version: 66.06
glider: 143
mission: 10
dive: 159
start: 11 19 109 1 36 46
data:
$ID,143
$MISSION,10
$DIVE,159
$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,-31561.467
$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,17
$R_STBD_OVSHOOT,21
$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
$GPS1,013057,6703.190,-5713.100,32,2.1,51,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-67.0
$GPS2,013628,6703.204,-5713.166,14,2.1,33,-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,138.2,18177,-16.9,-9.167
$D_GRID,734
$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,-146.0,0.0,0.0,0,126,0.00,0.00,-108.20,0.000,2,0.000,0.000,126,2466,3149,0,0,0,0,0,0
$GC,130,-0.73,-146.0,3.2,-5.1,21,152,9.62,2.62,-6.50,0.000,4,0.298,0.090,2151,861,3397,0,0,0,0,0,0
$GC,355,-0.73,-146.0,72.1,-29.6,61,360,0.00,2.58,0.00,0.000,6,0.000,0.074,2151,2457,3400,0,0,0,0,0,0
$GC,690,-0.73,-146.0,160.1,-25.7,101,694,0.00,2.50,0.00,0.000,4,0.000,0.087,2151,3919,3398,0,0,0,0,0,0
$GC,874,-0.73,-146.0,206.8,-24.8,117,878,0.00,2.40,0.00,0.000,6,0.000,0.065,2151,2465,3399,0,0,0,0,0,0
$GC,1198,-0.73,-146.0,283.5,-22.6,147,1202,0.00,2.47,0.00,0.000,4,0.000,0.087,2152,3912,3398,0,0,0,0,0,0
$GC,1398,-0.73,-146.0,330.2,-24.1,164,1405,0.00,2.40,0.00,0.000,6,0.000,0.064,2152,2477,3398,0,0,0,0,0,0
$GC,1723,-0.73,-146.0,401.6,-22.1,195,1727,0.00,2.45,0.00,0.000,4,0.000,0.086,2151,3915,3398,0,0,0,0,0,0
$GC,1908,-0.73,-146.0,442.9,-21.7,211,1912,0.00,2.33,0.00,0.000,6,0.000,0.064,2152,2494,3398,0,0,0,0,0,0
$GC,2233,-0.73,-146.0,509.4,-20.1,241,2237,0.00,2.42,0.00,0.000,4,0.000,0.085,2151,3919,3399,0,0,0,0,0,0
$GC,2450,-0.73,-146.0,556.6,-22.1,260,2457,0.00,2.35,0.00,0.000,6,0.000,0.062,2151,2504,3399,0,0,0,0,0,0
$GC,2793,-0.73,-146.0,626.6,-20.2,285,2797,0.00,2.40,0.00,0.000,4,0.000,0.085,2151,3922,3399,0,0,0,0,0,0
$GC,3038,-0.73,-146.0,678.3,-20.7,292,3043,0.00,2.30,0.00,0.000,6,0.000,0.061,2151,2527,3399,0,0,0,0,0,0
$STATE,3329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3329,begin apogee
$GC,3335,-0.16,0.0,736.1,19.8,302,3459,0.73,0.00,119.88,1.216,6,0.242,0.000,2328,1948,2800,0,0,0,0,0,0
$STATE,3460,end apogee,CONTROL_FINISHED_OK
$STATE,3460,begin climb
$GC,3462,0.73,146.0,749.2,0.0,306,3596,1.12,2.85,124.05,1.168,4,0.214,0.084,2608,367,2203,0,0,0,0,0,0
$GC,3645,0.78,189.8,739.7,7.3,311,3691,0.00,2.67,38.75,1.121,6,0.000,0.060,2608,1959,2026,0,0,0,0,0,0
