version: 66.06
glider: 143
mission: 10
dive: 9
start: 10 21 109 19 38 38
data:
$ID,143
$MISSION,10
$DIVE,9
$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,-23132.514
$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,22
$R_STBD_OVSHOOT,18
$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
$GPS1,193254,6701.238,-5657.308,23,1.0,40,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-65.6
$GPS2,193819,6701.194,-5657.292,12,1.0,12,-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,76.0,7498,-16.9,-9.167
$D_GRID,650
$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,-146.0,0.0,0.0,0,102,0.00,0.00,-83.53,0.000,2,0.000,0.000,126,2251,3184,0,0,0,0,0,0
$GC,104,-0.98,-146.0,3.2,-5.4,16,127,9.45,2.65,-5.65,0.000,4,0.301,0.093,2103,657,3398,0,0,0,0,0,0
$GC,313,-0.77,-146.0,37.5,-14.2,53,319,0.28,2.60,0.00,0.000,6,0.206,0.072,2172,2253,3400,0,0,0,0,0,0
$GC,657,-0.83,-146.0,73.1,-10.2,114,662,0.00,2.65,0.00,0.000,4,0.000,0.090,2173,3840,3400,0,0,0,0,0,0
$GC,668,-0.83,-146.0,74.3,-10.0,116,674,0.00,2.55,0.00,0.000,6,0.000,0.063,2173,2251,3400,0,0,0,0,0,0
$GC,1012,-0.91,-146.0,107.9,-8.9,170,1017,0.12,2.58,0.00,0.000,4,0.117,0.083,2130,665,3400,0,0,0,0,0,0
$GC,1270,-0.81,-146.0,136.7,-11.1,192,1276,0.15,2.55,0.00,0.000,6,0.217,0.071,2164,2257,3400,0,0,0,0,0,0
$GC,1595,-0.87,-146.0,162.6,-8.6,223,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2257,3400,0,0,0,0,0,0
$GC,1913,-0.94,-146.0,189.3,-8.0,253,1919,0.12,2.60,0.00,0.000,4,0.111,0.084,2124,660,3400,0,0,0,0,0,0
$GC,2171,-0.86,-146.0,216.2,-10.8,275,2178,0.00,2.55,0.00,0.000,6,0.000,0.071,2124,2261,3399,0,0,0,0,0,0
$GC,2496,-0.80,-146.0,247.5,-9.2,306,2501,0.17,2.60,0.00,0.000,4,0.212,0.083,2167,662,3399,0,0,0,0,0,0
$GC,2608,-0.85,-146.0,257.4,-8.7,315,2615,0.00,2.55,0.00,0.000,6,0.000,0.072,2167,2263,3399,0,0,0,0,0,0
$GC,2933,-0.97,-146.0,281.9,-7.2,346,2938,0.15,2.60,0.00,0.000,4,0.101,0.087,2102,3845,3398,0,0,0,0,0,0
$GC,3068,-0.85,-146.0,295.8,-10.4,357,3074,0.20,2.53,0.00,0.000,6,0.209,0.064,2150,2251,3397,0,0,0,0,0,0
$GC,3393,-0.89,-146.0,322.6,-7.9,388,3398,0.00,2.60,0.00,0.000,4,0.000,0.087,2150,3838,3398,0,0,0,0,0,0
$GC,3489,-0.96,-146.0,330.8,-8.5,396,3493,0.00,2.47,0.00,0.000,6,0.000,0.063,2150,2270,3398,0,0,0,0,0,0
$GC,3813,-1.03,-146.0,356.9,-8.1,426,3815,0.17,0.00,0.00,0.000,6,0.104,0.000,2090,2270,3397,0,0,0,0,0,0
$GC,4133,-0.90,-146.0,386.9,-8.9,456,4138,0.20,2.58,0.00,0.000,4,0.207,0.086,2138,3839,3397,0,0,0,0,0,0
$GC,4232,-0.90,-146.0,394.1,-7.3,464,4238,0.00,2.47,0.00,0.000,6,0.000,0.062,2138,2265,3398,0,0,0,0,0,0
$GC,4557,-0.90,-146.0,415.7,-7.0,495,4561,0.00,2.60,0.00,0.000,4,0.000,0.086,2138,3848,3398,0,0,0,0,0,0
$GC,4680,-0.90,-146.0,424.1,-6.8,505,4686,0.00,2.47,0.00,0.000,6,0.000,0.061,2138,2273,3398,0,0,0,0,0,0
