version: 66.06
glider: 143
mission: 10
dive: 134
start: 11 15 109 7 56 9
data:
$ID,143
$MISSION,10
$DIVE,134
$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,-30024.477
$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,16
$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,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
$GPS1,072737,6657.078,-5738.337,30,1.2,30,-37.6
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-56.0
$GPS2,075550,6656.777,-5738.259,13,1.3,13,-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,0.000,0.000
$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,65.0,38081,-16.9,-9.167
$D_GRID,819
$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,-146.0,0.0,0.0,0,176,0.00,0.00,-157.02,0.000,2,0.000,0.000,125,2467,3071,0,0,0,0,0,0
$GC,178,-0.73,-146.0,3.3,-6.1,30,206,10.05,2.55,-9.32,0.000,4,0.311,0.102,2138,3908,3399,0,0,0,0,0,0
$GC,257,-0.73,-146.0,26.1,-30.7,44,262,0.00,2.45,0.00,0.000,6,0.000,0.070,2138,2446,3400,0,0,0,0,0,0
$GC,600,-0.73,-146.0,127.8,-28.0,97,604,0.00,2.53,0.00,0.000,4,0.000,0.090,2127,3914,3401,0,0,0,0,0,0
$GC,740,-0.73,-146.0,166.2,-26.6,109,745,0.00,2.42,0.00,0.000,6,0.000,0.069,2128,2449,3400,0,0,0,0,0,0
$GC,1064,-0.73,-146.0,246.6,-24.1,139,1069,0.00,2.50,0.00,0.000,4,0.000,0.092,2127,3910,3400,0,0,0,0,0,0
$GC,1150,-0.73,-146.0,266.9,-24.2,146,1154,0.00,2.40,0.00,0.000,6,0.000,0.069,2127,2449,3401,0,0,0,0,0,0
$GC,1474,-0.73,-146.0,343.8,-23.6,176,1478,0.00,2.50,0.00,0.000,4,0.000,0.091,2127,3916,3401,0,0,0,0,0,0
$GC,1603,-0.73,-146.0,374.0,-23.4,187,1607,0.00,2.40,0.00,0.000,6,0.000,0.068,2127,2452,3401,0,0,0,0,0,0
$GC,1926,-0.73,-146.0,445.0,-21.3,217,1931,0.00,2.47,0.00,0.000,4,0.000,0.091,2127,3909,3401,0,0,0,0,0,0
$GC,2022,-0.73,-146.0,466.5,-22.2,225,2026,0.00,2.38,0.00,0.000,6,0.000,0.069,2127,2459,3401,0,0,0,0,0,0
$GC,2346,-0.73,-146.0,536.3,-21.2,255,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2460,3401,0,0,0,0,0,0
$GC,2686,-0.73,-146.0,607.9,-21.0,285,2690,0.00,2.47,0.00,0.000,4,0.000,0.092,2127,3911,3401,0,0,0,0,0,0
$GC,2785,-0.73,-146.0,630.2,-22.4,288,2789,0.00,2.40,0.00,0.000,6,0.000,0.070,2127,2472,3401,0,0,0,0,0,0
$GC,3120,-0.73,-146.0,699.7,-20.8,299,3125,0.00,2.45,0.00,0.000,4,0.000,0.093,2127,3912,3401,0,0,0,0,0,0
$GC,3186,-0.73,-146.0,714.1,-21.9,301,3191,0.00,2.40,0.00,0.000,6,0.000,0.070,2127,2471,3401,0,0,0,0,0,0
$GC,3522,-0.73,-146.0,781.1,-19.9,312,3526,0.00,2.47,0.00,0.000,4,0.000,0.093,2127,3918,3401,0,0,0,0,0,0
$GC,3593,-0.73,-146.0,796.7,-21.6,314,3597,0.00,2.35,0.00,0.000,6,0.000,0.070,2127,2476,3401,0,0,0,0,0,0
$STATE,3706,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3706,begin apogee
$GC,3712,-0.16,0.0,819.4,19.6,318,3838,0.88,0.00,123.43,1.299,6,0.258,0.000,2333,1940,2800,0,0,0,0,0,0
$STATE,3839,end apogee,CONTROL_FINISHED_OK
