version: 66.06
glider: 143
mission: 10
dive: 143
start: 11 16 109 17 34 26
data:
$ID,143
$MISSION,10
$DIVE,143
$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,-30182.418
$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
$GPS1,172855,6658.494,-5734.221,40,0.9,40,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-69.9
$GPS2,173407,6658.439,-5734.191,8,1.0,13,-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,68.5,34410,-16.9,-9.167
$D_GRID,824
$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,-146.0,0.0,0.0,0,121,0.00,0.00,-103.47,0.000,2,0.000,0.000,125,2467,3157,0,0,0,0,0,0
$GC,124,-0.73,-146.0,3.5,-5.7,20,147,9.85,2.67,-6.32,0.000,4,0.306,0.094,2150,862,3398,0,0,0,0,0,0
$GC,227,-0.73,-146.0,35.5,-31.9,38,232,0.00,2.62,0.00,0.000,6,0.000,0.077,2141,2465,3400,0,0,0,0,0,0
$GC,564,-0.73,-146.0,131.3,-25.0,88,568,0.00,2.47,0.00,0.000,4,0.000,0.093,2141,3916,3400,0,0,0,0,0,0
$GC,748,-0.73,-146.0,178.5,-25.8,104,753,0.00,2.40,0.00,0.000,6,0.000,0.070,2141,2462,3400,0,0,0,0,0,0
$GC,1072,-0.73,-146.0,254.3,-22.4,134,1077,0.00,2.50,0.00,0.000,4,0.000,0.092,2141,3916,3400,0,0,0,0,0,0
$GC,1149,-0.73,-146.0,272.8,-23.2,140,1156,0.00,2.42,0.00,0.000,6,0.000,0.069,2141,2468,3400,0,0,0,0,0,0
$GC,1474,-0.73,-146.0,347.1,-23.1,171,1479,0.00,2.47,0.00,0.000,4,0.000,0.092,2141,3917,3401,0,0,0,0,0,0
$GC,1513,-0.73,-146.0,356.5,-24.2,174,1518,0.00,2.38,0.00,0.000,6,0.000,0.069,2141,2471,3401,0,0,0,0,0,0
$GC,1839,-0.73,-146.0,429.1,-22.7,204,1843,0.00,2.45,0.00,0.000,4,0.000,0.092,2141,3909,3400,0,0,0,0,0,0
$GC,1939,-0.73,-146.0,452.4,-21.9,212,1945,0.00,2.38,0.00,0.000,6,0.000,0.070,2141,2483,3400,0,0,0,0,0,0
$GC,2264,-0.73,-146.0,520.6,-20.9,243,2268,0.00,2.42,0.00,0.000,4,0.000,0.093,2141,3909,3400,0,0,0,0,0,0
$GC,2325,-0.73,-146.0,534.1,-22.0,248,2330,0.00,2.35,0.00,0.000,6,0.000,0.069,2141,2476,3400,0,0,0,0,0,0
$GC,2669,-0.73,-146.0,606.6,-21.4,278,2674,0.00,2.45,0.00,0.000,4,0.000,0.092,2141,3914,3400,0,0,0,0,0,0
$GC,2746,-0.73,-146.0,623.8,-22.0,280,2751,0.00,2.38,0.00,0.000,6,0.000,0.069,2141,2492,3400,0,0,0,0,0,0
$GC,3071,-0.73,-146.0,690.7,-20.7,291,3075,0.00,2.42,0.00,0.000,4,0.000,0.092,2141,3916,3400,0,0,0,0,0,0
$GC,3153,-0.73,-146.0,708.8,-22.3,293,3158,0.00,2.33,0.00,0.000,6,0.000,0.068,2141,2491,3400,0,0,0,0,0,0
$GC,3472,-0.73,-146.0,772.2,-19.9,304,3476,0.00,2.42,0.00,0.000,4,0.000,0.093,2141,3915,3400,0,0,0,0,0,0
$GC,3560,-0.73,-146.0,791.3,-21.9,306,3566,0.00,2.33,0.00,0.000,6,0.000,0.069,2141,2492,3399,0,0,0,0,0,0
$STATE,3749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3749,begin apogee
$GC,3754,-0.16,0.0,829.3,19.7,313,3880,0.80,0.00,122.62,1.311,6,0.249,0.000,2332,1943,2800,0,0,0,0,0,0
$STATE,3881,end apogee,CONTROL_FINISHED_OK
$STATE,3881,begin climb
