version: 66.06
glider: 143
mission: 10
dive: 165
start: 11 20 109 0 45 12
data:
$ID,143
$MISSION,10
$DIVE,165
$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,578.41736
$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,-32256
$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,2700
$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,18
$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
$GPS1,001037,6703.430,-5704.735,31,1.3,31,-37.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-61.7
$GPS2,004454,6703.397,-5704.526,530,99.0,549,-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,121.3,11957,-16.9,-9.167
$D_GRID,673
$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,16,-0.73,-146.0,0.0,0.0,0,196,0.00,0.00,-176.98,0.000,6,0.000,0.000,125,2465,3397,0,0,0,0,0,0
$GC,199,-0.73,-146.0,3.2,-5.1,34,215,11.15,2.60,0.00,0.000,4,0.302,0.079,2455,867,3400,0,0,0,0,0,0
$GC,428,-0.73,-146.0,44.0,-15.5,75,433,0.00,2.60,0.00,0.000,6,0.000,0.076,2455,2463,3402,0,0,0,0,0,0
$GC,772,-0.73,-146.0,90.9,-12.1,136,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2463,3403,0,0,0,0,0,0
$GC,1106,-0.73,-146.0,125.1,-8.9,174,1110,0.00,2.50,0.00,0.000,4,0.000,0.094,2455,3918,3402,0,0,0,0,0,0
$GC,1161,-0.73,-146.0,130.0,-8.5,178,1167,0.00,2.40,0.00,0.000,6,0.000,0.066,2455,2461,3402,0,0,0,0,0,0
$GC,1486,-0.73,-146.0,157.3,-8.3,209,1490,0.00,2.50,0.00,0.000,4,0.000,0.091,2455,3912,3402,0,0,0,0,0,0
$GC,1563,-0.73,-146.0,163.7,-7.9,215,1569,0.00,2.38,0.00,0.000,6,0.000,0.065,2455,2466,3402,0,0,0,0,0,0
$GC,1888,-0.73,-146.0,189.2,-8.4,246,1892,0.00,2.47,0.00,0.000,4,0.000,0.091,2455,3913,3402,0,0,0,0,0,0
$GC,1943,-0.73,-146.0,194.0,-8.4,250,1949,0.00,2.35,0.00,0.000,6,0.000,0.064,2455,2476,3402,0,0,0,0,0,0
$GC,2267,-0.73,-146.0,222.1,-9.0,281,2272,0.00,2.47,0.00,0.000,4,0.000,0.090,2455,3919,3403,0,0,0,0,0,0
$GC,2322,-0.73,-146.0,227.3,-9.3,285,2329,0.00,2.35,0.00,0.000,6,0.000,0.064,2455,2480,3403,0,0,0,0,0,0
$GC,2648,-0.73,-146.0,256.9,-9.1,316,2649,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2481,3404,0,0,0,0,0,0
$GC,2968,-0.73,-146.0,285.1,-8.8,346,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2480,3404,0,0,0,0,0,0
$GC,3286,-0.73,-146.0,312.4,-7.9,376,3290,0.00,2.45,0.00,0.000,4,0.000,0.088,2455,3912,3405,0,0,0,0,0,0
$GC,3329,-0.73,-146.0,316.2,-8.3,379,3335,0.00,2.33,0.00,0.000,6,0.000,0.061,2455,2480,3405,0,0,0,0,0,0
$GC,3656,-0.73,-146.0,342.9,-8.3,410,3660,0.00,2.45,0.00,0.000,4,0.000,0.087,2455,3919,3405,0,0,0,0,0,0
$GC,3695,-0.73,-146.0,346.5,-8.7,413,3699,0.00,2.35,0.00,0.000,6,0.000,0.062,2455,2477,3406,0,0,0,0,0,0
$GC,4019,-0.73,-146.0,375.0,-8.6,443,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2478,3406,0,0,0,0,0,0
$GC,4339,-0.73,-146.0,401.3,-8.0,473,4343,0.00,2.45,0.00,0.000,4,0.000,0.087,2455,3917,3406,0,0,0,0,0,0