$STATE,3839,begin climb
$GC,3842,0.73,146.0,832.0,0.0,322,3979,1.15,2.95,128.45,1.243,4,0.217,0.092,2612,359,2203,0,0,0,0,0,0
$GC,4180,0.80,210.4,811.8,6.5,332,4243,0.12,2.67,55.85,1.217,6,0.142,0.067,2647,1957,1942,0,0,0,0,0,0
$GC,4561,0.80,210.4,775.1,10.2,345,4566,0.00,2.75,0.00,0.000,4,0.000,0.086,2647,3546,1932,0,0,0,0,0,0
$GC,4656,0.80,210.4,766.1,9.2,348,4661,0.00,2.67,0.00,0.000,6,0.000,0.072,2647,1968,1932,0,0,0,0,0,0
$GC,4990,0.80,210.4,734.5,10.0,359,4994,0.00,2.67,0.00,0.000,4,0.000,0.087,2647,3536,1931,0,0,0,0,0,0
$GC,5112,0.80,210.4,722.5,9.7,362,5118,0.00,2.60,0.00,0.000,6,0.000,0.074,2647,1975,1930,0,0,0,0,0,0
$GC,5424,0.80,210.4,691.7,10.0,373,5428,0.00,2.65,0.00,0.000,4,0.000,0.087,2647,3542,1929,0,0,0,0,0,0
$GC,5485,0.83,227.7,685.8,8.4,375,5505,0.00,2.58,14.05,1.137,6,0.000,0.073,2647,1992,1871,0,0,0,0,0,0
$GC,5823,0.83,227.7,652.7,10.4,386,5825,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1992,1868,0,0,0,0,0,0
$GC,6130,0.83,227.7,621.0,10.4,396,6134,0.00,2.62,0.00,0.000,4,0.000,0.088,2647,3542,1867,0,0,0,0,0,0
$GC,6206,0.83,227.7,612.8,10.3,398,6211,0.00,2.55,0.00,0.000,6,0.000,0.074,2647,1998,1865,0,0,0,0,0,0
$GC,6527,0.83,227.7,581.1,10.1,420,6531,0.00,2.60,0.00,0.000,4,0.000,0.088,2647,3542,1866,0,0,0,0,0,0
$GC,6626,0.83,227.7,571.4,9.7,428,6633,0.00,2.53,0.00,0.000,6,0.000,0.074,2648,2012,1866,0,0,0,0,0,0
$GC,6951,0.83,227.7,537.7,10.9,459,6955,0.00,2.58,0.00,0.000,4,0.000,0.088,2647,3543,1866,0,0,0,0,0,0
$GC,7013,0.84,241.1,531.8,8.6,464,7034,0.00,2.50,12.45,1.055,6,0.000,0.074,2648,2022,1816,0,0,0,0,0,0
$GC,7352,0.84,241.1,498.9,10.5,496,7353,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2022,1813,0,0,0,0,0,0
$GC,7672,0.84,241.1,465.9,9.4,526,7676,0.00,2.55,0.00,0.000,4,0.000,0.087,2647,3540,1813,0,0,0,0,0,0
$GC,7917,0.84,241.1,442.9,9.6,547,7924,0.00,2.47,0.00,0.000,6,0.000,0.074,2647,2036,1812,0,0,0,0,0,0
$GC,8242,0.84,241.1,413.8,9.5,578,8246,0.00,2.53,0.00,0.000,4,0.000,0.088,2648,3542,1812,0,0,0,0,0,0
$GC,8499,0.85,250.4,391.6,8.8,600,8516,0.00,2.40,9.02,0.943,6,0.000,0.073,2647,2081,1778,0,0,0,0,0,0
$GC,8835,0.86,256.1,361.3,8.9,632,8847,0.00,2.53,6.53,0.873,4,0.000,0.087,2648,3538,1754,0,0,0,0,0,0
$GC,8874,0.87,266.2,357.6,8.7,635,8891,0.00,2.35,10.25,0.931,6,0.000,0.073,2648,2114,1713,0,0,0,0,0,0
$GC,9209,0.87,267.1,327.2,9.1,667,9214,0.00,2.90,0.00,0.000,4,0.000,0.094,2647,357,1710,0,0,0,0,0,0
$GC,9355,0.90,284.7,314.1,8.4,679,9378,0.00,2.88,16.85,0.947,6,0.000,0.070,2647,2155,1638,0,0,0,0,0,0
$GC,9703,0.90,284.7,281.3,10.4,712,9707,0.00,3.00,0.00,0.000,4,0.000,0.094,2648,358,1634,0,0,0,0,0,0
$GC,9786,0.90,284.7,272.6,10.6,719,9791,0.00,2.83,0.00,0.000,6,0.000,0.068,2647,2127,1633,0,0,0,0,0,0
$GC,10110,0.90,284.7,241.4,9.3,749,10114,0.00,2.35,0.00,0.000,4,0.000,0.087,2647,3537,1633,0,0,0,0,0,0
