version: 66.06
glider: 143
mission: 10
dive: 101
start: 11 7 109 21 3 57
data:
$ID,143
$MISSION,10
$DIVE,101
$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,-26347.889
$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,17
$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
$GPS1,205437,6644.386,-6002.685,33,0.9,33,-38.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-67.3
$GPS2,210337,6644.296,-6002.213,10,1.2,15,-38.0
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_ADD2_EB
$TGT_LATLONG,6651.000,-5910.000
$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,85.0,39992,-16.9,-9.167
$D_GRID,644
$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,-146.0,0.0,0.0,0,96,0.00,0.00,-78.20,0.000,2,0.000,0.000,127,2458,2808,0,0,0,0,0,0
$GC,99,-0.73,-146.0,3.3,-5.6,15,137,10.57,2.75,-17.23,0.000,4,0.329,0.107,2145,873,3400,0,0,0,0,0,0
$GC,390,-0.73,-146.0,52.7,-15.4,67,396,0.00,2.67,0.00,0.000,6,0.000,0.087,2146,2466,3403,0,0,0,0,0,0
$GC,733,-0.73,-146.0,103.4,-13.6,126,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2466,3402,0,0,0,0,0,0
$GC,1051,-0.73,-146.0,144.3,-12.4,156,1055,0.00,2.47,0.00,0.000,4,0.000,0.104,2145,3910,3403,0,0,0,0,0,0
$GC,1082,-0.73,-146.0,148.5,-12.6,158,1089,0.00,2.42,0.00,0.000,6,0.000,0.076,2145,2469,3403,0,0,0,0,0,0
$GC,1407,-0.73,-146.0,187.6,-11.5,189,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2469,3403,0,0,0,0,0,0
$GC,1727,-0.73,-146.0,225.4,-11.1,219,1728,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2469,3403,0,0,0,0,0,0
$GC,2046,-0.73,-146.0,259.7,-10.7,249,2050,0.00,2.50,0.00,0.000,4,0.000,0.105,2146,3921,3403,0,0,0,0,0,0
$GC,2174,-0.73,-146.0,273.7,-11.0,260,2179,0.00,2.42,0.00,0.000,6,0.000,0.077,2146,2449,3403,0,0,0,0,0,0
$GC,2499,-0.73,-146.0,306.2,-9.7,290,2503,0.00,2.53,0.00,0.000,4,0.000,0.105,2146,3909,3402,0,0,0,0,0,0
$GC,2542,-0.73,-146.0,310.7,-10.3,293,2549,0.00,2.38,0.00,0.000,6,0.000,0.077,2146,2462,3402,0,0,0,0,0,0
$GC,2866,-0.73,-146.0,341.6,-9.6,324,2868,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2463,3402,0,0,0,0,0,0
$GC,3186,-0.73,-146.0,373.1,-10.5,354,3191,0.00,2.62,0.00,0.000,4,0.000,0.097,2146,870,3402,0,0,0,0,0,0
$GC,3230,-0.73,-146.0,378.2,-11.1,357,3236,0.00,2.62,0.00,0.000,6,0.000,0.087,2146,2462,3402,0,0,0,0,0,0
$GC,3554,-0.73,-146.0,410.8,-9.8,388,3555,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2462,3401,0,0,0,0,0,0
$GC,3875,-0.73,-146.0,439.5,-8.7,418,3876,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2462,3401,0,0,0,0,0,0
$GC,4193,-0.73,-146.0,466.0,-8.2,448,4197,0.00,2.45,0.00,0.000,4,0.000,0.104,2146,3911,3401,0,0,0,0,0,0
$GC,4292,-0.73,-146.0,474.3,-8.0,456,4298,0.00,2.38,0.00,0.000,6,0.000,0.076,2146,2452,3401,0,0,0,0,0,0
$GC,4617,-0.73,-146.0,501.1,-8.6,487,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2452,3401,0,0,0,0,0,0
