version: 66.06
glider: 143
mission: 10
dive: 136
start: 11 15 109 15 22 39
data:
$ID,143
$MISSION,10
$DIVE,136
$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,-30056.883
$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,18
$R_STBD_OVSHOOT,18
$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
$GPS1,151637,6659.401,-5739.676,35,0.9,35,-37.7
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-64.2
$GPS2,152219,6659.390,-5739.752,12,1.3,12,-37.7
$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,115.0,37966,-16.9,-9.167
$D_GRID,854
$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,12,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,116,0.00,0.00,-98.43,0.000,2,0.000,0.000,126,2463,3052,0,0,0,0,0,0
$GC,119,-0.73,-146.0,3.1,-4.5,19,146,9.95,2.65,-9.73,0.000,4,0.308,0.097,2149,870,3398,0,0,0,0,0,0
$GC,360,-0.73,-146.0,73.0,-27.9,62,365,0.00,2.62,0.00,0.000,6,0.000,0.080,2149,2464,3401,0,0,0,0,0,0
$GC,694,-0.73,-146.0,157.8,-24.2,102,699,0.00,2.47,0.00,0.000,4,0.000,0.094,2149,3911,3401,0,0,0,0,0,0
$GC,805,-0.73,-146.0,185.7,-23.4,111,812,0.00,2.42,0.00,0.000,6,0.000,0.069,2149,2465,3401,0,0,0,0,0,0
$GC,1130,-0.73,-146.0,259.8,-22.1,142,1134,0.00,2.47,0.00,0.000,4,0.000,0.092,2149,3912,3401,0,0,0,0,0,0
$GC,1237,-0.73,-146.0,285.0,-23.8,151,1241,0.00,2.38,0.00,0.000,6,0.000,0.069,2149,2470,3401,0,0,0,0,0,0
$GC,1561,-0.73,-146.0,355.9,-21.0,181,1565,0.00,2.47,0.00,0.000,4,0.000,0.092,2149,3921,3401,0,0,0,0,0,0
$GC,1761,-0.73,-146.0,401.1,-22.2,198,1768,0.00,2.40,0.00,0.000,6,0.000,0.069,2149,2484,3401,0,0,0,0,0,0
$GC,2087,-0.73,-146.0,467.3,-20.1,229,2091,0.00,2.42,0.00,0.000,4,0.000,0.092,2149,3911,3401,0,0,0,0,0,0
$GC,2175,-0.73,-146.0,486.0,-20.6,236,2182,0.00,2.33,0.00,0.000,6,0.000,0.069,2149,2489,3401,0,0,0,0,0,0
$GC,2500,-0.73,-146.0,549.9,-19.4,267,2504,0.00,2.42,0.00,0.000,4,0.000,0.092,2149,3912,3401,0,0,0,0,0,0
$GC,2584,-0.73,-146.0,566.9,-19.9,274,2588,0.00,2.30,0.00,0.000,6,0.000,0.069,2149,2502,3401,0,0,0,0,0,0
$GC,2913,-0.73,-146.0,630.7,-19.4,295,2917,0.00,2.40,0.00,0.000,4,0.000,0.093,2149,3914,3401,0,0,0,0,0,0
$GC,3008,-0.73,-146.0,650.1,-20.9,298,3012,0.00,2.30,0.00,0.000,6,0.000,0.070,2149,2505,3401,0,0,0,0,0,0
$GC,3342,-0.73,-146.0,715.0,-19.3,309,3346,0.00,2.40,0.00,0.000,4,0.000,0.093,2149,3919,3401,0,0,0,0,0,0
$GC,3413,-0.73,-146.0,729.8,-21.2,311,3418,0.00,2.33,0.00,0.000,6,0.000,0.069,2149,2521,3400,0,0,0,0,0,0
$GC,3743,-0.73,-146.0,792.4,-18.8,322,3748,0.00,2.35,0.00,0.000,4,0.000,0.094,2149,3908,3400,0,0,0,0,0,0
$GC,3859,-0.73,-146.0,815.4,-19.2,325,3864,0.00,2.30,0.00,0.000,6,0.000,0.069,2149,2524,3400,0,0,0,0,0,0
$STATE,4090,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4090,begin apogee
$GC,4096,-0.16,0.0,859.8,19.4,333,4222,0.65,0.00,123.28,1.324,6,0.176,0.000,2336,1945,2800,0,0,0,0,0,0
$STATE,4223,end apogee,CONTROL_FINISHED_OK
$STATE,4223,begin climb
