version: 66.06
glider: 143
mission: 10
dive: 172
start: 11 21 109 4 20 28
data:
$ID,143
$MISSION,10
$DIVE,172
$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,-32928.199
$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,18
$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
$GPS1,041324,6703.479,-5650.341,32,1.2,49,-37.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-60.2
$GPS2,042008,6703.410,-5650.357,12,1.2,12,-37.5
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_ADD4_WB
$TGT_LATLONG,6659.000,-5735.000
$TGT_RADIUS,10000.000
$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,281.7,33343,-16.9,-9.167
$D_GRID,528
$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,-146.0,0.0,0.0,0,168,0.00,0.00,-148.23,0.000,2,0.000,0.000,129,2462,3086,0,0,0,0,0,0
$GC,171,-0.73,-146.0,3.3,-6.2,28,198,10.88,2.58,-8.15,0.000,4,0.290,0.102,2444,3899,3400,0,0,0,0,0,0
$GC,450,-0.73,-146.0,45.2,-13.1,78,457,0.00,2.40,0.00,0.000,6,0.000,0.061,2444,2454,3402,0,0,0,0,0,0
$GC,795,-0.73,-146.0,89.8,-11.2,139,800,0.00,2.53,0.00,0.000,4,0.000,0.087,2444,3912,3401,0,0,0,0,0,0
$GC,896,-0.73,-146.0,101.6,-11.6,156,900,0.00,2.40,0.00,0.000,6,0.000,0.062,2445,2461,3401,0,0,0,0,0,0
$GC,1220,-0.73,-146.0,136.9,-11.1,186,1224,0.00,2.50,0.00,0.000,4,0.000,0.088,2445,3906,3401,0,0,0,0,0,0
$GC,1307,-0.73,-146.0,147.0,-11.6,193,1313,0.00,2.38,0.00,0.000,6,0.000,0.061,2445,2492,3402,0,0,0,0,0,0
$GC,1632,-0.73,-146.0,178.0,-8.1,224,1636,0.00,2.45,0.00,0.000,4,0.000,0.088,2445,3915,3401,0,0,0,0,0,0
$GC,1698,-0.73,-146.0,184.0,-8.8,229,1705,0.00,2.33,0.00,0.000,6,0.000,0.061,2444,2499,3402,0,0,0,0,0,0
$GC,2023,-0.73,-146.0,211.5,-8.8,260,2028,0.00,2.60,0.00,0.000,4,0.000,0.079,2445,870,3402,0,0,0,0,0,0
$GC,2044,-0.73,-146.0,213.6,-9.6,261,2050,0.00,2.65,0.00,0.000,6,0.000,0.070,2444,2532,3402,0,0,0,0,0,0
$GC,2369,-0.73,-146.0,244.1,-9.5,292,2373,0.00,2.35,0.00,0.000,4,0.000,0.088,2445,3912,3403,0,0,0,0,0,0
$GC,2418,-0.73,-146.0,248.9,-9.9,296,2422,0.00,2.30,0.00,0.000,6,0.000,0.061,2444,2505,3403,0,0,0,0,0,0
$GC,2743,-0.73,-146.0,278.2,-8.5,326,2747,0.00,2.40,0.00,0.000,4,0.000,0.085,2445,3913,3403,0,0,0,0,0,0
$GC,2826,-0.73,-146.0,285.6,-8.9,333,2830,0.00,2.28,0.00,0.000,6,0.000,0.060,2444,2517,3403,0,0,0,0,0,0
$GC,3152,-0.73,-146.0,313.4,-8.7,363,3157,0.00,2.62,0.00,0.000,4,0.000,0.077,2445,865,3404,0,0,0,0,0,0
$GC,3203,-0.73,-146.0,318.2,-9.8,367,3207,0.00,2.62,0.00,0.000,6,0.000,0.068,2444,2520,3404,0,0,0,0,0,0
$GC,3527,-0.73,-146.0,346.8,-8.5,397,3531,0.00,2.35,0.00,0.000,4,0.000,0.085,2444,3911,3404,0,0,0,0,0,0
$GC,3593,-0.73,-146.0,352.9,-9.1,402,3599,0.00,2.28,0.00,0.000,6,0.000,0.059,2444,2514,3405,0,0,0,0,0,0
