version: 66.06
glider: 143
mission: 10
dive: 8
start: 10 21 109 15 45 57
data:
$ID,143
$MISSION,10
$DIVE,8
$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,275
$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,-23117.887
$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,2430
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,290
$ROLL_MAX,3915
$ROLL_DEG,45
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,23
$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,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$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
$GPS1,154001,6700.767,-5655.937,38,1.5,38,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-66.8
$GPS2,154538,6700.793,-5656.148,12,1.4,12,-37.5
$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,85.7,7165,-16.9,-9.167
$D_GRID,646
$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,-0.98,-146.0,0.0,0.0,0,101,0.00,0.00,-82.97,0.000,2,0.000,0.000,120,2269,3178,0,0,0,0,0,0
$GC,103,-0.98,-146.0,3.4,-6.3,16,125,9.57,0.00,-5.88,0.000,6,0.305,0.000,2106,2269,3398,0,0,0,0,0,0
$GC,463,-0.80,-146.0,55.9,-13.6,80,468,0.25,0.00,0.00,0.000,6,0.212,0.000,2172,2269,3401,0,0,0,0,0,0
$GC,806,-0.85,-146.0,89.1,-9.1,141,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2269,3401,0,0,0,0,0,0
$GC,1143,-0.91,-146.0,117.3,-8.3,184,1148,0.12,2.62,0.00,0.000,4,0.120,0.083,2130,661,3400,0,0,0,0,0,0
$GC,1400,-0.82,-146.0,145.2,-10.6,206,1407,0.15,2.53,0.00,0.000,6,0.221,0.070,2162,2248,3401,0,0,0,0,0,0
$GC,1726,-0.89,-146.0,172.3,-8.3,237,1731,0.00,2.55,0.00,0.000,4,0.000,0.082,2163,668,3400,0,0,0,0,0,0
$GC,1803,-0.89,-146.0,179.3,-8.6,243,1809,0.00,2.53,0.00,0.000,6,0.000,0.071,2162,2253,3401,0,0,0,0,0,0
$GC,2129,-0.95,-146.0,206.5,-8.6,274,2134,0.12,2.58,0.00,0.000,4,0.113,0.082,2123,668,3401,0,0,0,0,0,0
$GC,2387,-0.86,-146.0,235.8,-11.0,296,2392,0.00,2.42,0.00,0.000,6,0.000,0.071,2124,2195,3401,0,0,0,0,0,0
$GC,2711,-0.80,-146.0,269.3,-9.8,327,2716,0.17,2.45,0.00,0.000,4,0.216,0.084,2166,657,3401,0,0,0,0,0,0
$GC,2936,-0.87,-146.0,289.6,-8.7,347,2941,0.00,2.45,0.00,0.000,6,0.000,0.071,2167,2202,3401,0,0,0,0,0,0
$GC,3261,-0.99,-146.0,314.8,-7.4,377,3266,0.17,2.50,0.00,0.000,4,0.097,0.084,2111,657,3399,0,0,0,0,0,0
$GC,3518,-0.89,-146.0,341.2,-10.1,399,3524,0.12,2.40,0.00,0.000,6,0.223,0.071,2139,2176,3399,0,0,0,0,0,0
$GC,3843,-0.89,-146.0,365.8,-7.2,430,3847,0.00,2.42,0.00,0.000,4,0.000,0.084,2140,663,3399,0,0,0,0,0,0
$GC,4021,-0.89,-146.0,380.3,-8.1,445,4028,0.00,2.40,0.00,0.000,6,0.000,0.070,2140,2186,3399,0,0,0,0,0,0
$GC,4346,-0.89,-146.0,403.7,-7.7,476,4351,0.00,2.42,0.00,0.000,4,0.000,0.082,2140,667,3399,0,0,0,0,0,0
