version: 66.06
glider: 143
mission: 10
dive: 11
start: 10 22 109 3 29 50
data:
$ID,143
$MISSION,10
$DIVE,11
$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,-23162.17
$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,21
$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
$GPS1,032406,6701.781,-5651.949,32,1.4,32,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-65.5
$GPS2,032931,6701.774,-5652.050,12,1.4,12,-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,61.9,3703,-16.9,-9.167
$D_GRID,579
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.98,-146.0,0.0,0.0,0,100,0.00,0.00,-82.85,0.000,2,0.000,0.000,122,2224,3172,0,0,0,0,0,0
$GC,103,-0.98,-146.0,3.1,-5.2,16,125,9.55,2.75,-6.22,0.000,4,0.305,0.098,2106,3843,3398,0,0,0,0,0,0
$GC,205,-0.80,-146.0,20.3,-13.1,34,212,0.25,2.58,0.00,0.000,6,0.209,0.058,2168,2245,3400,0,0,0,0,0,0
$GC,549,-0.80,-146.0,55.1,-9.0,95,555,0.00,2.65,0.00,0.000,4,0.000,0.084,2169,3838,3400,0,0,0,0,0,0
$GC,679,-0.86,-146.0,67.8,-10.4,118,685,0.00,2.53,0.00,0.000,6,0.000,0.059,2169,2253,3400,0,0,0,0,0,0
$GC,1022,-0.91,-146.0,99.2,-9.9,179,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2252,3400,0,0,0,0,0,0
$GC,1353,-0.98,-146.0,130.8,-8.8,211,1358,0.17,2.62,0.00,0.000,4,0.102,0.082,2097,3841,3399,0,0,0,0,0,0
$GC,1516,-0.82,-146.0,150.2,-11.6,225,1521,0.25,2.53,0.00,0.000,6,0.207,0.060,2158,2252,3399,0,0,0,0,0,0
$GC,1841,-0.88,-146.0,179.0,-8.8,255,1842,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2252,3399,0,0,0,0,0,0
$GC,2161,-0.93,-146.0,209.2,-9.7,285,2165,0.00,2.60,0.00,0.000,4,0.000,0.083,2158,3842,3400,0,0,0,0,0,0
$GC,2395,-0.99,-146.0,231.1,-8.5,305,2402,0.15,2.47,0.00,0.000,6,0.112,0.059,2107,2260,3399,0,0,0,0,0,0
$GC,2720,-0.90,-146.0,262.2,-9.7,336,2725,0.12,2.55,0.00,0.000,4,0.215,0.083,2127,3838,3398,0,0,0,0,0,0
$GC,2848,-0.90,-146.0,274.1,-8.8,347,2854,0.00,2.47,0.00,0.000,6,0.000,0.059,2127,2263,3398,0,0,0,0,0,0
$GC,3174,-0.90,-146.0,303.1,-8.4,378,3179,0.00,2.58,0.00,0.000,4,0.000,0.084,2127,3841,3398,0,0,0,0,0,0
$GC,3325,-0.90,-146.0,316.7,-9.1,391,3330,0.00,2.45,0.00,0.000,6,0.000,0.058,2127,2275,3398,0,0,0,0,0,0
$GC,3650,-0.90,-146.0,345.0,-9.3,421,3654,0.00,2.55,0.00,0.000,4,0.000,0.083,2127,3841,3398,0,0,0,0,0,0
$GC,3749,-0.90,-146.0,354.6,-9.9,429,3755,0.00,2.47,0.00,0.000,6,0.000,0.058,2127,2282,3398,0,0,0,0,0,0
$GC,4074,-0.90,-146.0,382.6,-8.4,460,4078,0.00,2.53,0.00,0.000,4,0.000,0.083,2127,3839,3398,0,0,0,0,0,0
$GC,4181,-0.90,-146.0,391.9,-9.1,469,4185,0.00,2.42,0.00,0.000,6,0.000,0.057,2127,2284,3398,0,0,0,0,0,0
$GC,4511,-0.90,-146.0,420.8,-8.9,500,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2284,3399,0,0,0,0,0,0
$GC,4832,-0.90,-146.0,448.7,-9.0,530,4836,0.00,2.53,0.00,0.000,4,0.000,0.082,2127,3842,3399,0,0,0,0,0,0
$GC,5084,-0.90,-146.0,470.7,-9.0,552,5088,0.00,2.42,0.00,0.000,6,0.000,0.056,2127,2280,3399,0,0,0,0,0,0
$GC,5410,-0.90,-146.0,497.4,-8.4,582,5414,0.00,2.53,0.00,0.000,4,0.000,0.080,2127,3841,3399,0,0,0,0,0,0
$GC,5573,-0.90,-146.0,511.3,-8.7,596,5577,0.00,2.40,0.00,0.000,6,0.000,0.056,2127,2294,3399,0,0,0,0,0,0
$GC,5897,-0.90,-146.0,539.1,-8.3,626,5898,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2294,3399,0,0,0,0,0,0
$GC,6217,-0.90,-146.0,564.6,-8.1,656,6221,0.00,2.50,0.00,0.000,4,0.000,0.081,2127,3838,3400,0,0,0,0,0,0
$GC,6351,-1.24,-146.0,574.5,-3.1,667,6358,0.28,2.40,0.00,0.000,6,0.088,0.057,2026,2295,3400,0,0,0,0,0,0
$STATE,6482,end dive,NO_VERTICAL_VELOCITY
$STATE,6482,begin apogee
$GC,6487,-0.24,0.0,574.5,0.0,680,6609,1.00,0.00,117.38,1.096,6,0.127,0.000,2348,2192,2800,0,0,0,0,0,0
