version: 66.06
glider: 143
mission: 10
dive: 157
start: 11 18 109 18 50 21
data:
$ID,143
$MISSION,10
$DIVE,157
$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,-31505.295
$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,20
$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
$GPS1,184437,6702.833,-5718.497,29,1.7,29,-37.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-67.3
$GPS2,185002,6702.825,-5718.497,14,1.7,14,-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,81.9,22025,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.73,-146.0,0.0,0.0,0,115,0.00,0.00,-96.47,0.000,2,0.000,0.000,125,2463,3144,0,0,0,0,0,0
$GC,118,-0.73,-146.0,3.3,-5.5,19,141,9.82,2.62,-6.72,0.000,4,0.303,0.090,2150,868,3397,0,0,0,0,0,0
$GC,292,-0.73,-146.0,57.5,-31.7,50,298,0.00,2.58,0.00,0.000,6,0.000,0.073,2150,2457,3400,0,0,0,0,0,0
$GC,625,-0.73,-146.0,148.6,-25.2,94,629,0.00,2.50,0.00,0.000,4,0.000,0.087,2151,3923,3399,0,0,0,0,0,0
$GC,881,-0.73,-146.0,211.6,-23.2,116,889,0.00,2.40,0.00,0.000,6,0.000,0.064,2151,2467,3399,0,0,0,0,0,0
$GC,1206,-0.73,-146.0,281.1,-20.4,147,1210,0.00,2.47,0.00,0.000,4,0.000,0.087,2151,3917,3399,0,0,0,0,0,0
$GC,1406,-0.73,-146.0,323.1,-19.6,164,1413,0.00,2.40,0.00,0.000,6,0.000,0.064,2151,2479,3398,0,0,0,0,0,0
$GC,1731,-0.73,-146.0,387.5,-20.2,195,1736,0.00,2.45,0.00,0.000,4,0.000,0.087,2151,3919,3399,0,0,0,0,0,0
$GC,1884,-0.73,-146.0,419.8,-21.1,208,1888,0.00,2.35,0.00,0.000,6,0.000,0.064,2151,2482,3398,0,0,0,0,0,0
$GC,2208,-0.73,-146.0,485.1,-19.7,238,2212,0.00,2.42,0.00,0.000,4,0.000,0.086,2151,3914,3399,0,0,0,0,0,0
$GC,2314,-0.73,-146.0,507.1,-20.6,247,2318,0.00,2.33,0.00,0.000,6,0.000,0.063,2151,2489,3399,0,0,0,0,0,0
$GC,2638,-0.73,-146.0,570.7,-19.6,277,2642,0.00,2.42,0.00,0.000,4,0.000,0.086,2151,3918,3399,0,0,0,0,0,0
$GC,2733,-0.73,-146.0,590.2,-20.1,285,2737,0.00,2.33,0.00,0.000,6,0.000,0.062,2151,2493,3399,0,0,0,0,0,0
$GC,3067,-0.73,-146.0,654.4,-18.9,299,3071,0.00,2.40,0.00,0.000,4,0.000,0.085,2151,3914,3399,0,0,0,0,0,0
$GC,3162,-0.73,-146.0,673.7,-20.6,302,3166,0.00,2.33,0.00,0.000,6,0.000,0.062,2150,2489,3399,0,0,0,0,0,0
$GC,3496,-0.73,-146.0,740.6,-20.4,313,3500,0.00,2.42,0.00,0.000,4,0.000,0.084,2151,3919,3399,0,0,0,0,0,0
$GC,3630,-0.73,-146.0,767.3,-16.8,317,3634,0.00,2.33,0.00,0.000,6,0.000,0.064,2151,2501,3399,0,0,0,0,0,0
$STATE,3773,end dive,NO_VERTICAL_VELOCITY
$STATE,3773,begin apogee
$GC,3778,-0.16,0.0,767.4,0.0,322,3902,0.62,0.00,120.07,1.233,6,0.163,0.000,2335,1952,2800,0,0,0,0,0,0
$STATE,3902,end apogee,CONTROL_FINISHED_OK
$STATE,3903,begin climb
