version: 66.06
glider: 143
mission: 10
dive: 156
start: 11 18 109 15 26 35
data:
$ID,143
$MISSION,10
$DIVE,156
$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,-31489.139
$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,20
$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
$GPS1,152037,6702.820,-5718.533,31,1.9,31,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-68.9
$GPS2,152616,6702.837,-5718.698,18,2.1,37,-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,133.5,22171,-16.9,-9.167
$D_GRID,778
$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,-146.0,0.0,0.0,0,119,0.00,0.00,-101.90,0.000,2,0.000,0.000,129,2457,3182,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.8,-7.3,20,144,9.77,2.62,-5.47,0.000,4,0.304,0.091,2147,864,3398,0,0,0,0,0,0
$GC,330,-0.73,-146.0,65.8,-29.7,57,336,0.00,2.60,0.00,0.000,6,0.000,0.073,2146,2470,3401,0,0,0,0,0,0
$GC,661,-0.73,-146.0,150.8,-23.0,99,665,0.00,2.45,0.00,0.000,4,0.000,0.087,2147,3915,3401,0,0,0,0,0,0
$GC,783,-0.73,-146.0,180.9,-24.7,109,789,0.00,2.40,0.00,0.000,6,0.000,0.064,2147,2477,3400,0,0,0,0,0,0
$GC,1109,-0.73,-146.0,255.7,-22.9,140,1113,0.00,2.45,0.00,0.000,4,0.000,0.087,2147,3917,3400,0,0,0,0,0,0
$GC,1316,-0.73,-146.0,304.2,-22.5,158,1321,0.00,2.35,0.00,0.000,6,0.000,0.064,2147,2480,3399,0,0,0,0,0,0
$GC,1640,-0.73,-146.0,372.7,-20.1,188,1645,0.00,2.42,0.00,0.000,4,0.000,0.086,2147,3912,3400,0,0,0,0,0,0
$GC,1848,-0.73,-146.0,416.1,-20.5,206,1852,0.00,2.33,0.00,0.000,6,0.000,0.064,2147,2486,3400,0,0,0,0,0,0
$GC,2172,-0.73,-146.0,481.4,-20.4,236,2176,0.00,2.40,0.00,0.000,4,0.000,0.085,2147,3911,3400,0,0,0,0,0,0
$GC,2300,-0.73,-146.0,507.7,-20.1,247,2304,0.00,2.28,0.00,0.000,6,0.000,0.062,2147,2507,3400,0,0,0,0,0,0
$GC,2627,-0.73,-146.0,572.7,-20.3,277,2631,0.00,2.38,0.00,0.000,4,0.000,0.085,2147,3915,3400,0,0,0,0,0,0
$GC,2827,-0.73,-146.0,616.1,-21.3,290,2831,0.00,2.30,0.00,0.000,6,0.000,0.062,2147,2518,3400,0,0,0,0,0,0
$GC,3163,-0.73,-146.0,682.4,-19.4,301,3167,0.00,2.35,0.00,0.000,4,0.000,0.084,2147,3912,3400,0,0,0,0,0,0
$GC,3284,-0.73,-146.0,707.6,-20.5,304,3292,0.00,2.28,0.00,0.000,6,0.000,0.062,2147,2533,3400,0,0,0,0,0,0
$GC,3597,-0.73,-146.0,768.3,-19.3,315,3601,0.00,2.33,0.00,0.000,4,0.000,0.084,2147,3914,3400,0,0,0,0,0,0
$STATE,3644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3644,begin apogee
$GC,3652,-0.16,0.0,778.6,21.7,316,3776,0.73,0.00,120.55,1.247,6,0.241,0.000,2328,1953,2800,0,0,0,0,0,0
$STATE,3777,end apogee,CONTROL_FINISHED_OK
$STATE,3777,begin climb
$GC,3779,0.73,146.0,786.9,0.0,320,3915,1.12,2.97,125.12,1.192,4,0.209,0.077,2610,3541,2203,0,0,0,0,0,0
