version: 66.06
glider: 143
mission: 10
dive: 88
start: 11 5 109 7 10 45
data:
$ID,143
$MISSION,10
$DIVE,88
$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,-2
$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,-25646.65
$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
$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,19
$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,0
$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
$GPS1,070407,6648.680,-5927.402,37,1.3,38,-38.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-67.8
$GPS2,071026,6648.564,-5927.371,10,1.4,10,-38.0
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_ADD1_WB
$TGT_LATLONG,6647.000,-5956.000
$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,305.9,21101,-16.9,-9.167
$D_GRID,928
$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,16,-0.73,-146.0,0.0,0.0,0,94,0.00,0.00,-75.35,0.000,2,0.000,0.000,125,2470,2819,0,0,0,0,0,0
$GC,97,-0.73,-146.0,3.6,-6.7,14,130,10.23,2.72,-16.20,0.000,4,0.319,0.104,2147,872,3398,0,0,0,0,0,0
$GC,383,-0.73,-146.0,51.9,-14.5,65,389,0.00,2.65,0.00,0.000,6,0.000,0.085,2147,2457,3401,0,0,0,0,0,0
$GC,727,-0.73,-146.0,96.8,-12.2,126,733,0.00,2.67,0.00,0.000,4,0.000,0.094,2147,864,3401,0,0,0,0,0,0
$GC,986,-0.73,-146.0,130.8,-13.4,152,990,0.00,2.65,0.00,0.000,6,0.000,0.085,2147,2457,3401,0,0,0,0,0,0
$GC,1310,-0.73,-146.0,169.2,-11.7,182,1314,0.00,2.67,0.00,0.000,4,0.000,0.095,2147,863,3401,0,0,0,0,0,0
$GC,1566,-0.73,-146.0,198.4,-10.6,204,1573,0.00,2.65,0.00,0.000,6,0.000,0.087,2147,2464,3402,0,0,0,0,0,0
$GC,1892,-0.73,-146.0,232.0,-10.3,235,1896,0.00,2.65,0.00,0.000,4,0.000,0.096,2147,872,3401,0,0,0,0,0,0
$GC,2148,-0.73,-146.0,261.1,-11.5,257,2155,0.00,2.62,0.00,0.000,6,0.000,0.087,2147,2464,3401,0,0,0,0,0,0
$GC,2473,-0.73,-146.0,293.1,-9.4,288,2478,0.00,2.65,0.00,0.000,4,0.000,0.096,2147,871,3400,0,0,0,0,0,0
$GC,2731,-0.73,-146.0,317.6,-9.4,310,2738,0.00,2.62,0.00,0.000,6,0.000,0.087,2147,2466,3400,0,0,0,0,0,0
$GC,3056,-0.73,-146.0,344.5,-8.2,341,3060,0.00,2.65,0.00,0.000,4,0.000,0.096,2147,871,3399,0,0,0,0,0,0
$GC,3312,-0.73,-146.0,368.6,-9.6,363,3318,0.00,2.65,0.00,0.000,6,0.000,0.087,2147,2477,3399,0,0,0,0,0,0
$GC,3637,-0.73,-146.0,399.0,-9.5,394,3642,0.00,2.67,0.00,0.000,4,0.000,0.094,2147,870,3399,0,0,0,0,0,0
$GC,3894,-0.73,-146.0,424.1,-9.6,416,3901,0.00,2.62,0.00,0.000,6,0.000,0.085,2147,2469,3399,0,0,0,0,0,0
