version: 66.06
glider: 143
mission: 10
dive: 152
start: 11 18 109 1 30 52
data:
$ID,143
$MISSION,10
$DIVE,152
$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,-31351.67
$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,19
$R_STBD_OVSHOOT,22
$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
$GPS1,003117,6657.195,-5726.712,0,6119.3,0,-37.6
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-68.0
$GPS2,013034,6701.086,-5719.594,100,99.0,119,-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,73.8,23089,-16.9,-9.167
$D_GRID,780
$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,-103.07,0.000,2,0.000,0.000,126,2474,3124,0,0,0,0,0,0
$GC,124,-0.73,-146.0,3.4,-6.1,20,147,9.60,2.65,-7.43,0.000,4,0.298,0.093,2148,869,3397,0,0,0,0,0,0
$GC,198,-0.73,-146.0,25.3,-29.0,33,204,0.00,2.60,0.00,0.000,6,0.000,0.077,2148,2463,3400,0,0,0,0,0,0
$GC,542,-0.73,-146.0,120.9,-25.7,88,546,0.00,2.47,0.00,0.000,4,0.000,0.091,2148,3912,3400,0,0,0,0,0,0
$GC,799,-0.73,-146.0,184.7,-24.4,110,805,0.00,2.38,0.00,0.000,6,0.000,0.068,2149,2479,3400,0,0,0,0,0,0
$GC,1125,-0.73,-146.0,256.7,-22.3,141,1129,0.00,2.47,0.00,0.000,4,0.000,0.091,2148,3919,3400,0,0,0,0,0,0
$GC,1266,-0.73,-146.0,289.6,-23.7,153,1270,0.00,2.38,0.00,0.000,6,0.000,0.068,2149,2481,3400,0,0,0,0,0,0
$GC,1590,-0.73,-146.0,361.8,-21.8,183,1594,0.00,2.45,0.00,0.000,4,0.000,0.091,2149,3913,3400,0,0,0,0,0,0
$GC,1762,-0.73,-146.0,402.2,-23.1,198,1766,0.00,2.33,0.00,0.000,6,0.000,0.067,2149,2497,3400,0,0,0,0,0,0
$GC,2092,-0.73,-146.0,473.7,-21.8,229,2096,0.00,2.42,0.00,0.000,4,0.000,0.091,2148,3917,3400,0,0,0,0,0,0
$GC,2287,-0.73,-146.0,517.5,-21.4,246,2291,0.00,2.33,0.00,0.000,6,0.000,0.067,2148,2501,3400,0,0,0,0,0,0
$GC,2611,-0.73,-146.0,586.9,-21.2,276,2615,0.00,2.42,0.00,0.000,4,0.000,0.091,2149,3924,3400,0,0,0,0,0,0
$GC,2818,-0.73,-146.0,633.1,-21.9,285,2822,0.00,2.35,0.00,0.000,6,0.000,0.067,2148,2511,3401,0,0,0,0,0,0
$GC,3148,-0.73,-146.0,701.6,-20.9,296,3152,0.00,2.40,0.00,0.000,4,0.000,0.091,2149,3913,3401,0,0,0,0,0,0
$GC,3254,-0.73,-146.0,725.4,-22.8,299,3259,0.00,2.28,0.00,0.000,6,0.000,0.067,2149,2521,3400,0,0,0,0,0,0
$STATE,3520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3520,begin apogee
$GC,3526,-0.16,0.0,781.9,20.6,308,3651,0.73,0.00,121.88,1.271,6,0.230,0.000,2332,1951,2800,0,0,0,0,0,0
$STATE,3652,end apogee,CONTROL_FINISHED_OK
$STATE,3652,begin climb
$GC,3654,0.73,146.0,795.2,0.0,312,3789,1.08,2.92,127.20,1.215,4,0.196,0.090,2608,362,2203,0,0,0,0,0,0
$GC,3874,0.78,187.8,783.6,7.4,319,3919,0.00,2.70,37.15,1.168,6,0.000,0.066,2608,1956,2033,0,0,0,0,0,0