$GC,3918,-0.73,-146.0,379.1,-7.9,433,3919,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2514,3404,0,0,0,0,0,0
$GC,4238,-0.73,-146.0,404.1,-7.8,463,4242,0.00,2.38,0.00,0.000,4,0.000,0.084,2444,3908,3405,0,0,0,0,0,0
$GC,4259,-0.73,-146.0,405.9,-7.6,464,4264,0.00,2.22,0.00,0.000,6,0.000,0.058,2445,2535,3405,0,0,0,0,0,0
$GC,4585,-0.73,-146.0,430.7,-7.9,495,4586,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2536,3405,0,0,0,0,0,0
$GC,4903,-0.73,-146.0,454.9,-7.3,525,4908,0.00,2.65,0.00,0.000,4,0.000,0.076,2445,863,3406,0,0,0,0,0,0
$GC,4958,-0.73,-146.0,459.4,-7.7,529,4964,0.00,2.62,0.00,0.000,6,0.000,0.067,2444,2529,3406,0,0,0,0,0,0
$GC,5283,-0.73,-146.0,482.4,-7.3,560,5284,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2529,3406,0,0,0,0,0,0
$GC,5602,-0.73,-146.0,506.0,-7.7,590,5603,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2528,3406,0,0,0,0,0,0
$STATE,5908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5909,begin apogee
$GC,5915,-0.16,0.0,528.9,7.7,619,6040,0.62,0.00,118.25,1.073,6,0.175,0.000,2627,1947,2799,0,0,0,0,0,0
$STATE,6041,end apogee,CONTROL_FINISHED_OK
$STATE,6041,begin climb
$GC,6043,0.73,146.0,531.9,0.0,632,6173,0.95,2.80,120.47,1.028,4,0.133,0.082,2926,367,2202,0,0,0,0,0,0
$GC,6184,0.73,146.0,521.8,10.3,645,6189,0.00,2.67,0.00,0.000,6,0.000,0.060,2926,1949,2199,0,0,0,0,0,0
$GC,6509,0.73,146.0,486.2,10.6,675,6510,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,1949,2195,0,0,0,0,0,0
$GC,6828,0.73,146.0,451.1,10.9,705,6832,0.00,2.60,0.00,0.000,4,0.000,0.084,2938,356,2193,0,0,0,0,0,0
$GC,6849,0.73,146.0,448.5,12.0,706,6855,0.00,2.47,0.00,0.000,6,0.000,0.061,2938,1939,2193,0,0,0,0,0,0
$GC,7173,0.73,146.0,409.8,11.8,737,7174,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1939,2193,0,0,0,0,0,0
$GC,7494,0.73,146.0,375.4,10.4,767,7498,0.00,2.67,0.00,0.000,4,0.000,0.078,2938,3546,2192,0,0,0,0,0,0
$GC,7544,0.73,146.0,369.5,11.7,771,7548,0.00,2.65,0.00,0.000,6,0.000,0.067,2951,1940,2192,0,0,0,0,0,0
$GC,7868,0.73,146.0,331.4,12.6,801,7872,0.00,2.67,0.00,0.000,4,0.000,0.078,2951,3537,2191,0,0,0,0,0,0
$GC,7895,0.73,146.0,327.8,13.8,803,7900,0.15,2.62,0.00,0.000,6,0.203,0.067,2929,1947,2192,0,0,0,0,0,0
$GC,8219,0.73,146.0,291.3,10.9,833,8220,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,1948,2191,0,0,0,0,0,0
$GC,8539,0.73,146.0,258.8,10.1,863,8544,0.00,2.53,0.00,0.000,4,0.000,0.085,2938,362,2191,0,0,0,0,0,0
$GC,8567,0.73,146.0,255.8,10.2,865,8572,0.00,2.45,0.00,0.000,6,0.000,0.063,2938,1946,2192,0,0,0,0,0,0
$GC,8892,0.73,146.0,219.7,11.4,895,8896,0.00,2.65,0.00,0.000,4,0.000,0.079,2939,3547,2191,0,0,0,0,0,0
$GC,8946,0.73,146.0,213.0,11.9,899,8952,0.00,2.62,0.00,0.000,6,0.000,0.066,2951,1947,2191,0,0,0,0,0,0