$GC,5005,-0.90,-146.0,447.9,-7.6,536,5009,0.00,2.55,0.00,0.000,4,0.000,0.086,2138,3838,3399,0,0,0,0,0,0
$GC,5093,-0.90,-146.0,454.8,-7.8,543,5100,0.00,2.45,0.00,0.000,6,0.000,0.061,2138,2274,3399,0,0,0,0,0,0
$GC,5419,-0.90,-146.0,477.7,-6.4,574,5423,0.00,2.55,0.00,0.000,4,0.000,0.085,2138,3839,3399,0,0,0,0,0,0
$GC,5525,-0.90,-146.0,485.7,-6.8,583,5529,0.00,2.42,0.00,0.000,6,0.000,0.061,2138,2291,3399,0,0,0,0,0,0
$GC,5849,-0.90,-146.0,509.2,-7.3,613,5851,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2291,3399,0,0,0,0,0,0
$GC,6169,-0.90,-146.0,532.3,-7.1,643,6173,0.00,2.53,0.00,0.000,4,0.000,0.084,2138,3842,3400,0,0,0,0,0,0
$GC,6286,-0.90,-146.0,541.1,-7.4,653,6291,0.00,2.42,0.00,0.000,6,0.000,0.060,2138,2291,3400,0,0,0,0,0,0
$GC,6611,-0.95,-146.0,562.4,-6.3,683,6615,0.00,2.53,0.00,0.000,4,0.000,0.084,2138,3838,3400,0,0,0,0,0,0
$GC,6722,-0.95,-146.0,570.4,-7.0,692,6728,0.00,2.40,0.00,0.000,6,0.000,0.059,2138,2297,3400,0,0,0,0,0,0
$GC,7047,-0.99,-146.0,593.3,-8.0,723,7048,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2298,3401,0,0,0,0,0,0
$GC,7357,-1.05,-146.0,617.1,-7.8,739,7362,0.15,2.53,0.00,0.000,4,0.104,0.082,2074,3842,3400,0,0,0,0,0,0
$GC,7475,-0.87,-146.0,629.3,-10.7,742,7480,0.28,2.40,0.00,0.000,6,0.202,0.060,2144,2301,3400,0,0,0,0,0,0
$STATE,7785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7785,begin apogee
$GC,7790,-0.24,0.0,651.7,7.1,752,7913,0.62,0.00,119.25,1.148,6,0.122,0.000,2349,2200,2800,0,0,0,0,0,0
$STATE,7913,end apogee,CONTROL_FINISHED_OK
$STATE,7913,begin climb
$GC,7915,0.98,146.0,651.6,0.0,756,8047,1.20,2.88,122.10,1.104,4,0.090,0.079,2741,3796,2202,0,0,0,0,0,0
$GC,8299,0.47,146.0,593.5,20.8,769,8306,0.68,2.65,0.00,0.000,6,0.216,0.063,2589,2204,2193,0,0,0,0,0,0
$GC,8624,0.47,146.0,556.8,10.8,800,8629,0.00,2.67,0.00,0.000,4,0.000,0.082,2589,3791,2192,0,0,0,0,0,0
$GC,8881,0.42,146.0,526.5,11.9,822,8888,0.12,2.60,0.00,0.000,6,0.191,0.063,2571,2190,2191,0,0,0,0,0,0
$GC,9206,0.48,146.0,494.4,10.1,853,9211,0.00,2.65,0.00,0.000,4,0.000,0.083,2571,3786,2190,0,0,0,0,0,0
$GC,9463,0.48,146.0,464.8,11.6,875,9471,0.00,2.60,0.00,0.000,6,0.000,0.063,2581,2188,2190,0,0,0,0,0,0
$GC,9788,0.48,146.0,432.3,9.5,906,9793,0.00,2.65,0.00,0.000,4,0.000,0.084,2581,3794,2190,0,0,0,0,0,0
$GC,10045,0.48,146.0,402.6,11.6,928,10051,0.00,2.62,0.00,0.000,6,0.000,0.063,2593,2177,2189,0,0,0,0,0,0
$GC,10370,0.48,146.0,367.7,11.0,959,10374,0.00,2.65,0.00,0.000,4,0.000,0.083,2593,3795,2189,0,0,0,0,0,0
$GC,10627,0.44,146.0,335.9,13.2,981,10634,0.12,2.55,0.00,0.000,6,0.196,0.063,2577,2186,2189,0,0,0,0,0,0
$GC,10952,0.51,146.0,304.2,9.7,1012,10957,0.00,2.62,0.00,0.000,4,0.000,0.082,2577,3795,2189,0,0,0,0,0,0