$GC,4220,-0.73,-146.0,452.7,-8.7,447,4225,0.00,2.65,0.00,0.000,4,0.000,0.094,2147,867,3399,0,0,0,0,0,0
$GC,4479,-0.73,-146.0,475.6,-8.5,469,4484,0.00,2.62,0.00,0.000,6,0.000,0.085,2146,2465,3399,0,0,0,0,0,0
$GC,4803,-0.73,-146.0,500.6,-7.4,500,4807,0.00,2.65,0.00,0.000,4,0.000,0.093,2147,868,3400,0,0,0,0,0,0
$GC,5060,-0.73,-146.0,521.7,-7.8,522,5067,0.00,2.62,0.00,0.000,6,0.000,0.084,2147,2472,3400,0,0,0,0,0,0
$GC,5385,-0.73,-146.0,545.1,-7.2,553,5389,0.00,2.65,0.00,0.000,4,0.000,0.092,2147,861,3401,0,0,0,0,0,0
$GC,5641,-0.73,-146.0,565.6,-7.8,575,5647,0.00,2.62,0.00,0.000,6,0.000,0.083,2147,2475,3401,0,0,0,0,0,0
$GC,5966,-0.73,-146.0,586.9,-6.2,606,5970,0.00,2.65,0.00,0.000,4,0.000,0.091,2147,864,3401,0,0,0,0,0,0
$GC,6223,-0.73,-146.0,605.3,-7.5,624,6229,0.00,2.62,0.00,0.000,6,0.000,0.083,2147,2474,3402,0,0,0,0,0,0
$GC,6536,-0.73,-146.0,625.5,-6.8,635,6540,0.00,2.65,0.00,0.000,4,0.000,0.091,2147,867,3402,0,0,0,0,0,0
$GC,6792,-0.73,-146.0,645.8,-8.6,642,6799,0.00,2.60,0.00,0.000,6,0.000,0.082,2147,2468,3402,0,0,0,0,0,0
$GC,7105,-0.73,-146.0,668.8,-7.3,653,7110,0.00,2.62,0.00,0.000,4,0.000,0.091,2147,871,3402,0,0,0,0,0,0
$GC,7362,-0.73,-146.0,689.3,-7.8,660,7368,0.00,2.60,0.00,0.000,6,0.000,0.081,2147,2471,3403,0,0,0,0,0,0
$GC,7675,-0.73,-146.0,712.1,-7.3,671,7680,0.00,2.65,0.00,0.000,4,0.000,0.090,2147,862,3403,0,0,0,0,0,0
$GC,7933,-0.73,-146.0,732.4,-7.4,678,7940,0.00,2.60,0.00,0.000,6,0.000,0.081,2147,2466,3403,0,0,0,0,0,0
$GC,8246,-0.73,-146.0,755.0,-7.3,689,8250,0.00,2.62,0.00,0.000,4,0.000,0.090,2147,869,3403,0,0,0,0,0,0
$GC,8503,-0.73,-146.0,776.0,-8.3,696,8509,0.00,2.60,0.00,0.000,6,0.000,0.081,2147,2470,3403,0,0,0,0,0,0
$GC,8815,-0.73,-146.0,799.7,-7.6,707,8820,0.00,2.62,0.00,0.000,4,0.000,0.090,2147,865,3403,0,0,0,0,0,0
$GC,9074,-0.73,-146.0,820.9,-8.9,714,9080,0.00,2.62,0.00,0.000,6,0.000,0.081,2147,2479,3403,0,0,0,0,0,0
$GC,9385,-0.73,-146.0,843.6,-7.3,725,9390,0.00,2.62,0.00,0.000,4,0.000,0.090,2147,870,3403,0,0,0,0,0,0
$GC,9642,-0.73,-146.0,863.8,-7.9,732,9648,0.00,2.60,0.00,0.000,6,0.000,0.081,2147,2470,3403,0,0,0,0,0,0
$GC,9955,-0.73,-146.0,886.4,-7.5,743,9960,0.00,2.62,0.00,0.000,4,0.000,0.090,2147,864,3403,0,0,0,0,0,0
$GC,10213,-0.73,-146.0,906.3,-8.7,750,10220,0.00,2.60,0.00,0.000,6,0.000,0.081,2147,2467,3403,0,0,0,0,0,0
$STATE,10523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10523,begin apogee
$GC,10529,-0.16,0.0,928.0,7.3,761,10657,0.65,0.00,124.78,1.374,6,0.192,0.000,2329,1945,2800,0,0,0,0,0,0
