version: 66.06
glider: 143
mission: 10
dive: 140
start: 11 16 109 6 28 57
data:
$ID,143
$MISSION,10
$DIVE,140
$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,-30114.232
$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,15
$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
$GPS1,062330,6658.114,-5735.736,35,1.0,40,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-68.0
$GPS2,062838,6658.062,-5735.721,10,1.3,10,-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,67.8,35654,-16.9,-9.167
$D_GRID,830
$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,-146.0,0.0,0.0,0,122,0.00,0.00,-103.62,0.000,2,0.000,0.000,122,2467,3097,0,0,0,0,0,0
$GC,125,-0.73,-146.0,3.6,-5.5,20,153,10.32,2.72,-8.15,0.000,4,0.319,0.095,2147,862,3398,0,0,0,0,0,0
$GC,192,-0.73,-146.0,22.5,-27.6,32,199,0.00,2.62,0.00,0.000,6,0.000,0.078,2147,2459,3400,0,0,0,0,0,0
$GC,532,-0.73,-146.0,121.4,-27.4,86,536,0.00,2.50,0.00,0.000,4,0.000,0.094,2147,3920,3400,0,0,0,0,0,0
$GC,789,-0.73,-146.0,191.2,-26.2,108,796,0.00,2.45,0.00,0.000,6,0.000,0.070,2147,2466,3400,0,0,0,0,0,0
$GC,1114,-0.73,-146.0,267.5,-23.6,139,1118,0.00,2.47,0.00,0.000,4,0.000,0.091,2148,3914,3399,0,0,0,0,0,0
$GC,1208,-0.73,-146.0,289.9,-24.1,147,1212,0.00,2.38,0.00,0.000,6,0.000,0.070,2147,2472,3399,0,0,0,0,0,0
$GC,1533,-0.73,-146.0,365.0,-22.6,177,1537,0.00,2.47,0.00,0.000,4,0.000,0.092,2147,3921,3399,0,0,0,0,0,0
$GC,1575,-0.73,-146.0,375.3,-24.0,180,1583,0.00,2.40,0.00,0.000,6,0.000,0.068,2147,2485,3400,0,0,0,0,0,0
$GC,1900,-0.73,-146.0,444.8,-21.1,211,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2486,3400,0,0,0,0,0,0
$GC,2221,-0.73,-146.0,513.0,-21.5,241,2225,0.00,2.45,0.00,0.000,4,0.000,0.093,2147,3916,3400,0,0,0,0,0,0
$GC,2342,-0.73,-146.0,541.0,-23.0,251,2348,0.00,2.38,0.00,0.000,6,0.000,0.069,2147,2472,3399,0,0,0,0,0,0
$GC,2687,-0.73,-146.0,612.5,-20.3,280,2691,0.00,2.45,0.00,0.000,4,0.000,0.092,2147,3910,3400,0,0,0,0,0,0
$GC,2741,-0.73,-146.0,624.6,-21.4,281,2747,0.00,2.35,0.00,0.000,6,0.000,0.069,2147,2477,3400,0,0,0,0,0,0
$GC,3053,-0.73,-146.0,687.6,-20.2,292,3058,0.00,2.45,0.00,0.000,4,0.000,0.093,2147,3912,3399,0,0,0,0,0,0
$GC,3131,-0.73,-146.0,703.9,-20.8,294,3135,0.00,2.35,0.00,0.000,6,0.000,0.070,2147,2481,3400,0,0,0,0,0,0
$GC,3455,-0.73,-146.0,766.6,-19.2,305,3459,0.00,2.45,0.00,0.000,4,0.000,0.093,2147,3917,3400,0,0,0,0,0,0
$GC,3560,-0.73,-146.0,788.2,-19.5,308,3564,0.00,2.38,0.00,0.000,6,0.000,0.069,2147,2495,3399,0,0,0,0,0,0
$STATE,3795,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3795,begin apogee
$GC,3801,-0.16,0.0,833.6,19.2,316,3927,0.75,0.00,122.28,1.311,6,0.252,0.000,2328,1944,2800,0,0,0,0,0,0
$STATE,3928,end apogee,CONTROL_FINISHED_OK
$STATE,3928,begin climb
$GC,3930,0.73,146.0,846.6,0.0,320,4065,1.17,0.00,128.55,1.253,6,0.222,0.000,2610,1945,2204,0,0,0,0,0,0