$GC,3883,0.73,146.0,842.2,0.0,317,4018,1.15,0.00,128.25,1.253,6,0.218,0.000,2611,1943,2204,0,0,0,0,0,0
$GC,4342,0.80,206.3,815.9,6.6,332,4403,0.12,2.92,52.47,1.232,4,0.166,0.085,2644,3542,1957,0,0,0,0,0,0
$GC,4627,0.80,206.3,790.8,9.2,340,4631,0.00,2.62,0.00,0.000,6,0.000,0.071,2644,2004,1950,0,0,0,0,0,0
$GC,4947,0.80,206.3,760.6,9.8,351,4951,0.00,2.62,0.00,0.000,4,0.000,0.085,2645,3538,1949,0,0,0,0,0,0
$GC,5057,0.82,226.9,750.5,8.3,354,5082,0.00,2.55,17.62,1.173,6,0.000,0.071,2644,2010,1873,0,0,0,0,0,0
$GC,5412,0.82,226.9,717.9,9.8,366,5417,0.00,2.72,0.00,0.000,4,0.000,0.093,2645,365,1870,0,0,0,0,0,0
$GC,5478,0.86,252.6,711.7,8.1,368,5508,0.00,2.70,23.58,1.183,6,0.000,0.067,2644,2051,1769,0,0,0,0,0,0
$GC,5844,0.86,252.6,679.0,9.5,380,5849,0.00,2.83,0.00,0.000,4,0.000,0.093,2645,361,1764,0,0,0,0,0,0
$GC,5995,0.91,297.6,665.5,7.3,384,6041,0.12,2.75,39.58,1.178,6,0.147,0.068,2682,2079,1586,0,0,0,0,0,0
$GC,6370,0.91,297.6,625.4,11.1,397,6374,0.00,2.47,0.00,0.000,4,0.000,0.088,2682,3540,1580,0,0,0,0,0,0
$GC,6475,0.91,297.6,614.1,10.4,400,6479,0.00,2.45,0.00,0.000,6,0.000,0.071,2683,2089,1579,0,0,0,0,0,0
$GC,6802,0.91,297.6,578.2,10.9,422,6806,0.00,2.45,0.00,0.000,4,0.000,0.088,2683,3537,1578,0,0,0,0,0,0
$GC,6875,0.91,297.6,570.0,11.0,428,6880,0.00,2.40,0.00,0.000,6,0.000,0.071,2683,2088,1578,0,0,0,0,0,0
$GC,7201,0.91,297.6,532.2,12.0,458,7205,0.00,2.45,0.00,0.000,4,0.000,0.087,2683,3542,1577,0,0,0,0,0,0
$GC,7262,0.91,297.6,525.0,11.6,463,7266,0.00,2.40,0.00,0.000,6,0.000,0.072,2683,2090,1576,0,0,0,0,0,0
$GC,7586,0.91,297.6,487.7,11.9,493,7590,0.00,2.45,0.00,0.000,4,0.000,0.087,2682,3544,1577,0,0,0,0,0,0
$GC,7752,0.91,297.6,468.4,11.3,507,7759,0.00,2.40,0.00,0.000,6,0.000,0.071,2683,2111,1575,0,0,0,0,0,0
$GC,8078,0.91,297.6,430.0,11.7,538,8082,0.00,2.40,0.00,0.000,4,0.000,0.087,2683,3541,1576,0,0,0,0,0,0
$GC,8185,0.91,297.6,417.4,11.5,547,8189,0.00,2.35,0.00,0.000,6,0.000,0.071,2683,2109,1576,0,0,0,0,0,0
$GC,8509,0.91,297.6,378.6,12.1,577,8513,0.00,2.40,0.00,0.000,4,0.000,0.087,2683,3541,1576,0,0,0,0,0,0
$GC,8603,0.91,297.6,367.2,12.3,585,8608,0.00,2.33,0.00,0.000,6,0.000,0.072,2683,2123,1575,0,0,0,0,0,0
$GC,8929,0.91,297.6,329.2,11.9,615,8933,0.00,2.38,0.00,0.000,4,0.000,0.087,2683,3542,1575,0,0,0,0,0,0
$GC,8972,0.91,297.6,324.0,11.4,618,8978,0.00,2.38,0.00,0.000,6,0.000,0.072,2683,2124,1575,0,0,0,0,0,0
$GC,9297,0.91,297.6,287.9,11.4,649,9301,0.00,2.40,0.00,0.000,4,0.000,0.088,2683,3546,1575,0,0,0,0,0,0
$GC,9375,0.91,297.6,279.5,10.4,656,9379,0.00,2.33,0.00,0.000,6,0.000,0.071,2683,2127,1575,0,0,0,0,0,0
$GC,9699,0.91,297.6,246.6,10.7,686,9703,0.00,2.38,0.00,0.000,4,0.000,0.088,2683,3545,1575,0,0,0,0,0,0
$GC,9731,0.91,297.6,243.0,10.6,688,9737,0.00,2.35,0.00,0.000,6,0.000,0.071,2683,2135,1576,0,0,0,0,0,0
