version: 66.06
glider: 143
mission: 10
dive: 155
start: 11 18 109 11 59 20
data:
$ID,143
$MISSION,10
$DIVE,155
$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,-31448.633
$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,24
$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
$GPS1,115337,6701.855,-5717.356,36,1.1,36,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-67.7
$GPS2,115901,6701.867,-5717.426,12,1.1,17,-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,124.9,21354,-16.9,-9.167
$D_GRID,779
$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,14,-0.73,-146.0,0.0,0.0,0,118,0.00,0.00,-100.57,0.000,2,0.000,0.000,124,2450,3103,0,0,0,0,0,0
$GC,120,-0.73,-146.0,3.1,-5.2,19,148,9.88,2.62,-8.15,0.000,4,0.304,0.091,2149,873,3399,0,0,0,0,0,0
$GC,289,-0.73,-146.0,51.9,-29.0,49,294,0.00,2.58,0.00,0.000,6,0.000,0.073,2149,2456,3401,0,0,0,0,0,0
$GC,627,-0.73,-146.0,145.8,-25.4,95,631,0.00,2.47,0.00,0.000,4,0.000,0.086,2149,3916,3400,0,0,0,0,0,0
$GC,738,-0.73,-146.0,176.0,-26.8,104,745,0.00,2.40,0.00,0.000,6,0.000,0.064,2149,2454,3400,0,0,0,0,0,0
$GC,1062,-0.73,-146.0,255.8,-23.9,135,1068,0.00,2.47,0.00,0.000,4,0.000,0.087,2149,3912,3400,0,0,0,0,0,0
$GC,1265,-0.73,-146.0,304.2,-24.1,153,1270,0.00,2.38,0.00,0.000,6,0.000,0.064,2148,2462,3399,0,0,0,0,0,0
$GC,1589,-0.73,-146.0,375.3,-21.1,183,1594,0.00,2.47,0.00,0.000,4,0.000,0.087,2149,3918,3399,0,0,0,0,0,0
$GC,1689,-0.73,-146.0,397.4,-21.6,191,1695,0.00,2.38,0.00,0.000,6,0.000,0.064,2149,2463,3400,0,0,0,0,0,0
$GC,2014,-0.73,-146.0,464.8,-21.4,222,2018,0.00,2.47,0.00,0.000,4,0.000,0.086,2149,3924,3400,0,0,0,0,0,0
$GC,2155,-0.73,-146.0,494.7,-21.7,234,2159,0.00,2.35,0.00,0.000,6,0.000,0.063,2148,2481,3400,0,0,0,0,0,0
$GC,2479,-0.73,-146.0,559.4,-19.9,264,2483,0.00,2.42,0.00,0.000,4,0.000,0.086,2149,3917,3400,0,0,0,0,0,0
$GC,2551,-0.73,-146.0,574.1,-20.2,270,2556,0.00,2.33,0.00,0.000,6,0.000,0.062,2149,2482,3400,0,0,0,0,0,0
$GC,2879,-0.73,-146.0,636.4,-18.6,290,2884,0.00,2.42,0.00,0.000,4,0.000,0.085,2149,3915,3400,0,0,0,0,0,0
$GC,3037,-0.73,-146.0,666.3,-19.0,294,3042,0.00,2.30,0.00,0.000,6,0.000,0.062,2149,2500,3400,0,0,0,0,0,0
$GC,3348,-0.73,-146.0,723.6,-18.7,305,3353,0.00,2.38,0.00,0.000,4,0.000,0.084,2149,3919,3400,0,0,0,0,0,0
$GC,3454,-0.73,-146.0,744.9,-20.6,308,3458,0.00,2.33,0.00,0.000,6,0.000,0.062,2149,2509,3400,0,0,0,0,0,0
$STATE,3634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3634,begin apogee
$GC,3639,-0.16,0.0,780.4,19.9,314,3764,0.73,0.00,120.75,1.239,6,0.233,0.000,2330,1949,2800,0,0,0,0,0,0
$STATE,3764,end apogee,CONTROL_FINISHED_OK
$STATE,3764,begin climb
$GC,3766,0.73,146.0,784.3,0.0,318,3902,1.10,2.83,124.88,1.187,4,0.205,0.085,2608,361,2203,0,0,0,0,0,0
