version: 66.06
glider: 143
mission: 10
dive: 141
start: 11 16 109 10 16 2
data:
$ID,143
$MISSION,10
$DIVE,141
$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,-30132.803
$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,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
$GPS1,100257,6657.678,-5733.937,38,2.3,57,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-68.3
$GPS2,101543,6657.640,-5734.034,10,1.7,16,-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,66.0,34694,-16.9,-9.167
$D_GRID,814
$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,-146.0,0.0,0.0,0,115,0.00,0.00,-97.20,0.000,2,0.000,0.000,123,2468,3065,0,0,0,0,0,0
$GC,118,-0.73,-146.0,3.1,-4.2,19,144,10.15,0.00,-9.57,0.000,6,0.313,0.000,2150,2469,3398,0,0,0,0,0,0
$GC,480,-0.73,-146.0,105.6,-25.7,82,485,0.00,2.50,0.00,0.000,4,0.000,0.096,2150,3917,3401,0,0,0,0,0,0
$GC,553,-0.73,-146.0,124.0,-24.8,88,557,0.00,2.42,0.00,0.000,6,0.000,0.071,2151,2458,3401,0,0,0,0,0,0
$GC,879,-0.73,-146.0,204.3,-25.1,118,883,0.00,2.50,0.00,0.000,4,0.000,0.094,2150,3909,3401,0,0,0,0,0,0
$GC,1136,-0.73,-146.0,269.1,-23.9,140,1142,0.00,2.38,0.00,0.000,6,0.000,0.070,2151,2469,3401,0,0,0,0,0,0
$GC,1460,-0.73,-146.0,341.6,-22.4,171,1465,0.00,2.47,0.00,0.000,4,0.000,0.094,2151,3911,3401,0,0,0,0,0,0
$GC,1601,-0.73,-146.0,374.8,-24.2,183,1605,0.00,2.38,0.00,0.000,6,0.000,0.071,2151,2472,3400,0,0,0,0,0,0
$GC,1925,-0.73,-146.0,444.8,-21.1,213,1929,0.00,2.47,0.00,0.000,4,0.000,0.094,2151,3920,3400,0,0,0,0,0,0
$GC,2065,-0.73,-146.0,476.5,-23.7,225,2069,0.00,2.38,0.00,0.000,6,0.000,0.071,2151,2478,3400,0,0,0,0,0,0
$GC,2389,-0.73,-146.0,545.1,-20.7,255,2393,0.00,2.45,0.00,0.000,4,0.000,0.094,2151,3913,3400,0,0,0,0,0,0
$GC,2428,-0.73,-146.0,553.3,-21.9,258,2432,0.00,2.35,0.00,0.000,6,0.000,0.070,2151,2486,3400,0,0,0,0,0,0
$GC,2756,-0.73,-146.0,619.5,-20.3,283,2760,0.00,2.42,0.00,0.000,4,0.000,0.093,2151,3909,3400,0,0,0,0,0,0
$GC,2878,-0.73,-146.0,645.8,-21.7,286,2884,0.00,2.33,0.00,0.000,6,0.000,0.070,2151,2490,3400,0,0,0,0,0,0
$GC,3190,-0.73,-146.0,707.0,-19.7,297,3194,0.00,2.42,0.00,0.000,4,0.000,0.094,2150,3911,3400,0,0,0,0,0,0
$GC,3373,-0.73,-146.0,747.6,-21.9,302,3378,0.00,2.35,0.00,0.000,6,0.000,0.070,2150,2503,3400,0,0,0,0,0,0
$GC,3691,-0.73,-146.0,813.1,-20.4,313,3695,0.00,2.15,0.00,0.000,3,0.000,0.093,2151,3772,3400,0,0,0,0,0,0
$STATE,3696,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3696,begin apogee
$GC,3703,-0.16,0.0,814.1,20.3,313,3829,0.73,0.00,122.22,1.301,6,0.255,0.000,2326,1946,2800,0,0,0,0,0,0
$STATE,3830,end apogee,CONTROL_FINISHED_OK
$STATE,3830,begin climb
$GC,3832,0.73,146.0,828.8,0.0,317,3970,1.20,2.92,128.32,1.243,4,0.226,0.091,2611,366,2202,0,0,0,0,0,0