$GC,4382,-0.73,-146.0,405.2,-8.9,476,4389,0.00,2.33,0.00,0.000,6,0.000,0.061,2455,2487,3406,0,0,0,0,0,0
$GC,4707,-0.73,-146.0,429.0,-6.9,507,4708,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2487,3407,0,0,0,0,0,0
$GC,5027,-0.73,-146.0,452.6,-7.3,537,5028,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2488,3407,0,0,0,0,0,0
$GC,5346,-0.73,-146.0,477.4,-8.1,567,5350,0.00,2.42,0.00,0.000,4,0.000,0.087,2455,3913,3408,0,0,0,0,0,0
$GC,5401,-0.73,-146.0,482.2,-8.0,571,5407,0.00,2.30,0.00,0.000,6,0.000,0.061,2455,2492,3408,0,0,0,0,0,0
$GC,5726,-0.73,-146.0,507.8,-8.2,602,5727,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2493,3407,0,0,0,0,0,0
$GC,6045,-0.73,-146.0,534.7,-8.7,632,6046,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2493,3408,0,0,0,0,0,0
$GC,6365,-0.73,-146.0,561.2,-7.9,662,6366,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2493,3408,0,0,0,0,0,0
$GC,6683,-0.73,-146.0,586.2,-7.7,692,6684,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2493,3408,0,0,0,0,0,0
$GC,6998,-0.73,-146.0,609.5,-7.6,714,6999,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2493,3408,0,0,0,0,0,0
$GC,7301,-0.73,-146.0,630.3,-6.3,724,7306,0.00,2.42,0.00,0.000,4,0.000,0.087,2455,3916,3408,0,0,0,0,0,0
$STATE,7448,end dive,NO_VERTICAL_VELOCITY
$STATE,7448,begin apogee
$GC,7455,-0.16,0.0,630.3,0.0,728,7579,0.57,0.00,120.30,1.151,6,0.130,0.000,2640,1948,2800,0,0,0,0,0,0
$STATE,7579,end apogee,CONTROL_FINISHED_OK
$STATE,7580,begin climb
$GC,7581,0.73,146.0,630.2,0.0,732,7709,0.95,0.00,123.03,1.101,6,0.132,0.000,2925,1948,2204,0,0,0,0,0,0
$GC,8014,0.73,146.0,584.8,11.3,754,8015,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,1948,2196,0,0,0,0,0,0
$GC,8333,0.73,146.0,549.2,11.2,784,8338,0.00,2.72,0.00,0.000,4,0.000,0.080,2925,3547,2194,0,0,0,0,0,0
$GC,8361,0.73,146.0,545.8,12.4,786,8366,0.00,2.67,0.00,0.000,6,0.000,0.067,2937,1947,2193,0,0,0,0,0,0
$GC,8685,0.73,146.0,507.6,11.8,816,8686,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1948,2193,0,0,0,0,0,0
$GC,9006,0.73,146.0,470.6,12.0,846,9007,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1948,2192,0,0,0,0,0,0
$GC,9323,0.73,146.0,433.1,11.4,876,9325,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1948,2192,0,0,0,0,0,0
$GC,9643,0.73,146.0,398.7,10.4,906,9644,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1948,2192,0,0,0,0,0,0
$GC,9961,0.73,146.0,365.5,10.6,936,9966,0.00,2.67,0.00,0.000,4,0.000,0.080,2937,3547,2192,0,0,0,0,0,0
$GC,9999,0.73,146.0,361.1,11.2,939,10004,0.00,2.62,0.00,0.000,6,0.000,0.069,2950,1952,2190,0,0,0,0,0,0
$GC,10323,0.73,146.0,324.2,11.5,969,10325,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1953,2190,0,0,0,0,0,0
$GC,10643,0.73,146.0,289.1,11.0,999,10645,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,1953,2190,0,0,0,0,0,0