$GC,4225,0.73,146.0,859.9,0.0,337,4362,1.02,3.10,128.25,1.260,4,0.172,0.085,2612,3538,2203,0,0,0,0,0,0
$GC,4496,0.79,201.9,844.6,6.8,345,4552,0.00,2.80,49.12,1.226,6,0.000,0.071,2613,1947,1976,0,0,0,0,0,0
$GC,4881,0.83,230.8,814.8,7.9,358,4915,0.15,2.85,25.85,1.207,4,0.170,0.094,2650,358,1858,0,0,0,0,0,0
$GC,4965,0.85,248.0,807.8,8.4,360,4987,0.00,2.55,16.70,1.166,6,0.000,0.067,2650,1889,1787,0,0,0,0,0,0
$GC,5311,0.85,248.0,774.2,10.2,372,5316,0.00,2.60,0.00,0.000,4,0.000,0.095,2651,358,1781,0,0,0,0,0,0
$GC,5468,0.87,259.8,759.4,8.7,376,5485,0.00,2.55,10.95,1.124,6,0.000,0.069,2650,1935,1739,0,0,0,0,0,0
$GC,5809,0.87,259.8,728.3,9.4,388,5814,0.00,2.72,0.00,0.000,4,0.000,0.088,2650,3541,1736,0,0,0,0,0,0
$GC,5847,0.87,260.7,724.7,9.1,389,5851,0.00,2.67,0.00,0.000,6,0.000,0.073,2650,1936,1735,0,0,0,0,0,0
$GC,6176,0.87,260.7,693.6,10.2,400,6181,0.00,2.60,0.00,0.000,4,0.000,0.096,2650,362,1735,0,0,0,0,0,0
$GC,6238,0.87,260.7,687.6,9.4,402,6242,0.00,2.58,0.00,0.000,6,0.000,0.071,2650,1979,1734,0,0,0,0,0,0
$GC,6572,0.88,271.8,658.6,8.7,413,6590,0.00,2.72,11.27,1.110,4,0.000,0.094,2650,355,1691,0,0,0,0,0,0
$GC,6619,0.90,290.5,654.3,8.4,414,6644,0.00,2.58,18.05,1.144,6,0.000,0.071,2650,1960,1614,0,0,0,0,0,0
$GC,6974,0.90,290.5,621.3,9.9,426,6979,0.00,2.67,0.00,0.000,4,0.000,0.088,2650,3545,1609,0,0,0,0,0,0
$GC,7096,0.90,290.5,608.8,10.8,429,7103,0.00,2.72,0.00,0.000,6,0.000,0.074,2650,1899,1608,0,0,0,0,0,0
$GC,7418,0.90,290.5,573.9,11.8,454,7419,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,1900,1607,0,0,0,0,0,0
$GC,7737,0.90,290.5,537.9,11.0,484,7741,0.00,2.53,0.00,0.000,4,0.000,0.096,2650,362,1606,0,0,0,0,0,0
$GC,7757,0.90,290.5,535.7,9.8,485,7766,0.00,2.55,0.00,0.000,6,0.000,0.071,2650,1939,1605,0,0,0,0,0,0
$GC,8083,0.91,295.9,505.1,8.9,516,8094,0.00,2.70,4.88,0.838,4,0.000,0.089,2650,3546,1592,0,0,0,0,0,0
$GC,8285,0.91,295.9,485.2,10.7,534,8289,0.00,2.47,0.00,0.000,6,0.000,0.074,2650,2045,1592,0,0,0,0,0,0
$GC,8609,0.91,295.9,451.3,10.5,564,8614,0.00,2.78,0.00,0.000,4,0.000,0.095,2650,354,1592,0,0,0,0,0,0
$GC,8663,0.91,295.9,445.6,10.2,568,8670,0.00,2.72,0.00,0.000,6,0.000,0.070,2650,2077,1592,0,0,0,0,0,0
$GC,8988,0.91,295.9,412.6,10.7,599,8993,0.00,2.83,0.00,0.000,4,0.000,0.094,2650,361,1591,0,0,0,0,0,0
$GC,9212,0.91,295.9,390.8,9.8,618,9218,0.00,2.75,0.00,0.000,6,0.000,0.071,2650,2097,1591,0,0,0,0,0,0
$GC,9536,0.93,309.9,363.7,8.6,649,9558,0.12,2.47,13.65,0.971,4,0.173,0.090,2685,3536,1535,0,0,0,0,0,0
$GC,9810,0.93,309.9,335.7,11.0,673,9817,0.00,2.15,0.00,0.000,6,0.000,0.072,2685,2256,1533,0,0,0,0,0,0
$GC,10135,0.93,309.9,297.3,12.2,704,10139,0.00,2.17,0.00,0.000,4,0.000,0.089,2686,3545,1532,0,0,0,0,0,0
$GC,10212,0.93,309.9,288.2,11.4,710,10219,0.00,2.15,0.00,0.000,6,0.000,0.071,2685,2258,1531,0,0,0,0,0,0
$GC,10539,0.93,309.9,249.1,12.3,741,10544,0.00,3.12,0.00,0.000,4,0.000,0.094,2685,350,1532,0,0,0,0,0,0
