version: 66.06
glider: 143
mission: 9
dive: 8
start: 10 19 109 7 15 37
data:
$ID,143
$MISSION,9
$DIVE,8
$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,275
$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,-22393.424
$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,2480
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$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,2300
$C_ROLL_CLIMB,2102
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,20
$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,-23.749716
$PRESSURE_SLOPE,0.0001163694
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,8
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,25
$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
$GPS1,065356,6659.508,-5728.145,112,3.4,131,-37.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-64.4
$GPS2,071520,6659.264,-5727.643,16,3.0,35,-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,0.257,0.040
$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,69.0,29453,-16.9,-9.167
$D_GRID,826
$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,-0.98,-146.0,0.0,0.0,0,93,0.00,0.00,-74.97,0.000,2,0.000,0.000,122,2290,2877,0,0,0,0,0,0
$GC,95,-0.98,-146.0,3.1,-4.7,14,129,10.07,2.75,-17.60,0.000,4,0.311,0.105,2158,711,3399,0,0,0,0,0,0
$GC,383,-0.64,-146.0,52.4,-16.0,65,389,0.43,2.65,0.00,0.000,6,0.221,0.081,2264,2308,3403,0,0,0,0,0,0
$GC,727,-0.64,-146.0,85.1,-10.6,126,732,0.00,2.67,0.00,0.000,4,0.000,0.097,2264,3885,3403,0,0,0,0,0,0
$GC,834,-0.70,-146.0,96.0,-9.9,145,840,0.00,2.60,0.00,0.000,6,0.000,0.070,2264,2294,3403,0,0,0,0,0,0
$GC,1167,-0.76,-146.0,123.7,-8.1,180,1168,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2293,3403,0,0,0,0,0,0
$GC,1486,-0.84,-146.0,152.1,-9.2,210,1488,0.17,0.00,0.00,0.000,6,0.104,0.000,2204,2293,3402,0,0,0,0,0,0
$GC,1804,-0.72,-146.0,190.2,-11.3,240,1809,0.17,2.70,0.00,0.000,4,0.216,0.096,2235,3885,3401,0,0,0,0,0,0
$GC,1955,-0.72,-146.0,205.7,-10.0,253,1959,0.00,2.58,0.00,0.000,6,0.000,0.073,2235,2298,3401,0,0,0,0,0,0
$GC,2279,-0.72,-146.0,235.1,-8.8,283,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2298,3401,0,0,0,0,0,0
$GC,2598,-0.72,-146.0,264.3,-9.8,313,2603,0.00,2.67,0.00,0.000,4,0.000,0.097,2235,3888,3400,0,0,0,0,0,0
$GC,2653,-0.72,-146.0,269.7,-9.5,317,2659,0.00,2.58,0.00,0.000,6,0.000,0.070,2235,2290,3400,0,0,0,0,0,0
$GC,2978,-0.72,-146.0,300.0,-9.4,348,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2290,3400,0,0,0,0,0,0
$GC,3297,-0.72,-146.0,329.2,-8.8,378,3298,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2290,3401,0,0,0,0,0,0
$GC,3617,-0.72,-146.0,356.4,-7.8,408,3618,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2290,3401,0,0,0,0,0,0
$GC,3935,-0.72,-146.0,382.4,-8.8,438,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2290,3402,0,0,0,0,0,0
$GC,4253,-0.72,-146.0,412.2,-9.6,468,4255,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2290,3402,0,0,0,0,0,0
$GC,4572,-0.72,-146.0,442.4,-9.5,498,4576,0.00,2.67,0.00,0.000,4,0.000,0.096,2235,3892,3402,0,0,0,0,0,0
$GC,4650,-0.77,-146.0,450.4,-9.8,504,4656,0.00,2.55,0.00,0.000,6,0.000,0.069,2234,2294,3402,0,0,0,0,0,0
$GC,4974,-0.77,-146.0,478.0,-7.8,535,4979,0.00,2.55,0.00,0.000,4,0.000,0.091,2235,717,3402,0,0,0,0,0,0
$GC,5041,-0.77,-146.0,483.6,-8.6,540,5047,0.00,2.55,0.00,0.000,6,0.000,0.078,2235,2312,3402,0,0,0,0,0,0