$STATE,10658,end apogee,CONTROL_FINISHED_OK
$STATE,10658,begin climb
$GC,10660,0.73,146.0,930.4,0.0,765,10801,0.98,3.12,130.55,1.315,4,0.136,0.089,2613,3538,2203,0,0,0,0,0,0
$GC,11053,0.73,146.0,886.2,12.6,777,11058,0.00,2.75,0.00,0.000,6,0.000,0.077,2626,1955,2194,0,0,0,0,0,0
$GC,11388,0.73,146.0,844.6,12.5,788,11393,0.00,2.72,0.00,0.000,4,0.000,0.091,2625,3538,2192,0,0,0,0,0,0
$GC,11645,0.73,146.0,808.3,13.5,795,11651,0.00,2.67,0.00,0.000,6,0.000,0.079,2638,1942,2191,0,0,0,0,0,0
$GC,11957,0.73,146.0,766.9,13.1,806,11962,0.00,2.70,0.00,0.000,4,0.000,0.091,2637,3538,2191,0,0,0,0,0,0
$GC,12215,0.73,146.0,729.8,15.0,813,12221,0.00,2.62,0.00,0.000,6,0.000,0.079,2650,1947,2190,0,0,0,0,0,0
$GC,12527,0.73,146.0,688.0,13.3,824,12531,0.00,2.67,0.00,0.000,4,0.000,0.091,2649,3545,2190,0,0,0,0,0,0
$GC,12783,0.73,146.0,650.5,13.7,831,12790,0.15,2.62,0.00,0.000,6,0.216,0.079,2629,1949,2189,0,0,0,0,0,0
$GC,13095,0.73,146.0,612.7,11.9,842,13100,0.00,2.65,0.00,0.000,4,0.000,0.090,2628,3545,2189,0,0,0,0,0,0
$GC,13351,0.73,146.0,579.1,12.7,857,13358,0.00,2.60,0.00,0.000,6,0.000,0.078,2637,1951,2188,0,0,0,0,0,0
$GC,13676,0.73,146.0,540.1,12.5,888,13681,0.00,2.65,0.00,0.000,4,0.000,0.090,2637,3549,2188,0,0,0,0,0,0
$GC,13933,0.73,146.0,505.2,13.4,910,13940,0.00,2.62,0.00,0.000,6,0.000,0.078,2649,1941,2188,0,0,0,0,0,0
$GC,14257,0.73,146.0,465.6,12.0,941,14262,0.00,2.65,0.00,0.000,4,0.000,0.091,2649,3542,2188,0,0,0,0,0,0
$GC,14514,0.73,146.0,432.1,12.6,963,14521,0.15,2.60,0.00,0.000,6,0.209,0.079,2628,1947,2189,0,0,0,0,0,0
$GC,14839,0.73,146.0,397.0,10.6,994,14843,0.00,2.62,0.00,0.000,4,0.000,0.090,2627,3540,2188,0,0,0,0,0,0
$GC,15095,0.73,146.0,366.7,11.3,1016,15102,0.00,2.60,0.00,0.000,6,0.000,0.078,2637,1944,2188,0,0,0,0,0,0
$GC,15421,0.73,146.0,331.6,10.1,1047,15425,0.00,2.65,0.00,0.000,4,0.000,0.091,2637,3544,2188,0,0,0,0,0,0
$GC,15677,0.73,146.0,303.6,10.9,1069,15683,0.00,2.60,0.00,0.000,6,0.000,0.079,2649,1946,2188,0,0,0,0,0,0
$GC,16002,0.73,146.0,272.7,9.3,1100,16006,0.00,2.65,0.00,0.000,4,0.000,0.091,2649,3550,2189,0,0,0,0,0,0
$GC,16258,0.73,146.0,245.3,10.5,1122,16266,0.15,2.60,0.00,0.000,6,0.203,0.079,2627,1950,2188,0,0,0,0,0,0
$GC,16583,0.77,180.6,218.2,7.7,1153,16618,0.00,2.78,26.88,0.917,4,0.000,0.092,2627,3549,2062,0,0,0,0,0,0
$GC,16871,0.77,184.2,190.7,9.0,1179,16882,0.00,2.67,3.83,0.633,6,0.000,0.081,2636,1943,2048,0,0,0,0,0,0
$GC,17200,0.80,207.4,162.7,8.2,1210,17227,0.00,2.75,20.83,0.894,4,0.000,0.092,2636,3545,1953,0,0,0,0,0,0