$GC,9271,0.73,146.0,176.5,11.2,930,9275,0.00,2.53,0.00,0.000,4,0.000,0.084,2962,359,2191,0,0,0,0,0,0
$GC,9291,0.73,146.0,174.0,11.9,931,9298,0.08,2.50,0.00,0.000,6,0.188,0.062,2930,1954,2191,0,0,0,0,0,0
$GC,9616,0.73,146.0,142.2,9.9,962,9621,0.00,2.62,0.00,0.000,4,0.000,0.078,2929,3542,2191,0,0,0,0,0,0
$GC,9678,0.73,146.0,135.6,10.6,967,9683,0.00,2.60,0.00,0.000,6,0.000,0.066,2939,1957,2191,0,0,0,0,0,0
$GC,10002,0.73,146.0,103.7,9.6,997,10007,0.00,2.55,0.00,0.000,4,0.000,0.084,2951,355,2191,0,0,0,0,0,0
$GC,10019,0.73,147.6,102.2,9.1,998,10023,0.00,2.53,0.00,0.000,6,0.000,0.062,2951,1994,2191,0,0,0,0,0,0
$GC,10360,0.73,147.6,72.4,9.7,1056,10366,0.00,2.55,0.00,0.000,4,0.000,0.077,2951,3536,2191,0,0,0,0,0,0
$GC,10417,0.73,147.6,66.6,10.5,1066,10424,0.15,2.58,0.00,0.000,6,0.196,0.067,2928,1969,2190,0,0,0,0,0,0
$GC,10763,0.74,159.3,38.4,8.7,1127,10779,0.00,2.58,9.75,0.699,4,0.000,0.084,2938,350,2150,0,0,0,0,0,0
$GC,10825,0.74,159.3,32.4,11.1,1138,10831,0.00,2.53,0.00,0.000,6,0.000,0.061,2938,1986,2149,0,0,0,0,0,0
$GC,11172,0.86,256.7,5.0,5.1,1199,11219,0.00,0.00,45.15,0.737,2,0.000,0.000,2938,1986,1915,0,0,0,0,0,0
$STATE,11220,end climb,SURFACE_DEPTH_REACHED
$STATE,11220,begin surface coast
$FINISH,0.5,1.024351
$STATE,11242,end surface coast,CONTROL_FINISHED_OK
$STATE,11242,begin surface
$SM_CCo,11259,59.12,0.709,0,0,1474,325.02
$SM_GC,1.07,0.00,0.00,59.12,0.000,0.000,0.709,128,2465,1474,-8.00,0.14,325.02
$RAFOS_CLK,694
$RAFOS,6,1258778942,4.833333,4.817222,65,59,57,0,0,0,161,138,196,0,0,0
$RAFOS,5,1258778462,4.700000,4.683889,67,60,58,0,0,0,661,193,119,0,0,0
$RAFOS,4,1258777986,4.566667,4.551667,65,61,60,0,0,0,213,187,117,0,0,0
$RAFOS,3,1258777503,4.433333,4.417500,59,58,56,0,0,0,191,211,227,0,0,0
$RAFOS_FIX,6701.097168,-5701.487793,201109,121201,3,77,0.29
$IRIDIUM_FIX,6631.12,-5641.49,150299,010149
$TT8_MAMPS,0.026845
$HUMID,46.29
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,18.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,19.3
$24V_AH,23.2,40.529
$10V_AH,10.2,20.618
$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,21.100,112.575,293.625,59.125,0.000,30.627,36.157,222.232,0.750,0.000,14.413,2112.362,6717.325,525.821,1900.821,461.248,0.000,1526.378,0.000,1873.832,1440.000,2.625,0.000
$DEVICE_MAMPS,289.926,102.011,1073.033,709.475,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,885.305,825.715,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,187940
$DATA_FILE_SIZE,47364,1212
$CAP_FILE_SIZE,128427,0
$CFSIZE,260165632,236695552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.7
$CURRENT,0.149,269.6,1
$GPS,211109,073101,6702.910,-5655.778,69,1.8,69,-37.6