version: 66.06
glider: 143
mission: 10
dive: 98
start: 11 7 109 9 27 40
data:
$ID,143
$MISSION,10
$DIVE,98
$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,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,-26302.586
$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,14
$R_STBD_OVSHOOT,16
$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
$GPS1,090306,6643.769,-5958.858,26,1.4,26,-38.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-55.8
$GPS2,092720,6643.420,-5958.430,320,99.0,396,-38.0
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6644.000,-6026.000
$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,328.2,20198,-16.9,-9.167
$D_GRID,656
$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,-146.0,0.0,0.0,0,163,0.00,0.00,-143.90,0.000,2,0.000,0.000,125,2466,2757,0,0,0,0,0,0
$GC,166,-0.73,-146.0,3.2,-5.1,28,204,10.02,2.58,-19.23,0.000,4,0.318,0.116,2148,3911,3399,0,0,0,0,0,0
$GC,423,-0.73,-146.0,48.1,-17.2,74,429,0.00,2.42,0.00,0.000,6,0.000,0.075,2149,2447,3401,0,0,0,0,0,0
$GC,768,-0.73,-146.0,96.0,-13.1,135,773,0.00,2.55,0.00,0.000,4,0.000,0.101,2149,3921,3402,0,0,0,0,0,0
$GC,824,-0.73,-146.0,104.1,-14.9,143,828,0.00,2.42,0.00,0.000,6,0.000,0.075,2149,2456,3402,0,0,0,0,0,0
$GC,1148,-0.73,-146.0,145.5,-12.0,173,1153,0.00,2.62,0.00,0.000,4,0.000,0.094,2149,867,3402,0,0,0,0,0,0
$GC,1170,-0.73,-146.0,148.3,-12.5,174,1176,0.00,2.62,0.00,0.000,6,0.000,0.085,2149,2455,3402,0,0,0,0,0,0
$GC,1495,-0.73,-146.0,185.8,-12.0,205,1499,0.00,2.50,0.00,0.000,4,0.000,0.104,2149,3918,3402,0,0,0,0,0,0
$GC,1556,-0.73,-146.0,193.2,-12.1,210,1560,0.00,2.42,0.00,0.000,6,0.000,0.076,2148,2449,3403,0,0,0,0,0,0
$GC,1880,-0.73,-146.0,232.0,-11.6,240,1884,0.00,2.60,0.00,0.000,4,0.000,0.096,2149,871,3402,0,0,0,0,0,0
$GC,1956,-0.73,-146.0,241.2,-11.5,246,1963,0.00,2.58,0.00,0.000,6,0.000,0.086,2149,2431,3402,0,0,0,0,0,0
$GC,2281,-0.73,-146.0,275.6,-10.2,277,2286,0.00,2.53,0.00,0.000,4,0.000,0.104,2148,3913,3402,0,0,0,0,0,0
$GC,2313,-0.73,-146.0,278.8,-9.8,279,2319,0.00,2.47,0.00,0.000,6,0.000,0.077,2148,2436,3402,0,0,0,0,0,0
$GC,2638,-0.73,-146.0,310.4,-9.5,310,2642,0.00,2.55,0.00,0.000,4,0.000,0.104,2148,3916,3402,0,0,0,0,0,0
$GC,2710,-0.73,-146.0,317.6,-10.4,316,2714,0.00,2.42,0.00,0.000,6,0.000,0.077,2149,2448,3402,0,0,0,0,0,0
$GC,3034,-0.73,-146.0,348.4,-9.3,346,3038,0.00,2.53,0.00,0.000,4,0.000,0.104,2149,3912,3402,0,0,0,0,0,0
$GC,3291,-0.73,-146.0,373.3,-9.3,368,3298,0.00,2.38,0.00,0.000,6,0.000,0.077,2149,2469,3402,0,0,0,0,0,0
$GC,3616,-0.73,-146.0,401.6,-8.7,399,3620,0.00,2.50,0.00,0.000,4,0.000,0.104,2149,3922,3402,0,0,0,0,0,0
$GC,3835,-0.73,-146.0,421.6,-9.0,418,3839,0.00,2.38,0.00,0.000,6,0.000,0.077,2149,2478,3402,0,0,0,0,0,0
$GC,4160,-0.73,-146.0,448.4,-7.9,448,4164,0.00,2.65,0.00,0.000,4,0.000,0.095,2149,862,3402,0,0,0,0,0,0
$GC,4237,-0.73,-146.0,454.5,-7.6,454,4243,0.00,2.65,0.00,0.000,6,0.000,0.085,2149,2478,3402,0,0,0,0,0,0
$GC,4562,-0.73,-146.0,476.4,-6.6,485,4567,0.00,2.65,0.00,0.000,4,0.000,0.094,2149,871,3402,0,0,0,0,0,0
$GC,4629,-0.73,-146.0,481.3,-7.2,490,4635,0.00,2.58,0.00,0.000,6,0.000,0.085,2149,2453,3402,0,0,0,0,0,0