$GC,4021,0.83,229.7,711.0,7.5,324,4062,0.15,2.78,34.38,1.127,4,0.157,0.078,2650,3535,1862,0,0,0,0,0,0
$GC,4107,0.84,239.4,703.7,8.8,326,4122,0.00,2.53,9.65,0.992,6,0.000,0.063,2650,2056,1824,0,0,0,0,0,0
$GC,4448,0.85,248.8,674.1,8.8,338,4463,0.00,2.80,9.40,1.002,4,0.000,0.086,2650,364,1784,0,0,0,0,0,0
$GC,4546,0.85,248.8,664.3,9.5,341,4550,0.00,2.55,0.00,0.000,6,0.000,0.058,2650,1960,1782,0,0,0,0,0,0
$GC,4881,0.85,248.8,634.5,9.3,352,4886,0.00,2.62,0.00,0.000,4,0.000,0.077,2650,3536,1782,0,0,0,0,0,0
$GC,5077,0.85,248.8,614.2,10.6,358,5082,0.00,2.75,0.00,0.000,6,0.000,0.065,2650,1864,1781,0,0,0,0,0,0
$GC,5398,0.85,248.8,581.9,10.3,379,5403,0.00,2.78,0.00,0.000,4,0.000,0.077,2650,3536,1780,0,0,0,0,0,0
$GC,5656,0.86,258.7,557.9,8.7,401,5672,0.00,2.67,9.40,0.983,6,0.000,0.065,2650,1894,1744,0,0,0,0,0,0
$GC,5990,0.86,258.7,525.0,10.2,433,5994,0.00,2.47,0.00,0.000,4,0.000,0.087,2650,356,1743,0,0,0,0,0,0
$GC,6013,0.86,258.7,522.6,10.9,434,6019,0.00,2.53,0.00,0.000,6,0.000,0.060,2650,1985,1742,0,0,0,0,0,0
$GC,6337,0.86,258.7,489.8,10.4,465,6342,0.00,2.62,0.00,0.000,4,0.000,0.085,2650,363,1742,0,0,0,0,0,0
$GC,6444,0.86,258.7,478.9,10.1,474,6449,0.00,2.55,0.00,0.000,6,0.000,0.061,2650,2012,1742,0,0,0,0,0,0
$GC,6769,0.86,258.7,449.2,9.4,504,6773,0.00,2.65,0.00,0.000,4,0.000,0.086,2650,366,1742,0,0,0,0,0,0
$GC,6943,0.90,284.8,434.2,8.1,519,6975,0.00,2.55,23.55,0.996,6,0.000,0.060,2650,2020,1638,0,0,0,0,0,0
$GC,7293,0.94,322.1,407.1,7.6,552,7337,0.15,2.62,32.58,0.986,4,0.163,0.078,2692,3529,1484,0,0,0,0,0,0
$GC,7488,0.94,322.1,390.8,9.4,569,7495,0.00,2.80,0.00,0.000,6,0.000,0.064,2693,1843,1481,0,0,0,0,0,0
$GC,7813,0.94,322.1,356.0,11.4,600,7818,0.00,2.83,0.00,0.000,4,0.000,0.075,2693,3538,1479,0,0,0,0,0,0
$GC,7874,0.94,322.1,349.0,10.8,605,7879,0.00,2.75,0.00,0.000,6,0.000,0.065,2693,1865,1479,0,0,0,0,0,0
$GC,8199,0.94,322.1,308.7,12.9,635,8204,0.00,2.78,0.00,0.000,4,0.000,0.076,2693,3538,1477,0,0,0,0,0,0
$GC,8329,0.94,322.1,292.2,13.5,646,8333,0.00,2.72,0.00,0.000,6,0.000,0.066,2693,1873,1477,0,0,0,0,0,0
$GC,8654,0.94,322.1,250.0,12.7,676,8659,0.00,2.72,0.00,0.000,4,0.000,0.076,2693,3532,1477,0,0,0,0,0,0
$GC,8788,0.94,322.1,234.2,11.8,688,8793,0.00,2.67,0.00,0.000,6,0.000,0.065,2693,1888,1477,0,0,0,0,0,0
$GC,9113,0.94,322.1,196.5,11.4,718,9117,0.00,2.72,0.00,0.000,4,0.000,0.076,2692,3546,1477,0,0,0,0,0,0