$GC,10193,0.90,284.7,232.9,10.4,756,10197,0.00,2.08,0.00,0.000,6,0.000,0.073,2647,2274,1631,0,0,0,0,0,0
$GC,10523,0.90,284.7,201.3,9.3,787,10528,0.00,3.12,0.00,0.000,4,0.000,0.091,2648,361,1631,0,0,0,0,0,0
$GC,10544,0.90,284.7,199.2,9.4,788,10550,0.00,3.08,0.00,0.000,6,0.000,0.070,2647,2298,1631,0,0,0,0,0,0
$GC,10869,0.90,284.7,170.7,9.5,819,10874,0.00,3.20,0.00,0.000,4,0.000,0.091,2647,351,1631,0,0,0,0,0,0
$GC,10956,0.90,284.7,162.2,9.8,826,10963,0.00,3.10,0.00,0.000,6,0.000,0.069,2647,2309,1631,0,0,0,0,0,0
$GC,11281,0.93,309.0,134.5,8.1,857,11309,0.12,2.12,20.25,0.846,4,0.202,0.089,2678,3537,1539,0,0,0,0,0,0
$GC,11419,0.93,309.0,122.4,9.8,869,11425,0.00,2.08,0.00,0.000,6,0.000,0.071,2678,2304,1536,0,0,0,0,0,0
$GC,11747,0.93,309.0,91.5,9.9,907,11753,0.00,3.20,0.00,0.000,4,0.000,0.092,2678,360,1535,0,0,0,0,0,0
$GC,11983,0.93,309.0,67.9,9.2,949,11989,0.00,3.05,0.00,0.000,6,0.000,0.068,2678,2280,1533,0,0,0,0,0,0
$GC,12326,0.99,363.9,39.7,6.9,1010,12377,0.00,3.25,44.62,0.779,4,0.000,0.089,2678,361,1315,0,0,0,0,0,0
$GC,12467,1.01,381.2,28.1,8.4,1036,12489,0.12,3.12,14.82,0.741,6,0.201,0.068,2709,2291,1245,0,0,0,0,0,0
$STATE,12771,end climb,SURFACE_DEPTH_REACHED
$STATE,12771,begin surface coast
$FINISH,0.5,1.025050
$STATE,12793,end surface coast,CONTROL_FINISHED_OK
$STATE,12793,begin surface
$SM_CCo,12870,0.00,0.000,0,0,1235,383.89
$SM_GC,1.07,7.53,0.00,0.00,0.081,0.000,0.000,125,2471,1235,-7.04,0.31,383.89
$RAFOS_CLK,899
$RAFOS,6,1258274943,8.833333,8.817500,83,65,65,0,0,0,745,212,161,0,0,0
$RAFOS,5,1258274463,8.700000,8.684167,80,69,54,0,0,0,537,215,179,0,0,0
$RAFOS,4,1258273985,8.566667,8.551389,65,59,58,0,0,0,755,213,234,0,0,0
$RAFOS,3,1258273502,8.433333,8.417222,67,65,57,0,0,0,894,193,206,0,0,0
$RAFOS,2,1258273028,8.300000,8.285556,67,59,55,0,0,0,196,928,211,0,0,0
$RAFOS,1,1258272545,8.166667,8.151389,59,58,57,0,0,0,178,932,225,0,0,0
$RAFOS,0,1258272063,8.033334,8.017500,65,59,53,0,0,0,1062,207,148,0,0,0
$RAFOS_FIX,6658.239258,-5740.665039,151109,080825,5,72,1.47
$IRIDIUM_FIX,6625.71,-5742.24,090299,070714
$TT8_MAMPS,0.026845
$HUMID,49.25
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.50
$XPDR_PINGS,11
$ALTIM_TOP_PING,19.7,18.7
$24V_AH,22.7,34.422
$10V_AH,10.2,17.829
$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,19.975,137.425,456.575,0.000,0.000,106.306,142.028,1104.510,3.000,0.000,15.143,2075.739,8220.414,607.961,2086.426,1578.388,0.000,1720.347,0.000,2048.844,2520.000,2.620,0.000
$DEVICE_MAMPS,311.402,102.011,1299.298,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,789.247,778.705,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,187908
$DATA_FILE_SIZE,44108,1094
$CAP_FILE_SIZE,161447,0
$CFSIZE,260165632,239362048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.9
$CURRENT,0.519,222.3,1
$GPS,151109,113207,6657.769,-5738.056,30,1.1,30,-37.7