$GC,4604,-0.89,-146.0,425.3,-8.5,498,4610,0.00,2.30,0.00,0.000,6,0.000,0.068,2140,2130,3399,0,0,0,0,0,0
$GC,4929,-0.89,-146.0,451.8,-8.4,529,4933,0.00,2.35,0.00,0.000,4,0.000,0.083,2140,660,3400,0,0,0,0,0,0
$GC,5069,-0.89,-146.0,464.6,-9.1,541,5074,0.00,2.33,0.00,0.000,6,0.000,0.069,2140,2141,3400,0,0,0,0,0,0
$GC,5394,-0.93,-146.0,492.5,-8.6,571,5398,0.00,2.35,0.00,0.000,4,0.000,0.081,2140,665,3401,0,0,0,0,0,0
$GC,5652,-0.93,-146.0,515.7,-8.3,593,5658,0.00,2.47,0.00,0.000,6,0.000,0.068,2140,2241,3401,0,0,0,0,0,0
$GC,5977,-0.98,-146.0,540.2,-7.2,624,5981,0.00,2.53,0.00,0.000,4,0.000,0.081,2140,656,3401,0,0,0,0,0,0
$GC,6129,-0.98,-146.0,552.2,-8.0,637,6133,0.00,2.50,0.00,0.000,6,0.000,0.068,2140,2247,3401,0,0,0,0,0,0
$GC,6454,-1.03,-146.0,574.6,-6.8,667,6459,0.12,2.55,0.00,0.000,4,0.110,0.081,2097,658,3401,0,0,0,0,0,0
$GC,6711,-0.90,-146.0,598.4,-9.2,689,6718,0.15,2.40,0.00,0.000,6,0.213,0.069,2133,2189,3401,0,0,0,0,0,0
$GC,7045,-0.90,-146.0,622.1,-7.1,702,7049,0.00,2.42,0.00,0.000,4,0.000,0.081,2134,664,3402,0,0,0,0,0,0
$GC,7208,-0.90,-146.0,635.6,-8.0,707,7213,0.00,2.42,0.00,0.000,6,0.000,0.070,2134,2204,3401,0,0,0,0,0,0
$STATE,7357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7357,begin apogee
$GC,7361,-0.24,0.0,647.2,7.6,712,7484,0.73,0.00,119.22,1.150,6,0.174,0.000,2347,2203,2799,0,0,0,0,0,0
$STATE,7485,end apogee,CONTROL_FINISHED_OK
$STATE,7485,begin climb
$GC,7486,0.98,146.0,648.8,0.0,716,7618,1.25,2.88,121.68,1.101,4,0.110,0.083,2738,3777,2202,0,0,0,0,0,0
$GC,7871,0.49,146.0,581.0,20.2,731,7878,0.65,2.62,0.00,0.000,6,0.217,0.065,2591,2202,2194,0,0,0,0,0,0
$GC,8196,0.49,146.0,546.1,10.3,762,8200,0.00,2.67,0.00,0.000,4,0.000,0.084,2591,3786,2193,0,0,0,0,0,0
$GC,8453,0.43,146.0,516.0,11.3,784,8459,0.12,2.58,0.00,0.000,6,0.193,0.064,2574,2198,2192,0,0,0,0,0,0
$GC,8778,0.48,146.0,485.5,9.3,815,8782,0.00,2.65,0.00,0.000,4,0.000,0.084,2574,3791,2191,0,0,0,0,0,0
$GC,9034,0.48,146.0,457.9,10.9,837,9041,0.00,2.60,0.00,0.000,6,0.000,0.064,2584,2178,2191,0,0,0,0,0,0
$GC,9359,0.48,146.0,424.9,10.3,868,9363,0.00,2.65,0.00,0.000,4,0.000,0.084,2584,3785,2190,0,0,0,0,0,0
$GC,9615,0.48,146.0,395.9,10.9,890,9621,0.00,2.60,0.00,0.000,6,0.000,0.064,2596,2185,2190,0,0,0,0,0,0
$GC,9940,0.48,146.0,364.1,9.6,921,9944,0.00,2.62,0.00,0.000,4,0.000,0.084,2596,3785,2190,0,0,0,0,0,0
$GC,10197,0.42,146.0,335.5,11.0,943,10203,0.17,2.58,0.00,0.000,6,0.190,0.064,2565,2170,2190,0,0,0,0,0,0
$GC,10522,0.54,161.1,307.4,8.5,974,10543,0.12,2.67,11.23,0.863,4,0.113,0.081,2608,3786,2142,0,0,0,0,0,0