$GC,4954,-0.73,-146.0,503.2,-7.1,521,4956,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2453,3402,0,0,0,0,0,0
$GC,5273,-0.73,-146.0,526.0,-7.5,551,5274,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2453,3403,0,0,0,0,0,0
$GC,5593,-0.73,-146.0,550.1,-7.7,581,5597,0.00,2.47,0.00,0.000,4,0.000,0.100,2149,3919,3403,0,0,0,0,0,0
$GC,5654,-0.73,-146.0,555.1,-8.0,586,5658,0.00,2.40,0.00,0.000,6,0.000,0.073,2148,2443,3403,0,0,0,0,0,0
$GC,5978,-0.73,-146.0,579.6,-7.4,616,5983,0.00,2.50,0.00,0.000,4,0.000,0.098,2149,3915,3403,0,0,0,0,0,0
$GC,6045,-0.73,-146.0,584.9,-7.5,621,6051,0.00,2.38,0.00,0.000,6,0.000,0.072,2149,2451,3403,0,0,0,0,0,0
$GC,6377,-0.73,-146.0,609.7,-7.4,645,6378,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2451,3404,0,0,0,0,0,0
$GC,6681,-0.73,-146.0,632.9,-7.6,655,6683,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2452,3404,0,0,0,0,0,0
$STATE,6955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6955,begin apogee
$GC,6960,-0.16,0.0,656.8,8.6,664,7085,0.65,0.00,121.03,1.203,6,0.195,0.000,2329,1945,2799,0,0,0,0,0,0
$STATE,7086,end apogee,CONTROL_FINISHED_OK
$STATE,7086,begin climb
$GC,7088,0.73,146.0,658.5,0.0,668,7218,0.98,0.00,124.93,1.149,6,0.140,0.000,2613,1946,2204,0,0,0,0,0,0
$GC,7515,0.73,146.0,617.9,11.0,682,7520,0.00,2.83,0.00,0.000,4,0.000,0.090,2613,3548,2195,0,0,0,0,0,0
$GC,7553,0.73,146.0,613.3,13.1,683,7557,0.00,2.75,0.00,0.000,6,0.000,0.076,2625,1948,2193,0,0,0,0,0,0
$GC,7881,0.73,146.0,574.8,11.6,707,7886,0.00,2.72,0.00,0.000,4,0.000,0.089,2625,3538,2192,0,0,0,0,0,0
$GC,7913,0.73,146.0,570.6,13.0,709,7919,0.00,2.67,0.00,0.000,6,0.000,0.077,2637,1956,2191,0,0,0,0,0,0
$GC,8238,0.73,146.0,530.4,12.1,740,8242,0.00,2.70,0.00,0.000,4,0.000,0.090,2637,3544,2192,0,0,0,0,0,0
$GC,8326,0.73,146.0,518.6,13.9,747,8332,0.00,2.62,0.00,0.000,6,0.000,0.077,2649,1973,2191,0,0,0,0,0,0
$GC,8650,0.73,146.0,476.9,12.4,778,8655,0.00,2.67,0.00,0.000,4,0.000,0.097,2661,360,2190,0,0,0,0,0,0
$GC,8671,0.73,146.0,474.0,13.4,779,8678,0.15,2.62,0.00,0.000,6,0.205,0.074,2628,1984,2190,0,0,0,0,0,0
$GC,8996,0.73,146.0,437.6,11.0,810,9000,0.00,2.70,0.00,0.000,4,0.000,0.095,2637,360,2190,0,0,0,0,0,0
$GC,9056,0.73,146.0,430.5,11.8,815,9061,0.00,2.62,0.00,0.000,6,0.000,0.074,2637,1989,2190,0,0,0,0,0,0
$GC,9381,0.73,146.0,393.5,11.2,845,9385,0.00,2.58,0.00,0.000,4,0.000,0.091,2637,3542,2190,0,0,0,0,0,0
$GC,9408,0.73,146.0,390.1,12.2,847,9412,0.00,2.60,0.00,0.000,6,0.000,0.077,2649,1962,2190,0,0,0,0,0,0
$GC,9732,0.73,146.0,353.3,11.4,877,9737,0.00,2.65,0.00,0.000,4,0.000,0.097,2661,353,2190,0,0,0,0,0,0
$GC,9760,0.73,146.0,349.9,12.2,879,9765,0.15,2.62,0.00,0.000,6,0.199,0.074,2627,1986,2190,0,0,0,0,0,0
$GC,10085,0.73,146.0,317.6,9.6,909,10089,0.00,2.70,0.00,0.000,4,0.000,0.097,2636,359,2190,0,0,0,0,0,0
$GC,10105,0.73,146.0,315.4,9.7,910,10111,0.00,2.58,0.00,0.000,6,0.000,0.074,2636,1970,2190,0,0,0,0,0,0
$GC,10430,0.73,146.0,284.3,9.5,941,10435,0.00,2.60,0.00,0.000,4,0.000,0.091,2637,3537,2190,0,0,0,0,0,0
$GC,10458,0.73,146.0,281.3,10.4,943,10462,0.00,2.58,0.00,0.000,6,0.000,0.078,2648,1969,2190,0,0,0,0,0,0
$GC,10782,0.73,146.0,249.6,9.5,973,10787,0.00,2.65,0.00,0.000,4,0.000,0.098,2660,359,2190,0,0,0,0,0,0