$GC,3957,0.82,222.2,773.9,6.0,324,4033,0.15,2.67,67.25,1.156,6,0.140,0.058,2650,1965,1893,0,0,0,0,0,0
$GC,4352,0.82,222.2,740.4,9.9,337,4357,0.00,2.70,0.00,0.000,4,0.000,0.077,2649,3543,1886,0,0,0,0,0,0
$GC,4609,0.82,222.2,714.5,10.7,344,4616,0.00,2.62,0.00,0.000,6,0.000,0.064,2650,1964,1884,0,0,0,0,0,0
$GC,4921,0.82,222.2,680.9,11.2,355,4926,0.00,2.65,0.00,0.000,4,0.000,0.077,2649,3545,1884,0,0,0,0,0,0
$GC,5054,0.82,222.2,667.7,9.2,359,5058,0.00,2.55,0.00,0.000,6,0.000,0.064,2650,1990,1882,0,0,0,0,0,0
$GC,5389,0.82,222.2,632.5,10.8,370,5393,0.00,2.58,0.00,0.000,4,0.000,0.078,2649,3539,1883,0,0,0,0,0,0
$GC,5426,0.82,222.2,628.5,10.1,371,5430,0.00,2.55,0.00,0.000,6,0.000,0.065,2649,2003,1882,0,0,0,0,0,0
$GC,5748,0.82,222.2,595.9,10.2,383,5752,0.00,2.55,0.00,0.000,4,0.000,0.079,2649,3535,1882,0,0,0,0,0,0
$GC,5914,0.82,222.2,579.1,9.6,397,5921,0.00,2.53,0.00,0.000,6,0.000,0.064,2649,2010,1882,0,0,0,0,0,0
$GC,6239,0.82,222.2,548.2,9.8,428,6244,0.00,2.53,0.00,0.000,4,0.000,0.078,2649,3535,1882,0,0,0,0,0,0
$GC,6351,0.83,233.9,537.9,8.7,437,6367,0.00,2.45,9.43,0.981,6,0.000,0.065,2649,2024,1845,0,0,0,0,0,0
$GC,6685,0.83,233.9,505.5,9.6,469,6689,0.00,2.53,0.00,0.000,4,0.000,0.078,2649,3543,1844,0,0,0,0,0,0
$GC,6757,0.84,236.7,498.6,9.1,475,6769,0.00,2.47,4.03,0.707,6,0.000,0.065,2649,2032,1834,0,0,0,0,0,0
$GC,7086,0.84,236.7,467.4,10.1,506,7088,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2032,1834,0,0,0,0,0,0
$GC,7406,0.84,236.7,435.7,9.8,536,7411,0.00,2.50,0.00,0.000,4,0.000,0.079,2649,3538,1834,0,0,0,0,0,0
$GC,7479,0.84,236.7,428.4,9.5,542,7483,0.00,2.45,0.00,0.000,6,0.000,0.065,2649,2037,1834,0,0,0,0,0,0
$GC,7805,0.84,236.7,397.8,9.7,572,7809,0.00,2.70,0.00,0.000,4,0.000,0.086,2649,355,1834,0,0,0,0,0,0
$GC,8061,0.84,236.7,374.4,9.3,594,8068,0.00,2.62,0.00,0.000,6,0.000,0.061,2649,2051,1834,0,0,0,0,0,0
$GC,8386,0.84,241.9,346.3,8.9,625,8399,0.00,2.80,6.53,0.818,4,0.000,0.085,2649,361,1811,0,0,0,0,0,0
$GC,8437,0.85,249.9,341.6,8.8,629,8454,0.00,2.42,8.20,0.854,6,0.000,0.061,2649,1935,1780,0,0,0,0,0,0
$GC,8772,0.88,272.6,313.1,8.2,661,8798,0.00,2.60,20.48,0.920,4,0.000,0.085,2649,358,1688,0,0,0,0,0,0
$GC,8832,0.89,276.4,307.9,9.0,666,8843,0.00,2.28,4.78,0.690,6,0.000,0.060,2649,1813,1673,0,0,0,0,0,0
$GC,9161,0.89,279.5,277.5,9.0,697,9172,0.00,2.40,4.10,0.634,4,0.000,0.087,2649,342,1660,0,0,0,0,0,0
$GC,9330,0.90,285.7,261.6,8.9,712,9343,0.00,2.08,6.97,0.780,6,0.000,0.059,2649,1688,1634,0,0,0,0,0,0
$GC,9669,0.91,292.8,231.6,8.9,744,9683,0.00,2.22,7.50,0.782,4,0.000,0.087,2649,363,1606,0,0,0,0,0,0
$GC,9695,0.93,312.0,229.3,8.4,746,9720,0.12,1.90,17.73,0.848,6,0.156,0.058,2686,1602,1527,0,0,0,0,0,0