$GC,17479,0.80,207.4,135.1,10.8,1234,17486,0.00,2.67,0.00,0.000,6,0.000,0.081,2648,1942,1949,0,0,0,0,0,0
$GC,17804,0.80,210.9,105.9,9.0,1265,17808,0.00,2.70,0.00,0.000,4,0.000,0.094,2648,3542,1947,0,0,0,0,0,0
$GC,18062,0.80,210.9,80.2,10.3,1304,18068,0.00,2.65,0.00,0.000,6,0.000,0.083,2659,1946,1946,0,0,0,0,0,0
$GC,18406,0.84,240.9,51.2,7.9,1365,18443,0.00,2.80,28.00,0.848,4,0.000,0.095,2660,3543,1815,0,0,0,0,0,0
$GC,18696,0.84,240.9,24.6,9.2,1417,18701,0.00,2.70,0.00,0.000,6,0.000,0.084,2672,1936,1810,0,0,0,0,0,0
$STATE,18990,end climb,SURFACE_DEPTH_REACHED
$STATE,18990,begin surface coast
$FINISH,0.5,1.003223
$STATE,19022,end surface coast,CONTROL_FINISHED_OK
$STATE,19022,begin surface
$SM_CCo,19039,25.88,0.821,0,0,1678,275.23
$SM_GC,1.17,0.00,0.00,25.88,0.000,0.000,0.821,125,2467,1678,-7.08,0.20,275.23
$RAFOS_CLK,1269
$RAFOS,2,1257423426,12.300000,12.285000,83,58,58,0,0,0,651,217,199,0,0,0
$RAFOS,1,1257422942,12.166667,12.150556,85,64,56,0,0,0,636,195,210,0,0,0
$RAFOS,0,1257422461,12.033333,12.016945,91,65,56,0,0,0,757,215,175,0,0,0
$RAFOS,6,1257410945,8.833333,8.818055,61,57,57,0,0,0,121,153,190,0,0,0
$RAFOS,5,1257410466,8.700000,8.685000,82,65,59,0,0,0,798,213,224,0,0,0
$RAFOS,4,1257409986,8.566667,8.551666,72,60,60,0,0,0,213,140,581,0,0,0
$RAFOS,3,1257409504,8.433333,8.417778,66,59,59,0,0,0,196,174,157,0,0,0
$RAFOS,2,1257409029,8.300000,8.285833,72,67,59,0,0,0,219,643,200,0,0,0
$RAFOS,1,1257408542,8.166667,8.150556,75,72,61,0,0,0,634,149,218,0,0,0
$RAFOS,0,1257408067,8.033334,8.018611,72,60,59,0,0,0,736,219,194,0,0,0
$RAFOS_FIX,6637.000977,-5932.864746,051109,121244,3,86,1.21
$IRIDIUM_FIX,6620.33,-5934.00,300199,010114
$TT8_MAMPS,0.029913
$HUMID,49.21
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.30
$XPDR_PINGS,6
$24V_AH,22.5,26.170
$10V_AH,10.1,13.597
$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,19.875,171.850,334.850,25.875,0.000,28.909,31.652,190.154,1.500,0.000,11.681,2955.795,12051.461,549.402,3420.694,497.717,0.000,2216.219,0.000,3365.344,3960.000,0.530,0.000
$DEVICE_MAMPS,319.072,103.545,1374.464,821.457,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1074.656,1041.929,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188080
$DATA_FILE_SIZE,56711,1475
$CAP_FILE_SIZE,194794,0
$CFSIZE,260165632,243097600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.2
$CURRENT,0.181,305.2,1
$GPS,051109,123057,6647.809,-5927.222,29,99.0,49,-37.9