$GC,10057,0.91,297.6,207.0,11.8,719,10061,0.00,2.88,0.00,0.000,4,0.000,0.092,2683,358,1575,0,0,0,0,0,0
$GC,10156,0.91,297.6,196.1,10.7,727,10163,0.00,2.80,0.00,0.000,6,0.000,0.068,2683,2141,1575,0,0,0,0,0,0
$GC,10482,0.91,297.6,161.0,10.9,758,10487,0.00,2.92,0.00,0.000,4,0.000,0.092,2683,358,1575,0,0,0,0,0,0
$GC,10581,0.91,297.6,150.6,9.9,766,10588,0.00,2.80,0.00,0.000,6,0.000,0.067,2683,2147,1575,0,0,0,0,0,0
$GC,10906,0.91,297.6,113.4,11.8,797,10911,0.00,2.90,0.00,0.000,4,0.000,0.091,2683,365,1575,0,0,0,0,0,0
$GC,10983,0.91,297.6,104.9,10.2,803,10989,0.00,2.75,0.00,0.000,6,0.000,0.067,2683,2122,1575,0,0,0,0,0,0
$GC,11323,0.91,297.6,73.0,9.3,859,11328,0.00,2.85,0.00,0.000,4,0.000,0.090,2683,365,1575,0,0,0,0,0,0
$GC,11424,0.91,297.6,63.8,9.9,877,11429,0.00,2.90,0.00,0.000,6,0.000,0.066,2683,2219,1575,0,0,0,0,0,0
$GC,11765,0.95,327.3,36.6,7.9,938,11796,0.00,2.22,24.23,0.774,4,0.000,0.085,2683,3544,1463,0,0,0,0,0,0
$GC,11854,0.95,327.3,28.8,9.5,954,11859,0.00,2.45,0.00,0.000,6,0.000,0.068,2683,2053,1460,0,0,0,0,0,0
$STATE,12132,end climb,SURFACE_DEPTH_REACHED
$STATE,12132,begin surface coast
$FINISH,0.5,1.003911
$STATE,12151,end surface coast,CONTROL_FINISHED_OK
$STATE,12151,begin surface
$SM_CCo,12227,0.00,0.000,0,0,1455,329.68
$SM_GC,1.32,7.32,0.00,0.00,0.077,0.000,0.000,126,2472,1455,-7.03,0.34,329.68
$RAFOS_CLK,785
$RAFOS,6,1258404543,20.833334,20.817499,89,60,57,0,0,0,768,195,215,0,0,0
$RAFOS,5,1258404063,20.700001,20.684166,80,59,58,0,0,0,559,163,201,0,0,0
$RAFOS,4,1258403589,20.566668,20.552500,83,59,56,0,0,0,745,220,205,0,0,0
$RAFOS,3,1258403111,20.433332,20.419722,83,58,56,0,0,0,852,217,204,0,0,0
$RAFOS,2,1258402622,20.299999,20.283890,87,60,57,0,0,0,967,201,182,0,0,0
$RAFOS,1,1258402150,20.166666,20.152779,73,56,56,0,0,0,912,160,195,0,0,0
$RAFOS,0,1258401664,20.033333,20.017778,65,61,60,0,0,0,134,209,190,0,0,0
$RAFOS_FIX,6655.404297,-5740.279297,161109,202056,6,82,0.67
$IRIDIUM_FIX,6631.12,-5741.01,100299,141414
$TT8_MAMPS,0.026845
$HUMID,49.01
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,17.40
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.8,18.6
$24V_AH,22.7,35.901
$10V_AH,10.2,18.461
$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,19.375,137.825,408.350,0.000,0.000,31.149,30.667,135.649,1.750,0.000,14.517,1962.971,7724.154,538.595,1954.167,372.335,0.000,1575.710,0.000,1919.750,2520.000,2.620,0.000
$DEVICE_MAMPS,306.033,94.341,1310.803,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,723.101,724.915,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,187956
$DATA_FILE_SIZE,41051,1007
$CAP_FILE_SIZE,130048,0
$CFSIZE,260165632,238747648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.0
$CURRENT,0.929,193.7,1
$GPS,161109,205955,6657.715,-5730.552,38,1.3,38,-37.6