$GC,4357,0.80,203.4,822.2,6.8,334,4414,0.12,2.92,50.05,1.231,4,0.181,0.084,2642,3535,1969,0,0,0,0,0,0
$GC,4432,0.81,216.9,816.0,8.6,335,4451,0.00,2.58,13.07,1.118,6,0.000,0.069,2642,2089,1914,0,0,0,0,0,0
$GC,4787,0.81,216.9,780.7,10.2,347,4792,0.00,2.92,0.00,0.000,4,0.000,0.093,2642,365,1908,0,0,0,0,0,0
$GC,4870,0.82,225.0,772.7,8.8,349,4885,0.00,2.85,7.32,1.033,6,0.000,0.068,2642,2110,1881,0,0,0,0,0,0
$GC,5221,0.83,233.7,741.8,8.8,361,5235,0.00,2.95,8.98,1.088,4,0.000,0.094,2642,364,1847,0,0,0,0,0,0
$GC,5356,0.83,233.7,729.5,9.5,365,5361,0.00,2.75,0.00,0.000,6,0.000,0.068,2642,2070,1845,0,0,0,0,0,0
$GC,5690,0.83,233.7,698.5,10.0,376,5695,0.00,2.85,0.00,0.000,4,0.000,0.094,2642,359,1844,0,0,0,0,0,0
$GC,5857,0.83,233.7,681.7,9.7,381,5861,0.00,2.72,0.00,0.000,6,0.000,0.069,2642,2072,1844,0,0,0,0,0,0
$GC,6192,0.83,233.7,648.4,10.4,392,6196,0.00,2.45,0.00,0.000,4,0.000,0.087,2642,3536,1843,0,0,0,0,0,0
$GC,6303,0.83,233.7,636.7,10.2,395,6308,0.00,2.45,0.00,0.000,6,0.000,0.072,2642,2078,1842,0,0,0,0,0,0
$GC,6627,0.85,250.9,608.5,8.4,406,6651,0.00,2.85,16.05,1.125,4,0.000,0.093,2642,363,1776,0,0,0,0,0,0
$GC,6796,0.85,250.9,592.7,9.4,415,6803,0.00,2.67,0.00,0.000,6,0.000,0.069,2642,2036,1774,0,0,0,0,0,0
$GC,7121,0.85,250.9,561.0,10.5,446,7126,0.00,2.78,0.00,0.000,4,0.000,0.094,2641,364,1773,0,0,0,0,0,0
$GC,7285,0.85,250.9,545.1,9.8,460,7289,0.00,2.70,0.00,0.000,6,0.000,0.070,2642,2059,1773,0,0,0,0,0,0
$GC,7609,0.87,260.8,514.7,8.8,490,7624,0.00,2.83,9.73,1.019,4,0.000,0.094,2642,364,1734,0,0,0,0,0,0
$GC,7752,0.88,269.4,501.0,8.8,502,7769,0.00,2.88,9.10,0.996,6,0.000,0.071,2642,2169,1700,0,0,0,0,0,0
$GC,8088,0.88,269.4,469.5,9.9,534,8092,0.00,2.30,0.00,0.000,4,0.000,0.088,2642,3536,1698,0,0,0,0,0,0
$GC,8148,0.88,269.4,463.5,9.9,539,8154,0.00,2.28,0.00,0.000,6,0.000,0.072,2642,2191,1697,0,0,0,0,0,0
$GC,8473,0.90,284.9,434.8,8.5,570,8495,0.12,2.33,14.38,1.011,4,0.149,0.091,2677,3539,1638,0,0,0,0,0,0
$GC,8511,0.91,299.0,431.2,8.6,573,8532,0.00,2.17,13.55,0.984,6,0.000,0.071,2677,2260,1580,0,0,0,0,0,0
$GC,8857,0.91,299.0,392.9,11.2,606,8862,0.00,3.15,0.00,0.000,4,0.000,0.093,2678,359,1577,0,0,0,0,0,0
$GC,8923,0.91,299.0,385.7,10.6,611,8930,0.00,3.05,0.00,0.000,6,0.000,0.070,2677,2261,1576,0,0,0,0,0,0
$GC,9249,0.91,299.0,348.9,12.3,642,9250,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2262,1576,0,0,0,0,0,0
$GC,9569,0.91,299.0,310.8,12.0,672,9574,0.00,3.15,0.00,0.000,4,0.000,0.093,2678,353,1575,0,0,0,0,0,0
$GC,9657,0.91,299.0,300.5,11.0,679,9664,0.00,3.03,0.00,0.000,6,0.000,0.070,2678,2256,1574,0,0,0,0,0,0
$GC,9983,0.91,299.0,266.0,10.4,710,9988,0.00,3.12,0.00,0.000,4,0.000,0.091,2677,355,1574,0,0,0,0,0,0
$GC,10058,0.94,320.2,259.0,8.3,716,10082,0.00,3.00,18.70,0.923,6,0.000,0.070,2678,2243,1493,0,0,0,0,0,0
