version: 66.06
glider: 143
mission: 10
dive: 13
start: 10 22 109 10 20 27
data:
$ID,143
$MISSION,10
$DIVE,13
$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,-23192.666
$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
$GPS1,101507,6701.595,-5650.036,55,0.7,55,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-65.8
$GPS2,102008,6701.640,-5649.970,11,1.2,11,-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,22.0,2893,-16.9,-9.167
$D_GRID,561
$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,-82.93,0.000,2,0.000,0.000,130,2236,3170,0,0,0,0,0,0
$GC,103,-0.98,-146.0,3.4,-6.0,16,125,9.75,2.72,-6.22,0.000,4,0.312,0.097,2105,3842,3396,0,0,0,0,0,0
$GC,379,-0.82,-146.0,47.1,-14.1,65,385,0.22,2.55,0.00,0.000,6,0.210,0.059,2161,2249,3399,0,0,0,0,0,0
$GC,724,-0.82,-146.0,80.2,-8.8,126,729,0.00,2.65,0.00,0.000,4,0.000,0.084,2161,3838,3399,0,0,0,0,0,0
$GC,915,-0.87,-146.0,98.2,-9.8,160,920,0.00,2.55,0.00,0.000,6,0.000,0.060,2161,2238,3399,0,0,0,0,0,0
$GC,1245,-0.87,-146.0,128.6,-9.5,193,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2238,3399,0,0,0,0,0,0
$GC,1566,-0.91,-146.0,157.5,-8.6,223,1570,0.00,2.65,0.00,0.000,4,0.000,0.085,2161,3846,3399,0,0,0,0,0,0
$GC,1785,-0.97,-146.0,175.4,-8.0,242,1790,0.15,2.53,0.00,0.000,6,0.115,0.060,2112,2247,3398,0,0,0,0,0,0
$GC,2110,-0.87,-146.0,207.9,-10.7,272,2111,0.15,0.00,0.00,0.000,6,0.209,0.000,2146,2246,3398,0,0,0,0,0,0
$GC,2428,-0.87,-146.0,237.2,-9.2,302,2432,0.00,2.62,0.00,0.000,4,0.000,0.086,2146,3842,3397,0,0,0,0,0,0
$GC,2673,-0.87,-146.0,259.9,-9.5,323,2679,0.00,2.55,0.00,0.000,6,0.000,0.060,2146,2247,3397,0,0,0,0,0,0
$GC,2999,-0.87,-146.0,291.7,-9.4,354,3003,0.00,2.62,0.00,0.000,4,0.000,0.086,2146,3846,3397,0,0,0,0,0,0
$GC,3104,-0.87,-146.0,302.1,-9.4,363,3109,0.00,2.50,0.00,0.000,6,0.000,0.060,2146,2258,3396,0,0,0,0,0,0
$GC,3429,-0.87,-146.0,330.4,-7.8,393,3433,0.00,2.60,0.00,0.000,4,0.000,0.085,2146,3845,3397,0,0,0,0,0,0
$GC,3595,-0.87,-146.0,344.0,-7.6,407,3602,0.00,2.47,0.00,0.000,6,0.000,0.060,2146,2268,3396,0,0,0,0,0,0
$GC,3921,-0.92,-146.0,370.0,-7.9,438,3922,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2268,3397,0,0,0,0,0,0
$GC,4240,-0.97,-146.0,393.0,-7.0,468,4245,0.00,2.58,0.00,0.000,4,0.000,0.084,2146,3846,3397,0,0,0,0,0,0
$GC,4441,-1.02,-146.0,408.1,-7.2,485,4449,0.15,2.47,0.00,0.000,6,0.113,0.058,2095,2265,3397,0,0,0,0,0,0
$GC,4766,-0.90,-146.0,438.0,-9.1,516,4768,0.17,0.00,0.00,0.000,6,0.200,0.000,2137,2264,3397,0,0,0,0,0,0