$GC,10046,0.93,312.0,190.8,11.8,779,10050,0.00,2.00,0.00,0.000,4,0.000,0.087,2686,363,1523,0,0,0,0,0,0
$GC,10147,0.93,312.0,179.3,11.1,788,10151,0.00,1.98,0.00,0.000,6,0.000,0.058,2686,1649,1523,0,0,0,0,0,0
$GC,10477,0.93,312.0,144.7,11.7,819,10482,0.00,3.10,0.00,0.000,4,0.000,0.076,2686,3534,1521,0,0,0,0,0,0
$GC,10673,0.93,312.0,122.3,11.1,836,10678,0.00,3.05,0.00,0.000,6,0.000,0.066,2686,1665,1522,0,0,0,0,0,0
$GC,11003,0.93,312.0,85.9,11.0,877,11009,0.00,3.08,0.00,0.000,4,0.000,0.074,2686,3538,1522,0,0,0,0,0,0
$GC,11076,0.93,312.0,78.0,11.0,890,11082,0.00,3.00,0.00,0.000,6,0.000,0.065,2686,1693,1521,0,0,0,0,0,0
$GC,11420,0.94,318.1,45.7,8.9,951,11435,0.00,3.05,5.57,0.644,4,0.000,0.074,2686,3546,1503,0,0,0,0,0,0
$GC,11518,0.94,318.1,36.3,9.5,968,11524,0.00,3.17,0.00,0.000,6,0.000,0.066,2686,1594,1502,0,0,0,0,0,0
$GC,11863,0.96,339.9,4.6,8.2,1029,11891,0.00,2.05,19.52,0.743,4,0.000,0.089,2686,361,1412,0,0,0,0,0,0
$STATE,11895,end climb,SURFACE_DEPTH_REACHED
$STATE,11895,begin surface coast
$FINISH,0.5,1.001471
$STATE,11913,end surface coast,CONTROL_FINISHED_OK
$STATE,11913,begin surface
$SM_CCo,11992,0.00,0.000,0,0,1407,341.46
$SM_GC,1.14,7.25,0.00,0.00,0.070,0.000,0.000,129,2457,1407,-7.03,-0.08,341.46
$RAFOS_CLK,741
$RAFOS,6,1258548544,12.833333,12.817778,97,61,61,0,0,0,782,173,138,0,0,0
$RAFOS,5,1258548065,12.700000,12.684722,131,65,63,0,0,0,591,170,214,0,0,0
$RAFOS,4,1258547583,12.566667,12.550834,107,68,64,0,0,0,830,158,169,0,0,0
$RAFOS,3,1258547105,12.433333,12.418056,83,59,58,0,0,0,937,221,179,0,0,0
$RAFOS,2,1258546626,12.300000,12.285000,57,56,53,0,0,0,120,992,217,0,0,0
$RAFOS,1,1258546143,12.166667,12.150833,75,61,57,0,0,0,998,148,184,0,0,0
$RAFOS,0,1258545665,12.033333,12.018056,70,64,56,0,0,0,210,222,121,0,0,0
$RAFOS_FIX,6701.347656,-5717.510742,181109,121255,5,99,0.46
$IRIDIUM_FIX,6631.12,-5713.57,120299,080803
$TT8_MAMPS,0.026845
$HUMID,47.99
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,18.00
$XPDR_PINGS,12
$ALTIM_TOP_PING,19.6,19.3
$24V_AH,22.9,37.760
$10V_AH,10.2,19.293
$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,19.225,132.675,427.700,0.000,0.000,31.555,33.424,140.118,3.250,0.000,19.169,1995.820,7372.345,555.554,2017.575,377.215,0.000,1618.763,0.000,1973.531,2520.000,2.623,0.000
$DEVICE_MAMPS,304.499,90.506,1238.705,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,746.560,731.791,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188012
$DATA_FILE_SIZE,41004,1038
$CAP_FILE_SIZE,131486,0
$CFSIZE,260165632,237916160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.4
$CURRENT,0.694,271.6,1
$GPS,181109,152037,6702.820,-5718.533,31,1.9,31,-37.7