$GC,4243,0.84,238.6,757.5,7.0,331,4294,0.17,2.83,44.65,1.179,4,0.144,0.092,2658,364,1826,0,0,0,0,0,0
$GC,4496,0.84,238.6,734.3,9.8,338,4502,0.00,2.55,0.00,0.000,6,0.000,0.064,2659,1939,1821,0,0,0,0,0,0
$GC,4809,0.84,238.6,702.6,10.5,349,4813,0.00,2.72,0.00,0.000,4,0.000,0.084,2659,3544,1820,0,0,0,0,0,0
$GC,5004,0.84,238.6,682.3,10.2,355,5009,0.00,2.67,0.00,0.000,6,0.000,0.070,2659,1941,1818,0,0,0,0,0,0
$GC,5340,0.84,238.6,647.2,10.6,366,5344,0.00,2.70,0.00,0.000,4,0.000,0.084,2659,3542,1818,0,0,0,0,0,0
$GC,5478,0.84,238.6,633.2,10.1,370,5483,0.00,2.62,0.00,0.000,6,0.000,0.070,2659,1956,1817,0,0,0,0,0,0
$GC,5808,0.84,238.6,598.4,11.0,381,5812,0.00,2.67,0.00,0.000,4,0.000,0.084,2659,3541,1817,0,0,0,0,0,0
$GC,5873,0.84,238.6,591.6,10.1,386,5880,0.00,2.62,0.00,0.000,6,0.000,0.070,2659,1953,1817,0,0,0,0,0,0
$GC,6199,0.84,238.6,556.5,11.5,417,6204,0.00,2.67,0.00,0.000,4,0.000,0.084,2659,3543,1817,0,0,0,0,0,0
$GC,6271,0.84,238.6,548.6,10.5,423,6275,0.00,2.62,0.00,0.000,6,0.000,0.071,2658,1957,1817,0,0,0,0,0,0
$GC,6595,0.84,238.6,512.3,11.9,453,6599,0.00,2.65,0.00,0.000,4,0.000,0.084,2659,3535,1817,0,0,0,0,0,0
$GC,6660,0.84,238.6,504.9,11.3,458,6667,0.00,2.55,0.00,0.000,6,0.000,0.071,2659,1985,1817,0,0,0,0,0,0
$GC,6987,0.84,238.6,469.0,11.7,489,6991,0.00,2.60,0.00,0.000,4,0.000,0.084,2659,3534,1815,0,0,0,0,0,0
$GC,7138,0.84,238.6,453.6,9.4,502,7143,0.00,2.53,0.00,0.000,6,0.000,0.071,2659,2000,1815,0,0,0,0,0,0
$GC,7462,0.84,238.6,422.2,10.1,532,7467,0.00,2.65,0.00,0.000,4,0.000,0.093,2659,359,1815,0,0,0,0,0,0
$GC,7719,0.87,263.9,400.8,8.1,554,7747,0.00,2.58,21.02,1.004,6,0.000,0.067,2658,2017,1724,0,0,0,0,0,0
$GC,8064,0.87,263.9,369.8,9.2,587,8069,0.00,2.55,0.00,0.000,4,0.000,0.084,2659,3539,1720,0,0,0,0,0,0
$GC,8182,0.87,263.9,358.6,9.7,597,8187,0.00,2.47,0.00,0.000,6,0.000,0.071,2658,2044,1720,0,0,0,0,0,0
$GC,8506,0.87,263.9,326.1,10.5,627,8511,0.00,2.53,0.00,0.000,4,0.000,0.084,2659,3538,1720,0,0,0,0,0,0
$GC,8763,0.87,263.9,301.7,10.4,649,8770,0.00,2.45,0.00,0.000,6,0.000,0.070,2659,2081,1719,0,0,0,0,0,0
$GC,9089,0.87,263.9,268.1,10.5,680,9093,0.00,2.45,0.00,0.000,4,0.000,0.084,2659,3538,1719,0,0,0,0,0,0
$GC,9206,0.87,263.9,256.6,10.2,690,9210,0.00,2.42,0.00,0.000,6,0.000,0.070,2659,2067,1719,0,0,0,0,0,0
$GC,9530,0.87,263.9,223.3,9.5,720,9535,0.00,2.78,0.00,0.000,4,0.000,0.091,2659,352,1719,0,0,0,0,0,0
$GC,9607,0.87,263.9,216.0,9.7,726,9613,0.00,2.88,0.00,0.000,6,0.000,0.067,2659,2189,1718,0,0,0,0,0,0
$GC,9932,0.87,263.9,185.7,10.0,757,9937,0.00,2.97,0.00,0.000,4,0.000,0.090,2659,361,1718,0,0,0,0,0,0