$GC,10407,0.94,320.2,226.1,9.2,749,10412,0.00,3.12,0.00,0.000,4,0.000,0.092,2678,357,1489,0,0,0,0,0,0
$GC,10425,0.94,324.1,224.6,9.0,750,10436,0.00,2.97,4.25,0.677,6,0.000,0.069,2677,2221,1477,0,0,0,0,0,0
$GC,10755,0.94,324.1,188.7,11.5,781,10756,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2221,1476,0,0,0,0,0,0
$GC,11076,0.94,324.1,153.4,10.4,811,11080,0.00,3.05,0.00,0.000,4,0.000,0.091,2677,363,1476,0,0,0,0,0,0
$GC,11306,0.94,324.1,129.6,10.7,831,11310,0.00,2.92,0.00,0.000,6,0.000,0.070,2678,2210,1474,0,0,0,0,0,0
$GC,11633,0.94,324.1,93.6,10.6,866,11639,0.00,2.22,0.00,0.000,4,0.000,0.088,2678,3543,1474,0,0,0,0,0,0
$GC,11731,0.95,327.0,84.0,9.0,883,11736,0.00,2.28,0.00,0.000,6,0.000,0.072,2678,2156,1473,0,0,0,0,0,0
$GC,12075,0.96,333.4,55.1,8.9,944,12091,0.00,2.38,9.05,0.762,4,0.000,0.087,2677,3534,1439,0,0,0,0,0,0
$GC,12109,0.96,334.1,51.9,9.1,950,12115,0.00,2.35,0.00,0.000,6,0.000,0.071,2677,2105,1438,0,0,0,0,0,0
$GC,12451,0.96,334.1,20.2,10.9,1011,12460,0.00,2.83,0.00,0.000,4,0.000,0.092,2677,361,1437,0,0,0,0,0,0
$GC,12471,0.96,334.1,17.9,10.3,1014,12477,0.00,2.67,0.00,0.000,6,0.000,0.067,2677,2059,1437,0,0,0,0,0,0
$STATE,12632,end climb,SURFACE_DEPTH_REACHED
$STATE,12632,begin surface coast
$FINISH,0.5,1.026784
$STATE,12652,end surface coast,CONTROL_FINISHED_OK
$STATE,12652,begin surface
$SM_CCo,12728,0.00,0.000,0,0,1435,334.59
$SM_GC,1.48,7.15,0.00,0.00,0.067,0.000,0.000,124,2468,1435,-7.04,0.23,334.59
$RAFOS_CLK,822
$RAFOS,6,1258361344,8.833333,8.817778,66,64,61,0,0,0,221,741,156,0,0,0
$RAFOS,5,1258360863,8.700000,8.684167,107,61,60,0,0,0,549,193,215,0,0,0
$RAFOS,4,1258360385,8.566667,8.551389,81,65,59,0,0,0,763,190,178,0,0,0
$RAFOS,3,1258359908,8.433333,8.418889,68,59,56,0,0,0,147,181,199,0,0,0
$RAFOS,2,1258359439,8.300000,8.288611,66,64,59,0,0,0,160,175,186,0,0,0
$RAFOS,1,1258358943,8.166667,8.150833,72,70,66,0,0,0,941,221,148,0,0,0
$RAFOS,0,1258358472,8.033334,8.020000,71,58,51,0,0,0,193,212,122,0,0,0
$RAFOS_FIX,6658.370605,-5738.068848,161109,080852,3,87,0.25
$IRIDIUM_FIX,6631.12,-5736.37,100299,020233
$TT8_MAMPS,0.026078
$HUMID,50.15
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.30
$XPDR_PINGS,13
$ALTIM_TOP_PING,19.5,18.9
$24V_AH,22.7,35.409
$10V_AH,10.1,18.252
$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,19.650,139.375,425.050,0.000,0.000,30.621,32.366,134.914,3.500,0.000,12.409,2079.307,8023.459,566.849,1998.595,372.521,0.000,1630.009,0.000,1965.644,2520.000,2.632,0.000
$DEVICE_MAMPS,319.072,95.108,1310.803,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,749.503,753.429,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,187956
$DATA_FILE_SIZE,41028,1046
$CAP_FILE_SIZE,133805,0
$CFSIZE,260165632,238956544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.4
$CURRENT,0.517,220.1,1
$GPS,161109,100257,6657.678,-5733.937,38,2.3,57,-37.6