$GC,4077,0.81,215.2,816.3,6.3,324,4147,0.15,2.70,61.08,1.215,6,0.170,0.068,2648,1954,1921,0,0,0,0,0,0
$GC,4482,0.81,218.9,782.0,9.0,338,4487,0.00,2.72,0.00,0.000,4,0.000,0.093,2648,365,1912,0,0,0,0,0,0
$GC,4739,0.82,226.6,758.7,8.8,345,4754,0.00,2.58,9.32,1.086,6,0.000,0.068,2648,1957,1877,0,0,0,0,0,0
$GC,5084,0.83,233.9,728.1,8.9,357,5098,0.00,2.75,8.02,1.058,4,0.000,0.094,2648,359,1846,0,0,0,0,0,0
$GC,5319,0.83,233.9,706.7,9.7,364,5323,0.00,2.72,0.00,0.000,6,0.000,0.070,2648,2055,1845,0,0,0,0,0,0
$GC,5653,0.83,233.9,673.7,10.3,375,5657,0.00,2.50,0.00,0.000,4,0.000,0.089,2648,3539,1844,0,0,0,0,0,0
$GC,5909,0.83,233.9,648.0,9.7,382,5916,0.00,2.40,0.00,0.000,6,0.000,0.073,2648,2086,1843,0,0,0,0,0,0
$GC,6222,0.83,233.9,616.6,10.4,393,6227,0.00,2.83,0.00,0.000,4,0.000,0.094,2648,363,1843,0,0,0,0,0,0
$GC,6288,0.83,234.6,610.2,9.1,395,6292,0.00,2.78,0.00,0.000,6,0.000,0.070,2648,2109,1843,0,0,0,0,0,0
$GC,6616,0.83,234.6,581.0,9.6,417,6621,0.00,2.88,0.00,0.000,4,0.000,0.094,2648,364,1843,0,0,0,0,0,0
$GC,6874,0.84,238.4,557.1,9.0,439,6884,0.00,2.80,5.18,0.885,6,0.000,0.071,2647,2132,1828,0,0,0,0,0,0
$GC,7203,0.84,238.4,525.8,10.0,470,7208,0.00,2.92,0.00,0.000,4,0.000,0.094,2648,360,1827,0,0,0,0,0,0
$GC,7448,0.84,242.9,502.8,9.0,491,7459,0.00,2.85,5.82,0.896,6,0.000,0.071,2648,2156,1809,0,0,0,0,0,0
$GC,7779,0.84,242.9,472.3,9.8,522,7780,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2156,1808,0,0,0,0,0,0
$GC,8098,0.84,242.9,438.8,10.5,552,8101,0.00,2.30,0.00,0.000,4,0.000,0.088,2648,3536,1808,0,0,0,0,0,0
$GC,8181,0.84,242.9,430.2,9.9,559,8187,0.00,2.28,0.00,0.000,6,0.000,0.073,2648,2156,1808,0,0,0,0,0,0
$GC,8505,0.84,242.9,396.0,10.7,590,8510,0.00,2.92,0.00,0.000,4,0.000,0.094,2648,363,1808,0,0,0,0,0,0
$GC,8567,0.84,242.9,389.9,9.4,595,8572,0.00,2.90,0.00,0.000,6,0.000,0.071,2648,2193,1808,0,0,0,0,0,0
$GC,8892,0.86,259.1,361.6,8.5,625,8913,0.00,3.05,15.52,0.975,4,0.000,0.092,2648,361,1741,0,0,0,0,0,0
$GC,9006,0.87,264.6,351.6,8.9,635,9017,0.00,2.70,6.07,0.833,6,0.000,0.069,2648,2053,1720,0,0,0,0,0,0
$GC,9335,0.87,267.4,322.7,9.1,666,9340,0.00,2.80,0.00,0.000,4,0.000,0.093,2648,360,1718,0,0,0,0,0,0
$GC,9429,0.91,298.2,314.8,7.9,674,9466,0.12,2.60,29.33,0.967,6,0.196,0.069,2679,1998,1584,0,0,0,0,0,0
$GC,9791,0.95,326.6,284.9,8.0,708,9822,0.00,2.80,25.00,0.932,4,0.000,0.094,2680,356,1467,0,0,0,0,0,0
$GC,9939,0.95,326.6,270.9,9.7,721,9946,0.00,2.88,0.00,0.000,6,0.000,0.067,2680,2135,1463,0,0,0,0,0,0
$GC,10264,0.95,326.6,239.3,10.5,752,10266,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2135,1460,0,0,0,0,0,0
$GC,10585,0.95,326.6,202.6,11.8,782,10590,0.00,2.38,0.00,0.000,4,0.000,0.088,2679,3547,1459,0,0,0,0,0,0