$GC,5085,-0.90,-146.0,462.5,-7.8,546,5089,0.00,2.55,0.00,0.000,4,0.000,0.083,2137,3839,3398,0,0,0,0,0,0
$GC,5294,-0.90,-146.0,478.6,-7.5,564,5298,0.00,2.45,0.00,0.000,6,0.000,0.058,2137,2269,3398,0,0,0,0,0,0
$GC,5619,-0.90,-146.0,503.0,-7.8,594,5620,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2269,3398,0,0,0,0,0,0
$GC,5937,-0.90,-146.0,527.8,-7.9,624,5942,0.00,2.55,0.00,0.000,4,0.000,0.082,2137,3841,3399,0,0,0,0,0,0
$STATE,6181,end dive,NO_VERTICAL_VELOCITY
$STATE,6181,begin apogee
$GC,6188,-0.24,0.0,536.1,0.0,645,6309,0.65,0.00,116.75,1.072,6,0.132,0.000,2349,2191,2800,0,0,0,0,0,0
$STATE,6310,end apogee,CONTROL_FINISHED_OK
$STATE,6310,begin climb
$GC,6311,0.98,146.0,536.0,0.0,657,6440,1.27,2.70,119.82,1.027,4,0.120,0.077,2754,614,2203,0,0,0,0,0,0
$GC,6563,0.54,146.0,496.0,19.5,680,6569,0.60,2.65,0.00,0.000,6,0.207,0.063,2607,2203,2196,0,0,0,0,0,0
$GC,6888,0.54,146.0,457.2,12.0,710,6893,0.00,2.62,0.00,0.000,4,0.000,0.079,2616,618,2194,0,0,0,0,0,0
$GC,7001,0.49,146.0,443.6,11.3,719,7007,0.00,2.55,0.00,0.000,6,0.000,0.065,2616,2195,2193,0,0,0,0,0,0
$GC,7326,0.43,146.0,403.3,12.4,750,7331,0.17,2.58,0.00,0.000,4,0.191,0.080,2584,617,2193,0,0,0,0,0,0
$GC,7422,0.49,146.0,392.9,10.3,758,7426,0.00,2.53,0.00,0.000,6,0.000,0.064,2584,2198,2193,0,0,0,0,0,0
$GC,7746,0.49,146.0,360.5,10.3,788,7750,0.00,2.58,0.00,0.000,4,0.000,0.081,2596,611,2193,0,0,0,0,0,0
$GC,7834,0.49,146.0,351.1,10.9,795,7840,0.00,2.53,0.00,0.000,6,0.000,0.064,2596,2181,2193,0,0,0,0,0,0
$GC,8158,0.49,146.0,317.1,11.2,826,8163,0.00,2.53,0.00,0.000,4,0.000,0.081,2607,616,2193,0,0,0,0,0,0
$GC,8201,0.49,146.0,312.1,11.8,829,8208,0.00,2.53,0.00,0.000,6,0.000,0.064,2607,2188,2193,0,0,0,0,0,0
$GC,8526,0.49,146.0,275.1,11.6,860,8531,0.00,2.53,0.00,0.000,4,0.000,0.081,2618,616,2192,0,0,0,0,0,0
$GC,8637,0.49,146.0,261.7,11.9,869,8644,0.12,2.47,0.00,0.000,6,0.189,0.064,2590,2190,2192,0,0,0,0,0,0
$GC,8962,0.54,146.0,229.4,9.5,900,8967,0.00,2.53,0.00,0.000,4,0.000,0.080,2600,615,2192,0,0,0,0,0,0
$GC,9039,0.54,146.0,221.8,9.4,906,9047,0.00,2.47,0.00,0.000,6,0.000,0.064,2600,2169,2192,0,0,0,0,0,0
$GC,9366,0.59,146.0,189.4,10.4,937,9371,0.00,2.50,0.00,0.000,4,0.000,0.081,2611,612,2192,0,0,0,0,0,0
$GC,9416,0.59,146.0,183.7,11.1,941,9421,0.00,2.45,0.00,0.000,6,0.000,0.065,2611,2173,2193,0,0,0,0,0,0
$GC,9742,0.59,146.0,150.8,9.7,971,9747,0.00,2.50,0.00,0.000,4,0.000,0.082,2622,615,2193,0,0,0,0,0,0
$GC,9781,0.59,146.0,146.5,10.6,974,9786,0.00,2.45,0.00,0.000,6,0.000,0.066,2622,2174,2193,0,0,0,0,0,0