$GC,5366,-0.82,-146.0,507.6,-7.6,571,5370,0.00,2.60,0.00,0.000,4,0.000,0.096,2235,3882,3402,0,0,0,0,0,0
$GC,5461,-0.87,-146.0,515.2,-8.3,579,5466,0.10,2.50,0.00,0.000,6,0.132,0.068,2199,2310,3403,0,0,0,0,0,0
$GC,5786,-0.80,-146.0,544.8,-9.2,609,5787,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2310,3402,0,0,0,0,0,0
$GC,6106,-0.73,-146.0,573.8,-9.0,639,6108,0.17,0.00,0.00,0.000,6,0.200,0.000,2241,2310,3402,0,0,0,0,0,0
$GC,6423,-0.82,-146.0,597.1,-7.5,669,6424,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2310,3403,0,0,0,0,0,0
$GC,6741,-0.90,-146.0,621.7,-7.6,682,6743,0.17,0.00,0.00,0.000,6,0.104,0.000,2180,2310,3403,0,0,0,0,0,0
$GC,7047,-0.78,-146.0,652.4,-10.1,692,7053,0.17,2.62,0.00,0.000,4,0.210,0.094,2212,3884,3403,0,0,0,0,0,0
$GC,7119,-0.78,-146.0,659.1,-9.2,694,7124,0.00,2.50,0.00,0.000,6,0.000,0.067,2211,2309,3403,0,0,0,0,0,0
$GC,7449,-0.78,-146.0,685.7,-7.9,705,7450,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2309,3403,0,0,0,0,0,0
$GC,7755,-0.78,-146.0,710.4,-8.1,715,7756,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2309,3403,0,0,0,0,0,0
$GC,8061,-0.78,-146.0,735.4,-8.3,725,8062,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2309,3403,0,0,0,0,0,0
$GC,8367,-0.78,-146.0,760.8,-8.2,735,8368,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2309,3403,0,0,0,0,0,0
$GC,8674,-0.78,-146.0,785.4,-8.2,745,8675,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2309,3403,0,0,0,0,0,0
$GC,8980,-0.78,-146.0,811.9,-8.8,755,8984,0.00,2.62,0.00,0.000,4,0.000,0.097,2212,3885,3403,0,0,0,0,0,0
$GC,9068,-0.78,-146.0,819.1,-8.3,757,9074,0.00,2.50,0.00,0.000,6,0.000,0.068,2212,2305,3403,0,0,0,0,0,0
$STATE,9164,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9164,begin apogee
$GC,9169,-0.24,0.0,827.2,8.3,761,9296,0.65,0.00,123.40,1.307,6,0.183,0.000,2396,2103,2800,0,0,0,0,0,0
$STATE,9296,end apogee,CONTROL_FINISHED_OK
$STATE,9296,begin climb
$GC,9298,0.98,146.0,828.3,0.0,765,9435,1.33,2.95,126.68,1.251,4,0.128,0.087,2790,3699,2201,0,0,0,0,0,0
$GC,9441,0.55,146.0,816.1,16.4,769,9447,0.62,2.88,0.00,0.000,6,0.218,0.074,2663,2110,2199,0,0,0,0,0,0
$GC,9753,0.55,146.0,782.8,10.3,779,9757,0.00,2.78,0.00,0.000,4,0.000,0.091,2663,3687,2192,0,0,0,0,0,0
$GC,10010,0.50,146.0,754.0,11.0,786,10016,0.12,2.62,0.00,0.000,6,0.196,0.074,2646,2129,2190,0,0,0,0,0,0
$GC,10322,0.58,155.6,725.9,8.8,797,10332,0.00,0.00,7.38,1.020,6,0.000,0.000,2646,2129,2165,0,0,0,0,0,0
$GC,10628,0.65,155.6,698.0,9.3,807,10633,0.12,2.67,0.00,0.000,4,0.117,0.092,2686,3687,2163,0,0,0,0,0,0
$GC,10886,0.53,155.6,666.1,12.8,814,10892,0.17,2.58,0.00,0.000,6,0.201,0.076,2658,2128,2162,0,0,0,0,0,0
$GC,11198,0.53,155.6,635.8,9.5,825,11199,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2127,2162,0,0,0,0,0,0
$GC,11505,0.58,155.6,606.4,9.7,835,11509,0.00,2.62,0.00,0.000,4,0.000,0.093,2657,3689,2162,0,0,0,0,0,0
$GC,11745,0.58,155.6,580.0,11.2,853,11750,0.00,2.55,0.00,0.000,6,0.000,0.074,2667,2128,2161,0,0,0,0,0,0
$GC,12069,0.58,155.6,546.6,10.3,883,12074,0.00,2.62,0.00,0.000,4,0.000,0.094,2667,3693,2161,0,0,0,0,0,0
$GC,12325,0.58,155.6,515.8,12.6,905,12331,0.00,2.50,0.00,0.000,6,0.000,0.075,2679,2153,2161,0,0,0,0,0,0
$GC,12651,0.58,155.6,479.5,11.0,936,12652,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2153,2161,0,0,0,0,0,0