$GC,9242,0.94,322.1,182.1,11.4,729,9246,0.00,2.67,0.00,0.000,6,0.000,0.064,2693,1896,1477,0,0,0,0,0,0
$GC,9566,0.94,322.1,141.0,12.8,759,9570,0.00,2.70,0.00,0.000,4,0.000,0.076,2693,3538,1477,0,0,0,0,0,0
$GC,9654,0.94,322.1,129.6,12.0,766,9660,0.00,2.62,0.00,0.000,6,0.000,0.064,2693,1917,1477,0,0,0,0,0,0
$GC,9981,0.96,334.9,96.6,8.6,800,9997,0.00,2.70,10.55,0.748,4,0.000,0.075,2693,3546,1434,0,0,0,0,0,0
$GC,10139,0.96,334.9,80.7,9.7,828,10144,0.00,2.42,0.00,0.000,6,0.000,0.062,2693,2053,1433,0,0,0,0,0,0
$GC,10484,0.97,346.4,52.3,8.7,889,10499,0.00,0.00,10.95,0.731,6,0.000,0.000,2693,2054,1386,0,0,0,0,0,0
$GC,10838,0.97,346.4,21.1,9.3,952,10844,0.00,2.70,0.00,0.000,4,0.000,0.084,2692,364,1384,0,0,0,0,0,0
$GC,10861,0.97,347.2,18.9,9.1,956,10866,0.00,2.53,0.00,0.000,6,0.000,0.058,2693,2006,1384,0,0,0,0,0,0
$STATE,11058,end climb,SURFACE_DEPTH_REACHED
$STATE,11058,begin surface coast
$FINISH,0.4,1.001814
$STATE,11085,end surface coast,CONTROL_FINISHED_OK
$STATE,11085,begin surface
$SM_CCo,11162,0.00,0.000,0,0,1381,347.84
$SM_GC,1.18,7.15,0.00,0.00,0.064,0.000,0.000,121,2456,1381,-7.05,-0.11,347.84
$RAFOS_CLK,677
$RAFOS,4,1258605182,4.566667,4.550556,70,66,61,0,0,0,133,218,837,0,0,0
$RAFOS,3,1258604705,4.433333,4.418056,80,69,65,0,0,0,957,213,174,0,0,0
$RAFOS,2,1258604225,4.300000,4.284722,63,58,55,0,0,0,206,223,188,0,0,0
$RAFOS,1,1258603744,4.166667,4.151111,61,61,59,0,0,0,169,223,192,0,0,0
$RAFOS,0,1258603264,4.033333,4.017778,62,61,60,0,0,0,188,222,211,0,0,0
$RAFOS_FIX,6702.758789,-5717.528320,191109,000040,3,92,0.20
$IRIDIUM_FIX,6636.54,-5715.22,120299,222207
$TT8_MAMPS,0.029146
$HUMID,47.79
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,17.90
$XPDR_PINGS,9
$ALTIM_TOP_PING,19.9,19.0
$24V_AH,22.9,38.349
$10V_AH,10.2,19.558
$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,18.925,116.225,423.125,0.000,0.000,29.649,30.724,134.691,2.500,0.000,36.127,1975.202,6644.034,530.263,1975.717,361.173,0.000,1554.817,0.000,1916.707,2160.000,2.626,0.000
$DEVICE_MAMPS,297.596,89.739,1216.462,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,715.207,701.476,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188004
$DATA_FILE_SIZE,41057,996
$CAP_FILE_SIZE,122253,0
$CFSIZE,260165632,237649920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.8
$CURRENT,0.617,279.3,1
$GPS,191109,044426,6703.675,-5713.732,34,3.5,53,-37.7