$GC,11209,0.51,146.0,276.0,10.9,1034,11215,0.00,2.58,0.00,0.000,6,0.000,0.062,2587,2192,2189,0,0,0,0,0,0
$GC,11534,0.56,146.0,245.0,9.3,1065,11539,0.00,2.60,0.00,0.000,4,0.000,0.082,2587,3791,2189,0,0,0,0,0,0
$GC,11791,0.56,146.0,218.2,10.4,1087,11798,0.00,2.58,0.00,0.000,6,0.000,0.063,2599,2188,2189,0,0,0,0,0,0
$GC,12116,0.62,157.2,189.2,8.7,1118,12130,0.00,2.67,8.15,0.763,4,0.000,0.082,2599,3788,2158,0,0,0,0,0,0
$GC,12384,0.62,157.2,161.7,10.5,1142,12389,0.00,2.53,0.00,0.000,6,0.000,0.064,2611,2195,2157,0,0,0,0,0,0
$GC,12709,0.62,157.2,129.9,10.0,1172,12713,0.00,2.60,0.00,0.000,4,0.000,0.083,2611,3788,2157,0,0,0,0,0,0
$GC,12967,0.56,157.2,98.2,12.2,1195,12973,0.00,2.53,0.00,0.000,6,0.000,0.065,2622,2198,2156,0,0,0,0,0,0
$GC,13311,0.60,188.4,63.8,7.9,1256,13343,0.00,2.65,25.62,0.782,4,0.000,0.082,2623,3789,2031,0,0,0,0,0,0
$GC,13597,0.60,188.4,38.1,10.2,1307,13604,0.00,2.55,0.00,0.000,6,0.000,0.064,2634,2198,2026,0,0,0,0,0,0
$GC,13941,0.60,188.4,7.0,9.4,1368,13947,0.00,2.62,0.00,0.000,4,0.000,0.083,2634,3797,2024,0,0,0,0,0,0
$STATE,13985,end climb,SURFACE_DEPTH_REACHED
$STATE,13985,begin surface coast
$FINISH,0.5,1.026406
$STATE,13996,end surface coast,CONTROL_FINISHED_OK
$STATE,13996,begin surface
$SM_CCo,14014,51.22,0.744,0,0,1677,275.23
$SM_GC,1.44,0.00,0.00,51.22,0.000,0.000,0.744,129,2243,1677,-7.19,-0.20,275.23
$RAFOS_CLK,868
$RAFOS,6,1256158144,20.833334,20.817778,110,59,57,0,0,0,840,178,224,0,0,0
$RAFOS,5,1256157665,20.700001,20.684723,120,56,55,0,0,0,639,184,215,0,0,0
$RAFOS,4,1256157191,20.566668,20.553055,83,66,59,0,0,0,836,196,217,0,0,0
$RAFOS,3,1256156710,20.433332,20.419445,91,58,56,0,0,0,943,196,218,0,0,0
$RAFOS,2,1256156231,20.299999,20.286388,68,58,53,0,0,0,120,174,139,0,0,0
$RAFOS,1,1256155744,20.166666,20.151112,67,64,60,0,0,0,190,137,117,0,0,0
$RAFOS,0,1256155266,20.033333,20.018333,75,61,60,0,0,0,1160,208,158,0,0,0
$RAFOS_FIX,6700.353516,-5657.740723,211009,202038,5,96,0.49
$IRIDIUM_FIX,6631.12,-5658.34,150199,151537
$TT8_MAMPS,0.026845
$HUMID,45.90
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,17.50
$XPDR_PINGS,1
$24V_AH,23.5,16.048
$10V_AH,10.3,6.961
$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,21.400,128.725,275.125,51.225,0.000,28.035,32.518,145.857,0.250,0.000,14.000,2518.359,8430.661,481.063,2579.872,384.120,0.000,1752.082,0.000,2538.380,2520.000,0.533,0.000
$DEVICE_MAMPS,301.431,107.380,1148.199,743.990,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1007.985,943.789,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150252
$DATA_FILE_SIZE,53584,1378
$CAP_FILE_SIZE,157147,0
$CFSIZE,260165632,250044416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1468.6
$CURRENT,0.310,152.0,1
$GPS,211009,233436,6700.576,-5654.107,36,1.3,36,-37.5