$GC,3926,0.82,223.5,780.0,5.9,325,4002,0.15,2.85,68.95,1.158,6,0.117,0.064,2651,1952,1889,0,0,0,0,0,0
$GC,4339,0.82,223.5,740.3,10.4,339,4343,0.00,2.72,0.00,0.000,4,0.000,0.078,2652,3537,1880,0,0,0,0,0,0
$GC,4387,0.86,255.3,735.9,7.8,340,4422,0.00,2.67,27.75,1.131,6,0.000,0.063,2652,1939,1759,0,0,0,0,0,0
$GC,4737,0.86,255.3,699.2,11.3,352,4741,0.00,2.70,0.00,0.000,4,0.000,0.077,2652,3538,1754,0,0,0,0,0,0
$GC,4994,0.86,255.3,671.0,11.2,359,5000,0.00,2.60,0.00,0.000,6,0.000,0.065,2652,1959,1753,0,0,0,0,0,0
$GC,5306,0.86,255.3,638.4,10.2,370,5310,0.00,2.62,0.00,0.000,4,0.000,0.076,2652,3542,1753,0,0,0,0,0,0
$GC,5400,0.87,259.8,630.4,9.0,373,5410,0.00,2.58,4.35,0.774,6,0.000,0.064,2652,1965,1741,0,0,0,0,0,0
$GC,5720,0.87,259.8,597.1,10.9,384,5721,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,1966,1741,0,0,0,0,0,0
$GC,6042,0.87,259.8,561.8,11.1,414,6046,0.00,2.60,0.00,0.000,4,0.000,0.077,2652,3538,1741,0,0,0,0,0,0
$GC,6103,0.87,259.8,555.0,9.6,419,6107,0.00,2.55,0.00,0.000,6,0.000,0.065,2652,1974,1741,0,0,0,0,0,0
$GC,6428,0.87,259.8,521.6,11.7,449,6432,0.00,2.60,0.00,0.000,4,0.000,0.078,2652,3543,1740,0,0,0,0,0,0
$GC,6523,0.87,259.8,510.6,11.1,457,6527,0.00,2.55,0.00,0.000,6,0.000,0.065,2652,1975,1740,0,0,0,0,0,0
$GC,6847,0.87,259.8,472.7,11.5,487,6851,0.00,2.58,0.00,0.000,4,0.000,0.077,2652,3538,1740,0,0,0,0,0,0
$GC,7099,0.87,259.8,445.1,11.7,509,7103,0.00,2.53,0.00,0.000,6,0.000,0.067,2652,1987,1740,0,0,0,0,0,0
$GC,7423,0.87,259.8,407.9,12.4,539,7427,0.00,2.58,0.00,0.000,4,0.000,0.079,2652,3545,1740,0,0,0,0,0,0
$GC,7510,0.87,259.8,398.0,10.0,546,7517,0.00,2.53,0.00,0.000,6,0.000,0.066,2652,2010,1740,0,0,0,0,0,0
$GC,7836,0.87,259.8,368.0,9.4,577,7841,0.00,2.65,0.00,0.000,4,0.000,0.087,2652,356,1740,0,0,0,0,0,0
$GC,7931,0.87,259.8,359.4,9.2,585,7936,0.00,2.50,0.00,0.000,6,0.000,0.062,2653,1975,1740,0,0,0,0,0,0
$GC,8256,0.88,268.8,328.0,8.8,615,8271,0.00,2.62,9.35,0.894,4,0.000,0.087,2652,363,1704,0,0,0,0,0,0
$GC,8366,0.88,268.8,317.5,9.5,624,8374,0.00,2.62,0.00,0.000,6,0.000,0.062,2652,2045,1703,0,0,0,0,0,0
$GC,8691,0.88,268.8,288.4,9.8,655,8695,0.00,2.45,0.00,0.000,4,0.000,0.081,2652,3534,1702,0,0,0,0,0,0
$GC,8741,0.88,271.5,283.8,9.1,659,8752,0.00,2.40,3.80,0.630,6,0.000,0.067,2652,2059,1693,0,0,0,0,0,0
$GC,9070,0.88,271.5,252.1,10.6,690,9071,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2059,1692,0,0,0,0,0,0
$GC,9390,0.88,271.5,218.7,11.5,720,9394,0.00,2.45,0.00,0.000,4,0.000,0.081,2652,3534,1692,0,0,0,0,0,0
$GC,9646,0.88,271.5,190.8,10.4,742,9652,0.00,2.40,0.00,0.000,6,0.000,0.065,2653,2081,1692,0,0,0,0,0,0