$GC,10601,0.93,309.9,241.7,11.0,746,10606,0.00,3.03,0.00,0.000,6,0.000,0.070,2685,2255,1531,0,0,0,0,0,0
$GC,10925,0.93,309.9,206.0,10.6,776,10929,0.00,2.15,0.00,0.000,4,0.000,0.087,2685,3543,1531,0,0,0,0,0,0
$GC,11184,0.93,309.9,179.6,10.0,799,11188,0.00,2.10,0.00,0.000,6,0.000,0.071,2685,2256,1531,0,0,0,0,0,0
$GC,11508,0.93,309.9,145.1,10.6,829,11513,0.00,3.10,0.00,0.000,4,0.000,0.091,2685,350,1531,0,0,0,0,0,0
$GC,11681,0.93,309.9,127.6,9.7,844,11686,0.00,2.97,0.00,0.000,6,0.000,0.069,2685,2238,1531,0,0,0,0,0,0
$GC,12007,0.93,309.9,95.8,10.6,877,12013,0.00,3.08,0.00,0.000,4,0.000,0.091,2685,357,1531,0,0,0,0,0,0
$GC,12091,0.93,309.9,87.0,10.1,892,12099,0.00,2.95,0.00,0.000,6,0.000,0.069,2685,2230,1531,0,0,0,0,0,0
$GC,12436,0.96,338.8,57.3,8.0,953,12467,0.00,3.17,24.77,0.791,4,0.000,0.089,2685,353,1416,0,0,0,0,0,0
$GC,12480,0.98,349.5,53.7,8.7,960,12496,0.00,3.12,9.88,0.732,6,0.000,0.068,2686,2308,1375,0,0,0,0,0,0
$GC,12833,1.09,443.6,27.4,5.2,1023,12917,0.17,3.38,75.00,0.763,4,0.167,0.088,2735,357,988,0,0,0,0,0,0
$GC,13035,1.09,443.6,8.7,9.3,1060,13041,0.00,3.17,0.00,0.000,6,0.000,0.068,2734,2298,979,0,0,0,0,0,0
$STATE,13104,end climb,SURFACE_DEPTH_REACHED
$STATE,13104,begin surface coast
$FINISH,0.5,1.012310
$STATE,13128,end surface coast,CONTROL_FINISHED_OK
$STATE,13130,begin surface
$SM_CCo,13206,0.00,0.000,0,0,976,447.67
$SM_GC,1.12,7.55,0.00,0.00,0.073,0.000,0.000,126,2467,976,-7.04,0.20,447.67
$RAFOS_CLK,852
$RAFOS,6,1258303744,16.833334,16.817778,62,60,59,0,0,0,211,189,732,0,0,0
$RAFOS,5,1258303285,16.700001,16.690277,128,62,56,0,0,0,409,216,151,0,0,0
$RAFOS,4,1258302788,16.566668,16.552221,65,64,55,0,0,0,203,185,147,0,0,0
$RAFOS,3,1258302306,16.433332,16.418333,64,61,59,0,0,0,201,147,190,0,0,0
$RAFOS,2,1258301837,16.299999,16.288055,58,56,56,0,0,0,181,162,125,0,0,0
$RAFOS,1,1258301347,16.166666,16.151945,58,58,58,0,0,0,119,174,191,0,0,0
$RAFOS,0,1258300865,16.033333,16.018055,63,59,55,0,0,0,201,119,189,0,0,0
$RAFOS_FIX,6658.777832,-5740.554199,151109,121228,4,85,0.79
$IRIDIUM_FIX,6625.71,-5739.31,090299,111147
$TT8_MAMPS,0.026845
$HUMID,49.01
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.30
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.9,19.5
$24V_AH,22.7,34.758
$10V_AH,10.2,17.970
$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,19.625,148.050,511.650,0.000,0.000,25.605,47.108,154.711,2.750,0.000,13.976,2080.743,8296.377,627.249,2123.418,414.643,0.000,1758.796,0.000,2084.834,2520.000,2.620,0.000
$DEVICE_MAMPS,308.334,103.545,1323.842,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,771.833,774.855,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,187984
$DATA_FILE_SIZE,44282,1077
$CAP_FILE_SIZE,140979,0
$CFSIZE,260165632,239239168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.7
$CURRENT,0.394,239.0,1
$GPS,151109,190407,6658.708,-5738.187,38,1.1,38,-37.7