$GC,10105,0.59,146.0,114.3,9.9,1004,10109,0.00,2.53,0.00,0.000,4,0.000,0.083,2634,607,2193,0,0,0,0,0,0
$GC,10216,0.59,146.0,103.7,9.2,1013,10222,0.00,2.45,0.00,0.000,6,0.000,0.066,2634,2169,2193,0,0,0,0,0,0
$GC,10557,0.59,146.0,73.2,9.8,1070,10563,0.00,2.50,0.00,0.000,4,0.000,0.083,2645,608,2193,0,0,0,0,0,0
$GC,10580,0.59,146.0,70.7,10.4,1074,10586,0.00,2.45,0.00,0.000,6,0.000,0.067,2645,2168,2193,0,0,0,0,0,0
$GC,10924,0.59,149.1,37.0,9.0,1135,10929,0.00,2.50,0.00,0.000,4,0.000,0.083,2657,608,2192,0,0,0,0,0,0
$GC,10974,0.54,149.1,31.9,10.3,1144,10981,0.20,2.45,0.00,0.000,6,0.191,0.067,2607,2170,2191,0,0,0,0,0,0
$GC,11320,0.68,194.7,4.4,7.2,1205,11353,0.12,0.00,30.12,0.753,2,0.115,0.000,2649,2170,2038,0,0,0,0,0,0
$STATE,11354,end climb,SURFACE_DEPTH_REACHED
$STATE,11354,begin surface coast
$FINISH,0.4,1.018406
$STATE,11376,end surface coast,CONTROL_FINISHED_OK
$STATE,11376,begin surface
$SM_CCo,11392,50.05,0.737,0,0,1678,275.23
$SM_GC,1.23,0.00,0.00,50.05,0.000,0.000,0.737,125,2268,1678,-7.20,0.51,275.23
$RAFOS_CLK,708
$RAFOS,6,1256215745,12.833333,12.818055,111,68,66,0,0,0,839,188,201,0,0,0
$RAFOS,5,1256215266,12.700000,12.685000,66,62,58,0,0,0,210,132,238,0,0,0
$RAFOS,4,1256214782,12.566667,12.550555,61,59,52,0,0,0,123,210,192,0,0,0
$RAFOS,3,1256214306,12.433333,12.418333,59,59,58,0,0,0,117,993,173,0,0,0
$RAFOS,2,1256213826,12.300000,12.285000,61,60,59,0,0,0,148,115,211,0,0,0
$RAFOS,1,1256213344,12.166667,12.151111,60,59,54,0,0,0,192,215,122,0,0,0
$RAFOS,0,1256212863,12.033333,12.017500,59,56,55,0,0,0,148,190,202,0,0,0
$RAFOS_FIX,6648.412598,-5655.337402,221009,080840,4,79,4.56
$IRIDIUM_FIX,6631.12,-5646.10,160199,070727
$TT8_MAMPS,0.026845
$HUMID,46.33
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,17.40
$XPDR_PINGS,1
$24V_AH,23.6,16.471
$10V_AH,10.3,7.251
$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,20.950,106.950,266.700,50.050,0.000,29.676,32.188,131.255,0.250,0.000,12.657,2164.228,6707.607,438.255,2078.484,349.519,0.000,1491.281,0.000,2054.265,2520.000,0.534,0.000
$DEVICE_MAMPS,312.169,107.380,1072.266,737.087,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,890.459,830.100,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150244
$DATA_FILE_SIZE,47350,1215
$CAP_FILE_SIZE,130581,0
$CFSIZE,260165632,249786368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.0
$CURRENT,0.085, 27.8,1
$GPS,221009,133230,6703.655,-5649.560,35,1.5,35,-37.6