$GC,12970,0.58,155.6,445.4,10.6,966,12974,0.00,2.55,0.00,0.000,4,0.000,0.093,2679,3686,2161,0,0,0,0,0,0
$GC,13215,0.52,155.6,416.2,11.4,987,13223,0.15,2.47,0.00,0.000,6,0.199,0.074,2655,2153,2160,0,0,0,0,0,0
$GC,13541,0.62,166.7,387.4,8.7,1018,13556,0.00,2.58,10.20,0.953,4,0.000,0.089,2655,3687,2119,0,0,0,0,0,0
$GC,13807,0.62,166.7,360.6,9.5,1041,13813,0.00,2.45,0.00,0.000,6,0.000,0.073,2664,2202,2117,0,0,0,0,0,0
$GC,14133,0.67,166.7,330.4,9.4,1072,14137,0.00,2.45,0.00,0.000,4,0.000,0.089,2663,3685,2117,0,0,0,0,0,0
$GC,14143,0.72,166.7,329.2,9.6,1072,14149,0.12,2.38,0.00,0.000,6,0.123,0.072,2717,2212,2117,0,0,0,0,0,0
$GC,14467,0.62,166.7,289.3,12.4,1103,14472,0.15,2.45,0.00,0.000,4,0.202,0.090,2682,3685,2117,0,0,0,0,0,0
$GC,14687,0.57,166.7,262.5,11.8,1122,14691,0.00,2.40,0.00,0.000,6,0.000,0.073,2691,2198,2116,0,0,0,0,0,0
$GC,15011,0.57,166.7,229.4,9.7,1152,15015,0.00,2.47,0.00,0.000,4,0.000,0.090,2691,3689,2116,0,0,0,0,0,0
$GC,15269,0.50,166.7,201.0,11.7,1175,15274,0.22,2.33,0.00,0.000,6,0.193,0.073,2646,2245,2116,0,0,0,0,0,0
$GC,15594,0.73,201.0,175.5,7.7,1205,15629,0.20,2.47,28.65,0.878,4,0.097,0.087,2716,3682,1978,0,0,0,0,0,0
$GC,15883,0.65,201.0,139.3,12.0,1231,15888,0.15,2.33,0.00,0.000,6,0.198,0.072,2692,2261,1975,0,0,0,0,0,0
$GC,16213,0.72,201.0,106.1,9.3,1262,16217,0.00,2.38,0.00,0.000,4,0.000,0.089,2692,3690,1973,0,0,0,0,0,0
$GC,16459,0.72,201.0,78.6,10.7,1300,16465,0.00,2.25,0.00,0.000,6,0.000,0.072,2701,2300,1972,0,0,0,0,0,0
$GC,16804,0.79,206.3,47.8,8.9,1361,16816,0.10,2.33,4.85,0.671,4,0.131,0.090,2735,3689,1957,0,0,0,0,0,0
$GC,17030,0.74,206.3,23.8,9.8,1401,17036,0.00,2.20,0.00,0.000,6,0.000,0.074,2745,2331,1956,0,0,0,0,0,0
$STATE,17258,end climb,SURFACE_DEPTH_REACHED
$STATE,17258,begin surface coast
$FINISH,0.7,1.026200
$STATE,17288,end surface coast,CONTROL_FINISHED_OK
$STATE,17288,begin surface
$SM_CCo,17303,53.22,0.795,0,0,1678,275.23
$SM_GC,1.52,0.00,0.00,53.22,0.000,0.000,0.795,129,2293,1678,-7.35,-0.20,275.23
$RAFOS_CLK,1197
$RAFOS,6,1255942150,8.833333,8.819445,50,50,43,0,0,0,1204,1809,404,0,0,0
$RAFOS,5,1255941667,8.700000,8.685278,47,43,42,0,0,0,546,851,560,0,0,0
$RAFOS,4,1255941185,8.566667,8.551389,46,41,39,0,0,0,1289,696,451,0,0,0
$RAFOS,3,1255940702,8.433333,8.417222,47,41,39,0,0,0,1145,691,1129,0,0,0
$RAFOS,2,1255940224,8.300000,8.284445,44,42,41,0,0,0,1881,268,911,0,0,0
$RAFOS,1,1255939746,8.166667,8.151667,43,41,41,0,0,0,677,419,1926,0,0,0
$RAFOS,0,1255939268,8.033334,8.018888,40,40,39,0,0,0,196,449,1272,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5724.14,130199,070727
$TT8_MAMPS,0.028379
$HUMID,52.12
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,16.80
$XPDR_PINGS,5
$24V_AH,23.0,14.151
$10V_AH,10.2,5.810
$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,22.950,112.500,301.150,53.225,0.000,147.860,196.213,510.228,1.250,0.000,37.814,2675.702,11751.889,492.235,2606.520,1103.019,0.000,1781.188,0.000,2549.461,2880.000,0.532,0.000
$DEVICE_MAMPS,310.635,173.342,1306.968,795.379,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1063.884,1015.904,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150224
$DATA_FILE_SIZE,56672,1447
$CAP_FILE_SIZE,179801,0
$CFSIZE,260165632,250122240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.0
$CURRENT,0.328,155.4,1
$GPS,191009,120606,6658.420,-5722.822,25,1.5,26,-37.6