$GC,4937,-0.73,-146.0,528.4,-8.9,517,4942,0.00,2.58,0.00,0.000,4,0.000,0.093,2146,873,3402,0,0,0,0,0,0
$GC,4987,-0.73,-146.0,533.2,-9.2,521,4991,0.00,2.58,0.00,0.000,6,0.000,0.084,2146,2449,3402,0,0,0,0,0,0
$GC,5311,-0.73,-146.0,559.9,-7.7,551,5315,0.00,2.60,0.00,0.000,4,0.000,0.092,2146,869,3402,0,0,0,0,0,0
$GC,5354,-0.73,-146.0,563.7,-8.4,554,5361,0.00,2.58,0.00,0.000,6,0.000,0.084,2146,2450,3402,0,0,0,0,0,0
$GC,5679,-0.73,-146.0,588.4,-7.5,585,5683,0.00,2.60,0.00,0.000,4,0.000,0.092,2146,869,3403,0,0,0,0,0,0
$GC,5745,-0.73,-146.0,593.8,-8.2,590,5751,0.00,2.55,0.00,0.000,6,0.000,0.082,2146,2439,3403,0,0,0,0,0,0
$GC,6071,-0.73,-146.0,618.3,-7.4,606,6072,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2439,3404,0,0,0,0,0,0
$GC,6376,-0.73,-146.0,641.6,-7.9,616,6378,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2439,3404,0,0,0,0,0,0
$STATE,6405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6405,begin apogee
$GC,6410,-0.16,0.0,644.2,8.2,617,6535,0.68,0.00,121.10,1.196,6,0.200,0.000,2331,1949,2800,0,0,0,0,0,0
$STATE,6535,end apogee,CONTROL_FINISHED_OK
$STATE,6536,begin climb
$GC,6538,0.73,146.0,647.7,0.0,621,6674,1.00,3.05,125.53,1.142,4,0.144,0.096,2627,362,2203,0,0,0,0,0,0
$GC,6689,0.73,146.0,637.5,10.4,626,6694,0.00,2.85,0.00,0.000,6,0.000,0.072,2627,1953,2200,0,0,0,0,0,0
$GC,7019,0.73,146.0,599.0,11.9,637,7020,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1953,2193,0,0,0,0,0,0
$GC,7338,0.73,146.0,561.5,11.3,667,7343,0.00,2.72,0.00,0.000,4,0.000,0.097,2639,364,2192,0,0,0,0,0,0
$GC,7415,0.73,146.0,552.0,12.3,673,7422,0.00,2.62,0.00,0.000,6,0.000,0.074,2639,1951,2192,0,0,0,0,0,0
$GC,7741,0.73,146.0,514.5,11.3,704,7746,0.00,2.70,0.00,0.000,4,0.000,0.097,2651,358,2192,0,0,0,0,0,0
$GC,7803,0.73,146.0,506.6,12.4,709,7808,0.00,2.60,0.00,0.000,6,0.000,0.074,2651,1947,2192,0,0,0,0,0,0
$GC,8127,0.73,146.0,467.1,12.1,739,8128,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,1948,2191,0,0,0,0,0,0
$GC,8447,0.73,146.0,427.8,12.4,769,8448,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,1947,2191,0,0,0,0,0,0
$GC,8765,0.73,146.0,387.6,12.4,799,8766,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,1947,2191,0,0,0,0,0,0
$GC,9084,0.73,146.0,352.8,10.3,829,9085,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,1948,2191,0,0,0,0,0,0
$GC,9404,0.73,146.0,319.2,10.4,859,9405,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,1947,2191,0,0,0,0,0,0
$GC,9721,0.73,146.0,287.0,9.8,889,9723,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,1947,2191,0,0,0,0,0,0
$GC,10040,0.73,146.0,255.5,10.0,919,10044,0.00,2.65,0.00,0.000,4,0.000,0.099,2663,358,2191,0,0,0,0,0,0
$GC,10067,0.73,146.0,252.7,10.7,921,10072,0.15,2.55,0.00,0.000,6,0.202,0.076,2629,1943,2191,0,0,0,0,0,0
$GC,10391,0.76,175.9,225.5,7.9,951,10421,0.00,0.00,23.38,0.932,6,0.000,0.000,2629,1943,2082,0,0,0,0,0,0
