,2437,3923,3406,0,0,0,0,0,0
$GC,5469,0.20,-146.0,510.6,-7.5,568,5473,0.00,2.33,0.00,0.000,6,0.000,0.058,2437,2488,3406,0,0,0,0,0,0
$GC,5795,-0.30,-146.0,531.5,0.0,598,5801,0.40,2.58,0.00,0.000,4,0.081,0.074,2284,866,3406,0,0,0,0,0,0
$GC,5824,-0.69,-146.0,531.5,0.2,600,5830,0.32,2.53,0.00,0.000,6,0.070,0.065,2154,2473,3406,0,0,0,0,0,0
$STATE,5902,end dive,NO_VERTICAL_VELOCITY
$STATE,5902,begin apogee
$GC,5908,-0.16,0.0,531.5,0.0,607,6030,0.62,0.00,118.28,1.069,6,0.164,0.000,2332,1952,2799,0,0,0,0,0,0
$STATE,6031,end apogee,CONTROL_FINISHED_OK
$STATE,6031,begin climb
$GC,6033,0.73,146.0,531.4,0.0,619,6165,1.10,3.00,120.68,1.024,4,0.216,0.074,2607,3535,2202,0,0,0,0,0,0
$GC,6275,1.79,173.2,516.8,8.0,641,6307,1.17,2.75,23.65,0.972,6,0.125,0.061,2957,1953,2093,0,0,0,0,0,0
$GC,6625,1.66,173.2,470.2,14.3,674,6630,0.15,2.75,0.00,0.000,4,0.195,0.075,2920,3545,2087,0,0,0,0,0,0
$GC,6794,1.60,173.2,447.5,13.4,688,6800,0.00,2.70,0.00,0.000,6,0.000,0.065,2931,1932,2085,0,0,0,0,0,0
$GC,7118,1.55,173.2,407.5,12.0,719,7120,0.17,0.00,0.00,0.000,6,0.193,0.000,2888,1932,2085,0,0,0,0,0,0
$GC,7437,1.65,178.7,377.7,8.9,749,7449,0.00,2.70,4.62,0.698,4,0.000,0.077,2888,3539,2070,0,0,0,0,0,0
$GC,7494,1.71,178.7,372.2,9.8,754,7500,0.12,2.65,0.00,0.000,6,0.114,0.066,2942,1937,2070,0,0,0,0,0,0
$GC,7819,1.64,178.7,334.6,11.7,784,7823,0.00,2.70,0.00,0.000,4,0.000,0.078,2942,3545,2070,0,0,0,0,0,0
$GC,7841,1.55,178.7,331.9,12.3,785,7848,0.25,2.65,0.00,0.000,6,0.189,0.067,2892,1946,2070,0,0,0,0,0,0
$GC,8166,1.64,178.7,302.0,9.3,816,8167,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1947,2070,0,0,0,0,0,0
$GC,8486,1.75,184.9,272.4,8.9,846,8501,0.17,2.72,6.60,0.763,4,0.101,0.077,2953,3538,2046,0,0,0,0,0,0
$GC,8540,1.61,184.9,265.5,13.1,851,8546,0.22,2.62,0.00,0.000,6,0.189,0.067,2910,1947,2045,0,0,0,0,0,0
$GC,8865,1.66,184.9,232.2,10.5,881,8866,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,1947,2044,0,0,0,0,0,0
$GC,9185,1.71,184.9,199.3,10.0,911,9186,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,1948,2044,0,0,0,0,0,0
$GC,9504,1.77,184.9,168.5,9.6,941,9506,0.15,0.00,0.00,0.000,6,0.106,0.000,2963,1948,2045,0,0,0,0,0,0
$GC,9821,1.68,184.9,127.2,13.6,971,9826,0.15,2.67,0.00,0.000,4,0.192,0.077,2921,3538,2044,0,0,0,0,0,0
$GC,9849,1.68,184.9,123.8,11.8,973,9853,0.00,2.62,0.00,0.000,6,0.000,0.066,2931,1941,2044,0,0,0,0,0,0
$GC,10179,1.68,184.9,87.6,10.2,1013,10184,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,1942,2044,0,0,0,0,0,0
$GC,10522,1.75,196.5,56.2,8.7,1074,10539,0.00,2.53,11.00,0.725,4,0.000,0.082,2943,354,1997,0,0,0,0,0,0
$GC,10613,1.81,196.5,47.3,10.0,1090,10618,0.00,2.47,0.00,0.000,6,0.000,0.061,2943,1956,1996,0,0,0,0,0,0
$GC,10957,1.88,196.5,11.5,11.1,1151,10962,0.15,0.00,0.00,0.000,6,0.105,0.000,2996,1956,1996,0,0,0,0,0,0
$STATE,11034,end climb,SURFACE_DEPTH_REACHED
$STATE,11034,begin surface coast
$FINISH,0.4,1.018870
$STATE,11053,end surface coast,CONTROL_FINISHED_OK
$STATE,11053,begin surface
$SM_CCo,11070,204.77,0.702,0,0,442,578.42
$SM_GC,1.02,0.00,0.00,204.77,0.000,0.000,0.702,129,2461,442,-7.06,0.00,578.42
$RAFOS_CLK,748
$RAFOS,0,1258776062,4.033333,4.017222,59,56,53,0,0,0,213,191,145,0,0,0
$RAFOS,4,1258763582,0.566667,0.550556,60,58,58,0,0,0,221,195,152,0,0,0
$RAFOS_FIX,6701.097168,-5701.487793,201109,121201,3,77,0.29
$IRIDIUM_FIX,6631.12,-5649.11,150299,010117
$TT8_MAMPS,0.027612
$HUMID,44.68
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,18.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,19.0
$24V_AH,23.2,40.417
$10V_AH,10.2,20.550
$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,24.900,103.400,284.825,204.775,0.000,142.497,195.645,674.293,0.750,0.000,103.698,2072.432,6807.411,678.542,1982.867,1230.451,0.000,1673.207,0.000,1865.956,360.000,2.624,0.000
$DEVICE_MAMPS,294.528,92.807,1069.198,701.805,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,852.496,795.808,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,187768
$DATA_FILE_SIZE,44136,1168
$CAP_FILE_SIZE,147765,0
$CFSIZE,260165632,236732416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.0
$CURRENT,0.066,307.2,1
$GPS,211109,041324,6703.479,-5650.341,32,1.2,49,-37.6