$STATE,6610,end apogee,CONTROL_FINISHED_OK
$STATE,6610,begin climb
$GC,6611,0.98,146.0,574.4,0.0,692,6739,1.27,0.00,120.95,1.049,6,0.119,0.000,2740,2192,2203,0,0,0,0,0,0
$GC,7056,0.56,146.0,499.8,18.2,735,7062,0.45,2.70,0.00,0.000,4,0.209,0.075,2613,3790,2194,0,0,0,0,0,0
$GC,7314,0.44,146.0,464.8,13.6,757,7321,0.20,2.53,0.00,0.000,6,0.201,0.058,2575,2229,2193,0,0,0,0,0,0
$GC,7639,0.50,146.0,432.6,9.6,788,7640,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2229,2192,0,0,0,0,0,0
$GC,7959,0.57,162.2,405.0,8.5,818,7981,0.12,2.65,12.77,0.909,4,0.120,0.078,2615,3792,2137,0,0,0,0,0,0
$GC,8233,0.47,162.2,371.9,12.4,842,8240,0.17,2.53,0.00,0.000,6,0.199,0.058,2586,2210,2135,0,0,0,0,0,0
$GC,8558,0.47,162.2,339.6,10.5,873,8562,0.00,2.60,0.00,0.000,4,0.000,0.078,2586,3797,2134,0,0,0,0,0,0
$GC,8814,0.47,162.2,308.4,11.9,895,8821,0.00,2.50,0.00,0.000,6,0.000,0.059,2596,2246,2134,0,0,0,0,0,0
$GC,9139,0.47,162.2,272.3,10.6,926,9144,0.00,2.53,0.00,0.000,4,0.000,0.079,2596,3797,2134,0,0,0,0,0,0
$GC,9396,0.47,162.2,242.0,11.3,948,9403,0.00,2.47,0.00,0.000,6,0.000,0.060,2607,2253,2134,0,0,0,0,0,0
$GC,9721,0.47,162.2,209.8,10.2,979,9722,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2253,2134,0,0,0,0,0,0
$GC,10041,0.47,162.2,177.9,9.7,1009,10046,0.00,2.50,0.00,0.000,4,0.000,0.080,2607,3795,2134,0,0,0,0,0,0
$GC,10299,0.41,162.2,151.2,10.4,1031,10305,0.20,2.42,0.00,0.000,6,0.188,0.061,2569,2251,2134,0,0,0,0,0,0
$GC,10624,0.64,210.8,127.1,7.1,1062,10666,0.20,0.00,39.38,0.821,6,0.097,0.000,2640,2251,1940,0,0,0,0,0,0
$GC,10988,0.64,210.8,86.8,10.5,1106,10994,0.00,2.55,0.00,0.000,4,0.000,0.081,2639,3795,1933,0,0,0,0,0,0
$GC,11247,0.64,210.8,60.5,10.5,1152,11253,0.00,2.47,0.00,0.000,6,0.000,0.062,2651,2245,1931,0,0,0,0,0,0
$GC,11591,0.64,210.8,24.2,11.1,1213,11596,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2246,1930,0,0,0,0,0,0
$STATE,11785,end climb,SURFACE_DEPTH_REACHED
$STATE,11785,begin surface coast
$FINISH,0.4,1.026489
$STATE,11803,end surface coast,CONTROL_FINISHED_OK
$STATE,11803,begin surface
$SM_CCo,11818,41.70,0.746,0,0,1677,275.23
$SM_GC,1.00,0.00,0.00,41.70,0.000,0.000,0.746,128,2244,1677,-7.20,-0.17,275.23
$RAFOS_CLK,727
$RAFOS,6,1256186943,4.833333,4.817500,72,61,61,0,0,0,852,206,162,0,0,0
$RAFOS,5,1256186465,4.700000,4.684722,152,64,60,0,0,0,655,182,223,0,0,0
$RAFOS,4,1256185986,4.566667,4.551667,89,56,56,0,0,0,876,211,163,0,0,0
$RAFOS,3,1256185503,4.433333,4.417500,59,58,56,0,0,0,209,1004,191,0,0,0
$RAFOS,2,1256185025,4.300000,4.284722,74,73,60,0,0,0,1064,226,177,0,0,0
$RAFOS,1,1256184545,4.166667,4.151389,62,60,59,0,0,0,180,166,201,0,0,0
$RAFOS,0,1256184071,4.033333,4.019722,73,62,58,0,0,0,1147,197,224,0,0,0
$RAFOS_FIX,6652.728027,-5656.602539,221009,040421,5,92,4.61
$IRIDIUM_FIX,6631.12,-5649.11,150199,232306
$TT8_MAMPS,0.026845
$HUMID,46.65
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,17.40
$XPDR_PINGS,4
$24V_AH,23.6,16.264
$10V_AH,10.3,7.110
$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,21.475,86.125,290.475,41.700,0.000,28.119,35.247,150.227,1.000,0.000,13.966,2265.400,6934.256,462.333,2169.339,366.782,0.000,1531.850,0.000,2141.031,2520.000,0.533,0.000
$DEVICE_MAMPS,305.266,105.079,1096.043,746.291,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,915.263,854.224,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150300
$DATA_FILE_SIZE,47344,1251
$CAP_FILE_SIZE,129947,0
$CFSIZE,260165632,249925632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1468.6
$CURRENT,0.206,187.1,1
$GPS,221009,064907,6701.919,-5651.438,33,0.9,33,-37.5