$GC,10739,0.80,207.4,196.6,7.8,984,10769,0.00,0.00,26.77,0.921,6,0.000,0.000,2629,1943,1953,0,0,0,0,0,0
$GC,11088,0.82,225.3,167.5,8.4,1017,11111,0.00,2.72,15.62,0.890,4,0.000,0.100,2638,360,1879,0,0,0,0,0,0
$GC,11138,0.82,227.0,163.0,9.1,1021,11145,0.00,2.62,0.00,0.000,6,0.000,0.077,2638,1944,1878,0,0,0,0,0,0
$GC,11463,0.86,258.8,135.5,7.8,1052,11498,0.00,2.80,28.65,0.888,4,0.000,0.094,2638,3531,1744,0,0,0,0,0,0
$GC,11531,0.86,258.8,129.4,9.7,1058,11537,0.00,2.70,0.00,0.000,6,0.000,0.081,2649,1944,1741,0,0,0,0,0,0
$GC,11856,0.86,258.8,99.3,9.5,1089,11862,0.00,2.72,0.00,0.000,4,0.000,0.095,2649,3537,1738,0,0,0,0,0,0
$GC,11901,0.86,258.8,94.6,10.8,1097,11908,0.00,2.67,0.00,0.000,6,0.000,0.083,2661,1947,1738,0,0,0,0,0,0
$GC,12245,0.86,258.8,62.6,9.8,1158,12251,0.00,2.67,0.00,0.000,4,0.000,0.104,2673,359,1736,0,0,0,0,0,0
$GC,12279,0.86,258.8,59.1,10.2,1164,12284,0.00,2.65,0.00,0.000,6,0.000,0.080,2673,1975,1734,0,0,0,0,0,0
$GC,12622,0.96,335.4,29.3,5.9,1225,12694,0.00,2.92,62.40,0.834,4,0.000,0.104,2684,362,1429,0,0,0,0,0,0
$GC,12796,0.97,341.1,16.9,8.9,1257,12807,0.00,2.65,4.53,0.643,6,0.000,0.078,2685,1947,1408,0,0,0,0,0,0
$STATE,12935,end climb,SURFACE_DEPTH_REACHED
$STATE,12936,begin surface coast
$FINISH,0.4,1.019841
$STATE,12953,end surface coast,CONTROL_FINISHED_OK
$STATE,12953,begin surface
$SM_CCo,13030,0.00,0.000,0,0,1400,343.17
$SM_GC,1.34,7.60,0.00,0.00,0.088,0.000,0.000,131,2468,1400,-7.03,0.23,343.17
$RAFOS_CLK,886
$RAFOS,4,1257640383,0.566667,0.550833,67,63,51,0,0,0,184,204,134,0,0,0
$RAFOS,3,1257639905,0.433333,0.418056,64,59,59,0,0,0,216,188,713,0,0,0
$RAFOS,2,1257639425,0.300000,0.284722,80,56,55,0,0,0,609,169,200,0,0,0
$RAFOS,1,1257638944,0.166667,0.151111,80,58,58,0,0,0,539,218,209,0,0,0
$RAFOS,0,1257638468,0.033333,0.018889,90,58,53,0,0,0,635,186,145,0,0,0
$RAFOS,6,1257626945,20.833334,20.818056,66,60,58,0,0,0,795,203,221,0,0,0
$RAFOS_FIX,6644.179199,-6002.597168,071109,202044,6,98,0.00
$IRIDIUM_FIX,6614.97,-5959.11,010299,212109
$TT8_MAMPS,0.026845
$HUMID,49.25
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,16.10
$XPDR_PINGS,6
$ALTIM_TOP_PING,20.0,19.4
$24V_AH,22.7,28.173
$10V_AH,10.1,14.717
$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,20.000,96.325,407.975,0.000,0.000,51.387,63.157,240.555,1.750,0.000,16.666,2210.013,8289.320,525.104,2009.342,541.917,0.000,1566.569,0.000,1981.074,1800.000,2.616,0.000
$DEVICE_MAMPS,329.043,107.380,1195.753,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,952.882,892.298,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,187852
$DATA_FILE_SIZE,50451,1285
$CAP_FILE_SIZE,134104,0
$CFSIZE,260165632,242102272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.6
$CURRENT,0.331,174.0,1
$GPS,081109,004256,6643.153,-5958.251,33,99.0,52,-38.0