$GC,10796,0.47,161.1,272.7,12.8,998,10802,0.15,2.55,0.00,0.000,6,0.192,0.064,2585,2187,2141,0,0,0,0,0,0
$GC,11121,0.54,161.1,238.6,10.4,1029,11125,0.00,2.62,0.00,0.000,4,0.000,0.083,2585,3789,2140,0,0,0,0,0,0
$GC,11377,0.54,161.1,208.5,11.5,1051,11383,0.00,2.53,0.00,0.000,6,0.000,0.064,2595,2198,2140,0,0,0,0,0,0
$GC,11702,0.60,161.1,175.4,9.6,1082,11707,0.00,2.60,0.00,0.000,4,0.000,0.084,2595,3791,2140,0,0,0,0,0,0
$GC,11959,0.60,161.1,148.4,10.3,1104,11966,0.00,2.58,0.00,0.000,6,0.000,0.065,2607,2195,2140,0,0,0,0,0,0
$GC,12285,0.65,166.7,118.8,8.9,1135,12297,0.10,2.62,6.07,0.705,4,0.128,0.083,2642,3791,2119,0,0,0,0,0,0
$GC,12551,0.53,166.7,85.7,11.5,1168,12557,0.20,2.53,0.00,0.000,6,0.190,0.066,2604,2204,2119,0,0,0,0,0,0
$GC,12898,0.67,196.8,57.4,7.9,1229,12930,0.12,2.65,25.27,0.785,4,0.116,0.084,2647,3785,1995,0,0,0,0,0,0
$GC,13183,0.61,196.8,23.9,11.9,1280,13189,0.12,2.53,0.00,0.000,6,0.193,0.066,2631,2212,1990,0,0,0,0,0,0
$STATE,13424,end climb,SURFACE_DEPTH_REACHED
$STATE,13424,begin surface coast
$FINISH,0.4,1.013374
$STATE,13443,end surface coast,CONTROL_FINISHED_OK
$STATE,13443,begin surface
$SM_CCo,13458,47.20,0.749,0,0,1677,275.23
$SM_GC,1.23,0.00,0.00,47.20,0.000,0.000,0.749,127,2250,1677,-7.20,0.03,275.23
$RAFOS_CLK,834
$RAFOS,6,1256143744,16.833334,16.817778,106,66,59,0,0,0,830,206,189,0,0,0
$RAFOS,5,1256143266,16.700001,16.684999,98,64,61,0,0,0,621,191,210,0,0,0
$RAFOS,4,1256142784,16.566668,16.551111,83,60,57,0,0,0,875,147,208,0,0,0
$RAFOS,3,1256142303,16.433332,16.417500,114,61,59,0,0,0,984,190,213,0,0,0
$RAFOS,2,1256141828,16.299999,16.285555,81,61,58,0,0,0,1031,169,141,0,0,0
$RAFOS,1,1256141344,16.166666,16.151112,72,66,65,0,0,0,1046,208,196,0,0,0
$RAFOS,0,1256140862,16.033333,16.017221,74,64,59,0,0,0,1168,121,191,0,0,0
$RAFOS_FIX,6657.367188,-5701.041016,211009,161644,7,90,2.88
$IRIDIUM_FIX,6658.43,-4745.11,150199,111152
$TT8_MAMPS,0.026845
$HUMID,45.90
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,17.40
$XPDR_PINGS,3
$24V_AH,23.5,15.939
$10V_AH,10.3,6.880
$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,21.700,111.300,283.475,47.200,0.000,22.361,43.326,154.625,0.750,0.000,13.605,2478.057,7904.369,476.140,2605.298,395.396,0.000,1751.721,0.000,2565.163,2520.000,0.533,0.000
$DEVICE_MAMPS,305.266,127.322,1149.733,749.359,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,970.161,907.957,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150228
$DATA_FILE_SIZE,50454,1326
$CAP_FILE_SIZE,153621,0
$CFSIZE,260165632,250134528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1468.0
$CURRENT,0.128,186.6,1
$GPS,211009,193254,6701.238,-5657.308,23,1.0,40,-37.5