$GC,3905,0.73,146.0,767.3,0.0,326,4038,1.10,2.78,124.93,1.177,4,0.212,0.084,2608,371,2203,0,0,0,0,0,0
$GC,4168,0.79,202.3,751.6,6.8,334,4225,0.12,2.62,48.95,1.144,6,0.199,0.061,2636,1961,1974,0,0,0,0,0,0
$GC,4530,0.85,244.8,723.8,7.4,346,4574,0.00,2.85,37.28,1.133,4,0.000,0.077,2636,3544,1801,0,0,0,0,0,0
$GC,4827,0.86,259.6,697.3,8.5,355,4846,0.00,2.90,13.85,1.062,6,0.000,0.065,2636,1823,1741,0,0,0,0,0,0
$GC,5164,0.86,259.6,662.8,10.5,366,5169,0.00,2.38,0.00,0.000,4,0.000,0.087,2636,359,1738,0,0,0,0,0,0
$GC,5214,0.88,271.7,658.1,8.7,367,5231,0.12,2.42,11.50,1.039,6,0.173,0.061,2670,1914,1692,0,0,0,0,0,0
$GC,5561,0.88,271.7,624.7,10.4,379,5566,0.00,2.70,0.00,0.000,4,0.000,0.077,2670,3534,1689,0,0,0,0,0,0
$GC,5791,0.88,271.7,600.0,10.6,386,5795,0.00,2.58,0.00,0.000,6,0.000,0.065,2670,1970,1689,0,0,0,0,0,0
$GC,6115,0.88,271.7,563.8,11.3,415,6120,0.00,2.62,0.00,0.000,4,0.000,0.078,2670,3540,1689,0,0,0,0,0,0
$GC,6277,0.88,271.7,547.0,10.3,429,6281,0.00,2.55,0.00,0.000,6,0.000,0.065,2670,1990,1689,0,0,0,0,0,0
$GC,6602,0.88,271.7,511.7,10.8,459,6607,0.00,2.58,0.00,0.000,4,0.000,0.078,2670,3533,1688,0,0,0,0,0,0
$GC,6667,0.88,271.7,504.8,10.4,464,6673,0.00,2.53,0.00,0.000,6,0.000,0.065,2670,1989,1688,0,0,0,0,0,0
$GC,6993,0.88,271.7,471.7,10.2,495,6998,0.00,2.58,0.00,0.000,4,0.000,0.078,2670,3534,1688,0,0,0,0,0,0
$GC,7128,0.88,271.7,458.4,10.1,506,7133,0.00,2.53,0.00,0.000,6,0.000,0.065,2670,1995,1688,0,0,0,0,0,0
$GC,7452,0.88,271.7,424.1,11.4,537,7456,0.00,2.58,0.00,0.000,4,0.000,0.078,2670,3535,1688,0,0,0,0,0,0
$GC,7517,0.88,271.7,416.5,11.1,542,7523,0.00,2.50,0.00,0.000,6,0.000,0.064,2670,2006,1688,0,0,0,0,0,0
$GC,7843,0.88,271.7,379.4,12.2,573,7844,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2007,1688,0,0,0,0,0,0
$GC,8161,0.88,271.7,341.1,12.1,603,8166,0.00,2.55,0.00,0.000,4,0.000,0.077,2670,3539,1688,0,0,0,0,0,0
$GC,8335,0.88,271.7,320.9,11.8,618,8340,0.00,2.50,0.00,0.000,6,0.000,0.064,2670,2004,1688,0,0,0,0,0,0
$GC,8660,0.88,271.7,282.4,11.9,648,8665,0.00,2.53,0.00,0.000,4,0.000,0.077,2670,3535,1688,0,0,0,0,0,0
$GC,8715,0.88,271.7,276.2,10.8,652,8722,0.00,2.50,0.00,0.000,6,0.000,0.063,2670,2019,1688,0,0,0,0,0,0
$GC,9041,0.91,294.5,246.8,8.2,683,9067,0.00,2.60,19.92,0.867,4,0.000,0.081,2670,3528,1597,0,0,0,0,0,0
$GC,9179,0.92,306.1,234.3,8.7,695,9196,0.00,2.70,10.85,0.821,6,0.000,0.064,2670,1882,1552,0,0,0,0,0,0
$GC,9514,0.92,306.1,201.3,9.4,727,9518,0.00,2.78,0.00,0.000,4,0.000,0.077,2669,3545,1549,0,0,0,0,0,0
$GC,9568,0.92,306.1,195.9,10.6,731,9574,0.00,2.62,0.00,0.000,6,0.000,0.064,2670,1939,1549,0,0,0,0,0,0