$GC,9973,0.89,283.3,161.0,8.7,773,9989,0.00,2.45,11.75,0.808,4,0.000,0.084,2652,3541,1643,0,0,0,0,0,0
$GC,10097,0.91,292.7,150.3,8.8,783,10113,0.00,2.47,9.32,0.772,6,0.000,0.065,2652,2024,1605,0,0,0,0,0,0
$GC,10431,0.91,292.7,119.1,10.8,815,10435,0.00,2.53,0.00,0.000,4,0.000,0.078,2652,3542,1603,0,0,0,0,0,0
$GC,10496,0.91,292.7,112.1,9.8,820,10502,0.00,2.58,0.00,0.000,6,0.000,0.065,2652,1966,1603,0,0,0,0,0,0
$GC,10830,0.91,292.7,81.6,9.2,869,10835,0.00,2.60,0.00,0.000,4,0.000,0.079,2652,3534,1601,0,0,0,0,0,0
$GC,10880,0.92,303.7,77.2,8.7,878,10897,0.10,2.45,10.25,0.739,6,0.156,0.064,2679,2028,1560,0,0,0,0,0,0
$GC,11233,0.92,303.7,45.0,9.4,941,11238,0.00,2.53,0.00,0.000,4,0.000,0.080,2679,3541,1559,0,0,0,0,0,0
$GC,11379,0.92,303.7,30.8,9.6,967,11385,0.00,2.70,0.00,0.000,6,0.000,0.065,2680,1888,1559,0,0,0,0,0,0
$GC,11721,0.99,361.4,2.5,6.7,1028,11734,0.00,0.00,11.57,0.727,2,0.000,0.000,2679,1889,1507,0,0,0,0,0,0
$STATE,11735,end climb,SURFACE_DEPTH_REACHED
$STATE,11735,begin surface coast
$FINISH,0.4,1.027399
$STATE,11768,end surface coast,CONTROL_FINISHED_OK
$STATE,11768,begin surface
$SM_CCo,11784,5.70,0.635,0,0,1475,325.02
$SM_GC,1.70,0.00,0.00,5.70,0.000,0.000,0.635,126,2463,1475,-7.08,0.08,325.02
$RAFOS_CLK,726
$RAFOS,6,1258562942,16.833334,16.817223,130,59,57,0,0,0,776,187,110,0,0,0
$RAFOS,5,1258562483,16.700001,16.689722,99,59,58,0,0,0,481,214,204,0,0,0
$RAFOS,4,1258561985,16.566668,16.551390,99,57,57,0,0,0,806,210,185,0,0,0
$RAFOS,3,1258561529,16.433332,16.424723,68,61,59,0,0,0,210,166,192,0,0,0
$RAFOS,2,1258561033,16.299999,16.286945,96,65,59,0,0,0,955,124,202,0,0,0
$RAFOS,1,1258560543,16.166666,16.150833,68,67,62,0,0,0,209,988,171,0,0,0
$RAFOS,0,1258560069,16.033333,16.019167,67,55,51,0,0,0,191,166,203,0,0,0
$RAFOS_FIX,6652.386230,-5727.925293,181109,161620,4,106,4.81
$IRIDIUM_FIX,6631.12,-5721.18,120299,121213
$TT8_MAMPS,0.027612
$HUMID,48.54
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,17.80
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.9,19.9
$24V_AH,22.9,37.903
$10V_AH,10.2,19.360
$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,19.100,122.725,402.775,5.700,0.000,30.700,35.060,133.211,2.750,0.000,39.876,2021.870,7194.888,520.833,2029.131,374.859,0.000,1570.807,0.000,1970.407,2520.000,2.626,0.000
$DEVICE_MAMPS,303.732,90.506,1247.142,635.076,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,745.350,734.483,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188012
$DATA_FILE_SIZE,44204,1036
$CAP_FILE_SIZE,128762,0
$CFSIZE,260165632,237850624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.3
$CURRENT,0.545,246.1,1
$GPS,181109,184437,6702.833,-5718.497,29,1.7,29,-37.7