$GC,10166,0.87,263.9,161.1,10.3,777,10173,0.00,2.88,0.00,0.000,6,0.000,0.066,2659,2204,1718,0,0,0,0,0,0
$GC,10491,0.87,263.9,131.3,9.5,808,10496,0.00,2.97,0.00,0.000,4,0.000,0.087,2659,363,1718,0,0,0,0,0,0
$GC,10507,0.87,263.9,129.9,9.4,809,10512,0.00,2.65,0.00,0.000,6,0.000,0.065,2659,2065,1719,0,0,0,0,0,0
$GC,10833,0.89,281.1,101.4,8.4,839,10854,0.00,2.45,15.50,0.786,4,0.000,0.081,2659,3534,1651,0,0,0,0,0,0
$GC,10922,0.92,308.3,94.0,8.0,853,10956,0.00,2.62,23.40,0.787,6,0.000,0.067,2659,1935,1542,0,0,0,0,0,0
$GC,11293,0.95,329.8,66.2,8.3,919,11321,0.12,2.80,18.35,0.762,4,0.195,0.081,2689,3539,1454,0,0,0,0,0,0
$GC,11338,0.98,356.2,62.6,8.1,927,11371,0.00,2.95,23.38,0.752,6,0.000,0.067,2689,1769,1345,0,0,0,0,0,0
$GC,11706,1.01,376.3,29.7,8.3,993,11729,0.00,2.30,16.77,0.734,4,0.000,0.087,2689,365,1264,0,0,0,0,0,0
$GC,11775,1.01,376.3,23.4,10.3,1005,11780,0.00,2.08,0.00,0.000,6,0.000,0.060,2690,1692,1260,0,0,0,0,0,0
$STATE,11992,end climb,SURFACE_DEPTH_REACHED
$STATE,11992,begin surface coast
$FINISH,0.4,1.000947
$STATE,12018,end surface coast,CONTROL_FINISHED_OK
$STATE,12018,begin surface
$SM_CCo,12095,0.00,0.000,0,0,1257,378.50
$SM_GC,1.16,7.20,0.00,0.00,0.061,0.000,0.000,124,2463,1257,-7.04,0.08,378.50
$RAFOS_CLK,819
$RAFOS,5,1258519266,4.700000,4.685000,139,67,61,0,0,0,565,139,211,0,0,0
$RAFOS,4,1258518783,4.566667,4.550833,107,61,58,0,0,0,815,139,211,0,0,0
$RAFOS,3,1258518309,4.433333,4.419167,107,58,54,0,0,0,905,215,138,0,0,0
$RAFOS,2,1258517821,4.300000,4.283611,63,59,59,0,0,0,212,197,178,0,0,0
$RAFOS,1,1258517348,4.166667,4.152222,61,57,56,0,0,0,202,170,147,0,0,0
$RAFOS,0,1258516864,4.033333,4.017778,75,64,55,0,0,0,1105,203,159,0,0,0
$RAFOS_FIX,6700.097656,-5720.794922,181109,040444,4,107,0.19
$IRIDIUM_FIX,6631.12,-5724.14,110299,212147
$TT8_MAMPS,0.029146
$HUMID,48.18
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.60
$XPDR_PINGS,9
$ALTIM_TOP_PING,19.8,19.6
$24V_AH,22.8,37.311
$10V_AH,10.2,19.090
$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,18.900,131.200,449.300,0.000,0.000,29.901,31.894,154.139,2.500,0.000,122.105,2062.264,7307.345,559.808,2215.039,391.224,0.000,1663.392,0.000,2068.480,2520.000,2.623,0.000
$DEVICE_MAMPS,298.363,92.807,1270.919,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,753.679,745.430,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188052
$DATA_FILE_SIZE,44183,1048
$CAP_FILE_SIZE,132836,0
$CFSIZE,260165632,238120960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.5
$CURRENT,0.594,208.6,1
$GPS,181109,045407,6701.948,-5719.746,45,1.2,45,-37.7