$GC,10625,0.95,326.6,197.7,11.4,785,10629,0.00,2.35,0.00,0.000,6,0.000,0.072,2680,2128,1459,0,0,0,0,0,0
$GC,10950,0.95,326.6,161.1,11.1,815,10954,0.00,2.38,0.00,0.000,4,0.000,0.086,2680,3540,1459,0,0,0,0,0,0
$GC,11044,0.95,326.6,151.5,9.9,823,11049,0.00,2.30,0.00,0.000,6,0.000,0.071,2680,2143,1459,0,0,0,0,0,0
$GC,11368,0.95,326.6,115.3,11.1,853,11373,0.00,2.90,0.00,0.000,4,0.000,0.090,2680,357,1459,0,0,0,0,0,0
$GC,11498,0.95,326.6,102.0,10.0,864,11503,0.00,2.83,0.00,0.000,6,0.000,0.067,2680,2152,1458,0,0,0,0,0,0
$GC,11839,0.95,326.6,69.4,9.5,922,11847,0.00,2.92,0.00,0.000,4,0.000,0.090,2680,363,1459,0,0,0,0,0,0
$GC,11886,0.96,337.1,65.0,8.7,930,11904,0.00,2.67,8.65,0.750,6,0.000,0.065,2680,2070,1425,0,0,0,0,0,0
$GC,12242,1.03,395.4,32.5,6.7,993,12297,0.15,2.60,48.05,0.776,4,0.184,0.086,2719,3547,1187,0,0,0,0,0,0
$GC,12449,1.03,395.4,11.1,11.2,1030,12455,0.00,2.65,0.00,0.000,6,0.000,0.069,2720,1957,1180,0,0,0,0,0,0
$STATE,12541,end climb,SURFACE_DEPTH_REACHED
$STATE,12541,begin surface coast
$FINISH,0.5,1.002759
$STATE,12566,end surface coast,CONTROL_FINISHED_OK
$STATE,12566,begin surface
$SM_CCo,12642,0.00,0.000,0,0,1176,398.37
$SM_GC,1.24,7.47,0.00,0.00,0.074,0.000,0.000,122,2468,1176,-7.05,0.23,398.37
$RAFOS_CLK,842
$RAFOS,6,1258375746,12.833333,12.818334,89,61,59,0,0,0,726,196,223,0,0,0
$RAFOS,5,1258375271,12.700000,12.686389,90,60,58,0,0,0,499,201,222,0,0,0
$RAFOS,4,1258374789,12.566667,12.552500,89,62,57,0,0,0,735,203,159,0,0,0
$RAFOS,3,1258374306,12.433333,12.418333,67,62,59,0,0,0,181,215,885,0,0,0
$RAFOS,2,1258373824,12.300000,12.284445,60,59,56,0,0,0,187,116,175,0,0,0
$RAFOS,1,1258373344,12.166667,12.151111,72,59,59,0,0,0,932,185,139,0,0,0
$RAFOS,0,1258372865,12.033333,12.018056,73,67,61,0,0,0,1052,213,185,0,0,0
$RAFOS_FIX,6700.301758,-5739.005859,161109,121239,5,83,0.76
$IRIDIUM_FIX,6625.71,-5734.67,100299,101058
$TT8_MAMPS,0.026845
$HUMID,48.18
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.50
$XPDR_PINGS,13
$ALTIM_TOP_PING,19.5,19.6
$24V_AH,22.7,35.590
$10V_AH,10.2,18.326
$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,19.975,131.450,472.600,0.000,0.000,89.057,105.298,322.094,3.500,0.000,17.942,2084.691,7909.771,563.623,2153.377,708.078,0.000,1692.664,0.000,2108.882,2520.000,2.623,0.000
$DEVICE_MAMPS,312.936,95.875,1300.832,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,751.921,755.994,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,187964
$DATA_FILE_SIZE,44193,1051
$CAP_FILE_SIZE,142469,0
$CFSIZE,260165632,238878720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.6
$CURRENT,0.445,250.1,1
$GPS,161109,134830,6658.765,-5734.920,39,1.6,44,-37.7