$GC,9892,0.92,306.1,164.1,9.7,762,9896,0.00,2.53,0.00,0.000,4,0.000,0.084,2670,355,1548,0,0,0,0,0,0
$GC,9935,0.92,306.1,159.5,10.7,765,9942,0.00,2.60,0.00,0.000,6,0.000,0.057,2670,2051,1548,0,0,0,0,0,0
$GC,10260,0.92,306.1,127.9,9.2,796,10264,0.00,2.70,0.00,0.000,4,0.000,0.082,2670,364,1548,0,0,0,0,0,0
$GC,10287,0.92,306.9,125.4,9.1,798,10292,0.00,2.80,0.00,0.000,6,0.000,0.061,2671,2180,1548,0,0,0,0,0,0
$GC,10614,0.98,356.9,96.5,7.1,832,10664,0.12,2.33,42.35,0.785,4,0.189,0.077,2703,3543,1344,0,0,0,0,0,0
$GC,10900,0.98,356.9,65.9,10.5,883,10905,0.00,2.08,0.00,0.000,6,0.000,0.061,2703,2290,1339,0,0,0,0,0,0
$GC,11241,0.98,356.9,30.2,9.2,944,11247,0.00,2.10,0.00,0.000,4,0.000,0.076,2704,3534,1337,0,0,0,0,0,0
$GC,11309,0.98,356.9,23.5,9.8,956,11314,0.00,2.17,0.00,0.000,6,0.000,0.061,2704,2204,1336,0,0,0,0,0,0
$STATE,11514,end climb,SURFACE_DEPTH_REACHED
$STATE,11514,begin surface coast
$FINISH,0.5,1.022351
$STATE,11533,end surface coast,CONTROL_FINISHED_OK
$STATE,11533,begin surface
$SM_CCo,11608,0.00,0.000,0,0,1332,360.10
$SM_GC,1.11,7.35,0.00,0.00,0.076,0.000,0.000,125,2464,1332,-7.04,0.11,360.10
$RAFOS_CLK,711
$RAFOS,6,1258577341,20.833334,20.816944,139,64,60,0,0,0,795,208,165,0,0,0
$RAFOS,5,1258576865,20.700001,20.684723,137,66,65,0,0,0,589,215,198,0,0,0
$RAFOS,4,1258576384,20.566668,20.551111,107,65,64,0,0,0,820,199,124,0,0,0
$RAFOS,3,1258575903,20.433332,20.417500,75,60,57,0,0,0,952,208,157,0,0,0
$RAFOS,2,1258575423,20.299999,20.284166,75,60,56,0,0,0,1019,181,218,0,0,0
$RAFOS,1,1258574945,20.166666,20.151388,65,60,53,0,0,0,170,203,180,0,0,0
$RAFOS,0,1258574473,20.033333,20.020277,65,61,55,0,0,0,187,208,199,0,0,0
$RAFOS_FIX,6700.313477,-5723.862305,181109,202046,5,107,0.96
$IRIDIUM_FIX,6631.12,-5716.55,120299,151514
$TT8_MAMPS,0.026845
$HUMID,47.55
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,18.00
$XPDR_PINGS,9
$ALTIM_TOP_PING,19.7,19.5
$24V_AH,22.9,38.052
$10V_AH,10.2,19.425
$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,19.275,121.800,429.700,0.000,0.000,28.201,31.534,152.228,2.500,0.000,15.528,1940.102,7122.265,530.581,1965.407,385.737,0.000,1563.758,0.000,1931.491,2520.000,2.625,0.000
$DEVICE_MAMPS,302.965,89.739,1232.569,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,716.658,704.225,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188016
$DATA_FILE_SIZE,41043,996
$CAP_FILE_SIZE,126687,0
$CFSIZE,260165632,237785088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1470.0
$CURRENT,0.660,195.5,1
$GPS,181109,220531,6702.483,-5715.228,41,2.0,41,-37.6