version: 66.06
glider: 143
mission: 10
dive: 14
start: 10 22 109 13 38 34
data:
$ID,143
$MISSION,10
$DIVE,14
$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,-23209.412
$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,24
$R_STBD_OVSHOOT,25
$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
$GPS1,133230,6703.655,-5649.560,35,1.5,35,-37.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-64.3
$GPS2,133814,6703.741,-5649.697,14,1.1,14,-37.6
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_ADD4_WB
$TGT_LATLONG,6659.000,-5735.000
$TGT_RADIUS,10000.000
$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,278.4,33960,-16.9,-9.167
$D_GRID,512
$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,-83.72,0.000,2,0.000,0.000,125,2269,3152,0,0,0,0,0,0
$GC,105,-0.98,-146.0,3.0,-4.7,16,128,9.75,2.72,-6.88,0.000,4,0.311,0.091,2104,666,3400,0,0,0,0,0,0
$GC,134,0.45,-146.0,10.0,-21.3,21,144,1.73,2.60,0.00,0.000,6,0.199,0.071,2567,2253,3401,0,0,0,0,0,0
$GC,481,-0.65,-146.0,29.4,-6.0,83,487,1.10,2.62,0.00,0.000,4,0.146,0.081,2228,3838,3402,0,0,0,0,0,0
$GC,741,-0.88,-146.0,49.6,-7.6,129,748,0.25,2.55,0.00,0.000,6,0.087,0.060,2137,2243,3401,0,0,0,0,0,0
$GC,1085,-0.84,-146.0,89.3,-10.6,190,1090,0.00,2.65,0.00,0.000,4,0.000,0.084,2137,3845,3401,0,0,0,0,0,0
$GC,1344,-0.79,-146.0,114.7,-9.7,223,1349,0.15,2.53,0.00,0.000,6,0.212,0.061,2170,2253,3401,0,0,0,0,0,0
$GC,1669,-0.87,-146.0,140.3,-7.7,253,1673,0.00,2.62,0.00,0.000,4,0.000,0.085,2170,3846,3401,0,0,0,0,0,0
$GC,1926,-0.95,-146.0,160.0,-7.9,275,1933,0.15,2.50,0.00,0.000,6,0.107,0.060,2119,2256,3401,0,0,0,0,0,0
$GC,2251,-0.87,-146.0,193.5,-11.1,306,2256,0.12,2.62,0.00,0.000,4,0.210,0.084,2142,3846,3401,0,0,0,0,0,0
$GC,2508,-0.87,-146.0,218.4,-9.2,328,2515,0.00,2.55,0.00,0.000,6,0.000,0.061,2141,2255,3400,0,0,0,0,0,0
$GC,2833,-0.87,-146.0,246.0,-8.0,359,2837,0.00,2.60,0.00,0.000,4,0.000,0.085,2141,3841,3400,0,0,0,0,0,0
$GC,3089,-0.87,-146.0,268.9,-9.1,381,3095,0.00,2.50,0.00,0.000,6,0.000,0.061,2141,2255,3399,0,0,0,0,0,0
$GC,3414,-0.87,-146.0,297.8,-8.9,412,3419,0.00,2.60,0.00,0.000,4,0.000,0.084,2141,3845,3399,0,0,0,0,0,0
$GC,3672,-0.87,-146.0,320.2,-8.2,434,3678,0.00,2.47,0.00,0.000,6,0.000,0.059,2141,2263,3399,0,0,0,0,0,0
$GC,3997,-0.87,-146.0,347.0,-7.8,465,4001,0.00,2.58,0.00,0.000,4,0.000,0.083,2141,3845,3399,0,0,0,0,0,0
$GC,4254,-0.87,-146.0,367.1,-7.6,487,4260,0.00,2.47,0.00,0.000,6,0.000,0.059,2141,2265,3399,0,0,0,0,0,0
$GC,4579,-0.87,-146.0,393.3,-8.8,518,4583,0.00,2.55,0.00,0.000,4,0.000,0.082,2141,3838,3400,0,0,0,0,0,0
$GC,4836,-0.87,-146.0,416.4,-8.8,540,4843,0.00,2.45,0.00,0.000,6,0.000,0.058,2141,2272,3400,0,0,0,0,0,0
$GC,5161,-0.87,-146.0,444.3,-8.4,571,5165,0.00,2.55,0.00,0.000,4,0.000,0.083,2141,3842,3401,0,0,0,0,0,0
$GC,5417,-0.87,-146.0,465.3,-7.6,593,5424,0.00,2.45,0.00,0.000,6,0.000,0.058,2141,2268,3400,0,0,0,0,0,0
$GC,5742,-0.87,-146.0,490.2,-7.6,624,5747,0.00,2.55,0.00,0.000,4,0.000,0.083,2141,3842,3401,0,0,0,0,0,0
$STATE,5898,end dive,NO_VERTICAL_VELOCITY
$STATE,5898,begin apogee
$GC,5905,-0.24,0.0,491.1,0.0,637,6025,0.65,0.00,116.60,1.043,6,0.137,0.000,2350,2197,2800,0,0,0,0,0,0
$STATE,6026,end apogee,CONTROL_FINISHED_OK