$GC,10962,0.73,146.0,253.3,11.2,1029,10966,0.00,2.65,0.00,0.000,4,0.000,0.081,2950,3542,2190,0,0,0,0,0,0
$GC,11016,0.73,146.0,246.6,12.1,1033,11023,0.00,2.60,0.00,0.000,6,0.000,0.068,2962,1958,2190,0,0,0,0,0,0
$GC,11341,0.73,146.0,206.6,12.4,1064,11342,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,1959,2190,0,0,0,0,0,0
$GC,11662,0.73,146.0,168.4,11.7,1094,11666,0.00,2.58,0.00,0.000,4,0.000,0.087,2973,356,2190,0,0,0,0,0,0
$GC,11693,0.73,146.0,164.0,12.7,1096,11700,0.15,2.53,0.00,0.000,6,0.196,0.064,2939,1981,2190,0,0,0,0,0,0
$GC,12018,0.73,146.1,130.1,9.2,1127,12019,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,1981,2190,0,0,0,0,0,0
$GC,12337,0.73,146.1,100.9,9.3,1157,12341,0.00,2.62,0.00,0.000,4,0.000,0.086,2949,354,2190,0,0,0,0,0,0
$GC,12369,0.73,146.1,97.5,10.3,1161,12376,0.00,2.47,0.00,0.000,6,0.000,0.063,2949,1954,2190,0,0,0,0,0,0
$GC,12718,0.73,146.1,64.3,10.3,1222,12723,0.00,2.60,0.00,0.000,4,0.000,0.079,2949,3536,2190,0,0,0,0,0,0
$GC,12768,0.73,146.1,58.0,11.2,1231,12774,0.00,2.58,0.00,0.000,6,0.000,0.068,2961,1962,2190,0,0,0,0,0,0
$GC,13112,0.76,171.6,26.1,8.1,1292,13138,0.00,2.62,19.05,0.744,4,0.000,0.087,2972,366,2100,0,0,0,0,0,0
$GC,13200,0.76,171.6,17.1,10.5,1308,13206,0.00,2.50,0.00,0.000,6,0.000,0.063,2972,1964,2099,0,0,0,0,0,0
$STATE,13346,end climb,SURFACE_DEPTH_REACHED
$STATE,13346,begin surface coast
$FINISH,0.4,1.023808
$STATE,13369,end surface coast,CONTROL_FINISHED_OK
$STATE,13369,begin surface
$SM_CCo,13386,224.75,0.706,0,0,442,578.42
$SM_GC,0.97,0.00,0.00,224.75,0.000,0.000,0.706,122,2465,442,-8.05,0.11,578.42
$RAFOS_CLK,942
$RAFOS,2,1258690623,4.300000,4.284167,73,67,62,0,0,0,1060,189,133,0,0,0
$RAFOS,1,1258690151,4.166667,4.153056,67,61,60,0,0,0,204,187,219,0,0,0
$RAFOS,0,1258689663,4.033333,4.017500,64,61,60,0,0,0,188,204,178,0,0,0
$RAFOS,6,1258678142,0.833333,0.817222,61,59,57,0,0,0,185,173,199,0,0,0
$RAFOS,0,1258675263,0.033333,0.017500,64,58,56,0,0,0,214,187,163,0,0,0
$RAFOS_FIX,6650.326172,-5724.867188,191109,161624,3,72,11.94
$IRIDIUM_FIX,6636.54,-5702.96,140299,000048
$TT8_MAMPS,0.029146
$HUMID,45.47
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,17.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.3,18.5
$24V_AH,23.0,39.371
$10V_AH,10.2,20.040
$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,21.025,86.625,262.375,224.750,0.000,142.433,267.962,604.283,0.500,0.000,551.466,2354.905,8656.621,692.555,2602.582,1352.821,0.000,1741.166,0.000,2041.576,1800.000,2.623,0.000
$DEVICE_MAMPS,302.198,94.341,1151.267,705.640,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,984.676,920.536,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,187936
$DATA_FILE_SIZE,50378,1338
$CAP_FILE_SIZE,145895,0
$CFSIZE,260165632,237154304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1468.7
$CURRENT,0.149,324.2,1
$GPS,201109,043331,6704.507,-5701.676,41,1.3,41,-37.6