$GC,10814,0.73,146.0,246.3,10.9,975,10821,0.15,2.60,0.00,0.000,6,0.195,0.075,2625,1985,2190,0,0,0,0,0,0
$GC,11139,0.79,198.8,220.1,6.9,1006,11190,0.00,2.85,41.50,0.934,4,0.000,0.098,2635,363,1987,0,0,0,0,0,0
$GC,11229,0.80,208.9,213.0,8.7,1014,11246,0.00,2.62,9.48,0.851,6,0.000,0.075,2635,1954,1947,0,0,0,0,0,0
$GC,11564,0.83,234.5,185.3,8.1,1046,11595,0.00,2.80,21.62,0.901,4,0.000,0.093,2635,3538,1842,0,0,0,0,0,0
$GC,11645,0.83,234.5,177.4,10.5,1053,11651,0.00,2.65,0.00,0.000,6,0.000,0.080,2646,1977,1840,0,0,0,0,0,0
$GC,11970,0.84,242.6,147.5,8.8,1084,11985,0.00,2.80,7.62,0.820,4,0.000,0.100,2658,360,1809,0,0,0,0,0,0
$GC,11996,0.85,249.9,145.0,8.9,1086,12013,0.00,2.67,7.60,0.798,6,0.000,0.077,2658,1985,1780,0,0,0,0,0,0
$GC,12331,0.85,249.9,112.1,9.6,1118,12335,0.00,2.78,0.00,0.000,4,0.000,0.102,2669,357,1776,0,0,0,0,0,0
$GC,12358,0.85,249.9,109.4,9.4,1120,12363,0.00,2.65,0.00,0.000,6,0.000,0.078,2670,1973,1775,0,0,0,0,0,0
$GC,12695,0.85,249.9,77.4,9.3,1171,12700,0.00,2.65,0.00,0.000,4,0.000,0.094,2670,3546,1775,0,0,0,0,0,0
$GC,12762,0.85,249.9,70.3,11.1,1183,12768,0.00,2.60,0.00,0.000,6,0.000,0.083,2681,1991,1774,0,0,0,0,0,0
$GC,13106,0.85,249.9,37.3,9.7,1244,13112,0.00,2.72,0.00,0.000,4,0.000,0.103,2693,361,1773,0,0,0,0,0,0
$GC,13146,0.85,249.9,33.4,9.9,1251,13151,0.00,2.60,0.00,0.000,6,0.000,0.080,2694,1960,1772,0,0,0,0,0,0
$GC,13490,0.90,284.4,4.9,7.7,1312,13527,0.00,2.83,27.75,0.830,4,0.000,0.105,2705,362,1638,0,0,0,0,0,0
$STATE,13531,end climb,SURFACE_DEPTH_REACHED
$STATE,13531,begin surface coast
$FINISH,0.6,1.025372
$STATE,13538,end surface coast,CONTROL_FINISHED_OK
$STATE,13539,begin surface
$SM_CCo,13558,230.77,0.772,0,0,442,578.42
$SM_GC,1.14,0.00,0.00,230.77,0.000,0.000,0.772,126,2465,442,-7.07,0.14,578.42
$RAFOS_CLK,990
$RAFOS,6,1257598145,12.833333,12.818055,67,64,59,0,0,0,196,171,798,0,0,0
$RAFOS,5,1257597665,12.700000,12.684722,59,59,52,0,0,0,122,210,181,0,0,0
$RAFOS,4,1257597186,12.566667,12.551666,66,62,55,0,0,0,160,666,214,0,0,0
$RAFOS,3,1257596702,12.433333,12.417222,62,62,58,0,0,0,148,184,214,0,0,0
$RAFOS,2,1257596222,12.300000,12.283889,115,65,59,0,0,0,634,172,181,0,0,0
$RAFOS,1,1257595747,12.166667,12.151944,65,59,55,0,0,0,198,215,138,0,0,0
$RAFOS,0,1257595268,12.033333,12.018888,99,63,59,0,0,0,612,176,211,0,0,0
$RAFOS_FIX,6641.762207,-6006.811523,071109,121240,2,107,0.70
$IRIDIUM_FIX,6614.97,-6006.54,010299,090940
$TT8_MAMPS,0.026845
$HUMID,46.65
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,16.30
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.7,19.2
$24V_AH,22.8,27.729
$10V_AH,10.1,14.489
$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,19.875,158.025,361.525,230.775,0.000,132.661,276.746,269.129,2.000,0.000,399.679,2365.743,8586.398,805.597,2577.561,910.282,0.000,1967.195,0.000,2159.127,2520.000,2.616,0.000
$DEVICE_MAMPS,317.538,115.817,1202.656,771.602,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,972.408,916.073,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188044
$DATA_FILE_SIZE,50556,1321
$CAP_FILE_SIZE,158926,0
$CFSIZE,260165632,242266112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.0
$CURRENT,0.049,167.8,1
$GPS,071109,131900,6643.723,-6002.033,36,1.6,36,-38.0