$STATE,6026,begin climb
$GC,6028,0.98,146.0,490.9,0.0,649,6157,1.27,2.78,119.32,1.001,4,0.120,0.080,2751,617,2203,0,0,0,0,0,0
$GC,6409,0.55,146.0,430.3,18.9,683,6416,0.57,2.60,0.00,0.000,6,0.209,0.064,2608,2207,2195,0,0,0,0,0,0
$GC,6734,0.55,146.0,393.2,11.2,714,6738,0.00,2.62,0.00,0.000,4,0.000,0.080,2618,615,2194,0,0,0,0,0,0
$GC,6991,0.49,146.0,364.8,11.0,736,6998,0.12,2.55,0.00,0.000,6,0.187,0.064,2590,2209,2194,0,0,0,0,0,0
$GC,7315,0.49,146.0,333.0,10.0,767,7319,0.00,2.60,0.00,0.000,4,0.000,0.079,2600,612,2193,0,0,0,0,0,0
$GC,7571,0.49,146.0,306.9,10.6,789,7577,0.00,2.55,0.00,0.000,6,0.000,0.064,2600,2195,2193,0,0,0,0,0,0
$GC,7896,0.49,146.0,273.8,10.9,820,7900,0.00,2.55,0.00,0.000,4,0.000,0.081,2611,615,2193,0,0,0,0,0,0
$GC,8152,0.49,146.0,245.9,10.6,842,8159,0.00,2.53,0.00,0.000,6,0.000,0.064,2611,2193,2193,0,0,0,0,0,0
$GC,8477,0.49,146.0,211.8,10.6,873,8482,0.00,2.55,0.00,0.000,4,0.000,0.081,2623,607,2193,0,0,0,0,0,0
$GC,8734,0.49,146.0,184.6,11.4,895,8741,0.10,2.53,0.00,0.000,6,0.176,0.064,2583,2190,2193,0,0,0,0,0,0
$GC,9059,0.63,171.0,158.2,8.1,926,9085,0.15,2.58,19.58,0.811,4,0.106,0.081,2647,615,2101,0,0,0,0,0,0
$GC,9337,0.57,171.0,126.5,12.9,950,9344,0.12,2.50,0.00,0.000,6,0.194,0.064,2619,2194,2098,0,0,0,0,0,0
$GC,9664,0.57,173.3,96.2,9.1,984,9670,0.00,2.55,0.00,0.000,4,0.000,0.081,2628,615,2098,0,0,0,0,0,0
$GC,9923,0.57,173.3,70.2,9.2,1030,9929,0.00,2.50,0.00,0.000,6,0.000,0.066,2628,2198,2097,0,0,0,0,0,0
$GC,10268,0.67,207.5,46.4,7.7,1091,10304,0.00,2.62,29.48,0.777,4,0.000,0.083,2640,617,1952,0,0,0,0,0,0
$GC,10557,0.67,207.5,19.2,10.5,1143,10562,0.00,2.53,0.00,0.000,6,0.000,0.067,2640,2197,1947,0,0,0,0,0,0
$STATE,10746,end climb,SURFACE_DEPTH_REACHED
$STATE,10746,begin surface coast
$FINISH,0.6,1.026484
$STATE,10772,end surface coast,CONTROL_FINISHED_OK
$STATE,10772,begin surface
$SM_CCo,10787,45.40,0.749,0,0,1678,275.23
$SM_GC,1.05,0.00,0.00,45.40,0.000,0.000,0.749,128,2260,1678,-7.20,0.28,275.23
$RAFOS_CLK,668
$RAFOS,3,1256228703,16.433332,16.417500,59,56,55,0,0,0,211,221,157,0,0,0
$RAFOS,2,1256228225,16.299999,16.284721,68,68,63,0,0,0,190,201,171,0,0,0
$RAFOS,1,1256227750,16.166666,16.152779,72,66,62,0,0,0,1025,197,151,0,0,0
$RAFOS,0,1256227262,16.033333,16.017221,66,59,57,0,0,0,212,199,152,0,0,0
$RAFOS_FIX,6648.412598,-5655.337402,221009,080840,4,79,4.56
$IRIDIUM_FIX,6636.54,-5650.71,160199,101036
$TT8_MAMPS,0.029146
$HUMID,46.45
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,17.40
$XPDR_PINGS,0
$24V_AH,23.7,16.575
$10V_AH,10.3,7.321
$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,23.300,97.600,284.975,45.400,0.000,28.523,40.562,162.329,0.000,0.000,16.120,2128.874,6002.720,450.831,2213.803,377.775,0.000,1544.842,0.000,2177.322,1800.000,0.533,0.000
$DEVICE_MAMPS,311.402,125.021,1043.120,748.592,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,859.009,804.760,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150244
$DATA_FILE_SIZE,44158,1181
$CAP_FILE_SIZE,127141,0
$CFSIZE,260165632,249720832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.1
$CURRENT,0.175,309.5,1
$GPS,221009,164051,6705.383,-5653.385,38,2.2,57,-37.6