version: 66.06
glider: 143
mission: 10
dive: 15
start: 10 22 109 16 46 22
data:
$ID,143
$MISSION,10
$DIVE,15
$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,-23221.703
$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,21
$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
$GPS1,164051,6705.383,-5653.385,38,2.2,57,-37.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-65.2
$GPS2,164602,6705.480,-5653.524,10,1.4,10,-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,248.4,32343,-16.9,-9.167
$D_GRID,482
$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,-146.0,0.0,0.0,0,105,0.00,0.00,-87.93,0.000,2,0.000,0.000,127,2262,3258,0,0,0,0,0,0
$GC,108,-0.98,-146.0,3.6,-6.6,17,130,9.55,2.67,-3.60,0.000,4,0.305,0.092,2104,670,3398,0,0,0,0,0,0
$GC,141,0.18,-146.0,12.9,-25.0,23,149,1.40,2.58,0.00,0.000,6,0.196,0.070,2480,2249,3400,0,0,0,0,0,0
$GC,485,-0.93,-146.0,32.3,-6.3,84,491,1.08,2.62,0.00,0.000,4,0.128,0.080,2137,3838,3402,0,0,0,0,0,0
$GC,504,-1.58,-146.0,33.6,-6.6,87,510,0.62,2.60,0.00,0.000,6,0.083,0.060,1920,2217,3401,0,0,0,0,0,0
$GC,851,-0.91,-146.0,109.1,-20.7,145,857,0.82,2.70,0.00,0.000,4,0.245,0.084,2126,3837,3401,0,0,0,0,0,0
$GC,1009,-0.83,-146.0,127.0,-10.0,158,1016,0.15,2.55,0.00,0.000,6,0.209,0.060,2160,2235,3401,0,0,0,0,0,0
$GC,1333,-0.83,-146.0,155.5,-8.5,189,1338,0.00,2.67,0.00,0.000,4,0.000,0.085,2160,3846,3400,0,0,0,0,0,0
$GC,1384,-0.88,-146.0,159.8,-8.3,193,1388,0.00,2.55,0.00,0.000,6,0.000,0.060,2161,2240,3400,0,0,0,0,0,0
$GC,1709,-0.95,-146.0,188.3,-9.3,223,1714,0.12,2.65,0.00,0.000,4,0.120,0.083,2106,3838,3400,0,0,0,0,0,0
$GC,1760,-0.84,-146.0,194.1,-11.8,227,1765,0.20,2.55,0.00,0.000,6,0.211,0.061,2153,2225,3400,0,0,0,0,0,0
$GC,2086,-0.84,-146.0,220.3,-7.2,257,2090,0.00,2.65,0.00,0.000,4,0.000,0.085,2153,3837,3399,0,0,0,0,0,0
$GC,2185,-0.89,-146.0,227.7,-7.6,265,2191,0.00,2.53,0.00,0.000,6,0.000,0.061,2153,2239,3399,0,0,0,0,0,0
$GC,2510,-0.94,-146.0,252.1,-8.3,296,2515,0.00,2.62,0.00,0.000,4,0.000,0.084,2153,3839,3399,0,0,0,0,0,0
$GC,2622,-1.00,-146.0,261.8,-8.7,305,2628,0.15,2.53,0.00,0.000,6,0.111,0.061,2103,2239,3399,0,0,0,0,0,0
$GC,2947,-0.89,-146.0,294.2,-9.6,336,2952,0.15,2.65,0.00,0.000,4,0.209,0.084,2137,3845,3399,0,0,0,0,0,0
$GC,3054,-0.89,-146.0,304.2,-9.0,345,3059,0.00,2.53,0.00,0.000,6,0.000,0.060,2137,2242,3398,0,0,0,0,0,0
$GC,3379,-0.89,-146.0,330.7,-6.8,375,3383,0.00,2.60,0.00,0.000,4,0.000,0.084,2138,3838,3398,0,0,0,0,0,0
$GC,3501,-0.89,-146.0,339.5,-6.6,385,3507,0.00,2.47,0.00,0.000,6,0.000,0.059,2137,2258,3398,0,0,0,0,0,0
$GC,3826,-0.89,-146.0,361.8,-7.4,416,3830,0.00,2.58,0.00,0.000,4,0.000,0.082,2137,3840,3398,0,0,0,0,0,0
$GC,3876,-0.89,-146.0,365.6,-7.8,420,3880,0.00,2.47,0.00,0.000,6,0.000,0.059,2138,2259,3398,0,0,0,0,0,0
$GC,4200,-0.89,-146.0,391.8,-8.4,450,4204,0.00,2.58,0.00,0.000,4,0.000,0.081,2137,3842,3399,0,0,0,0,0,0
$GC,4277,-0.89,-146.0,398.6,-8.4,456,4283,0.00,2.47,0.00,0.000,6,0.000,0.058,2137,2259,3399,0,0,0,0,0,0
$GC,4602,-0.89,-146.0,424.7,-8.0,487,4607,0.00,2.58,0.00,0.000,4,0.000,0.081,2138,3838,3399,0,0,0,0,0,0
$GC,4664,-0.89,-146.0,429.6,-8.5,492,4668,0.00,2.47,0.00,0.000,6,0.000,0.059,2137,2257,3399,0,0,0,0,0,0
$GC,4988,-0.89,-146.0,454.4,-7.6,522,4992,0.00,2.58,0.00,0.000,4,0.000,0.081,2137,3845,3399,0,0,0,0,0,0
$GC,5031,-0.89,-146.0,457.7,-7.5,525,5037,0.00,2.47,0.00,0.000,6,0.000,0.058,2137,2262,3400,0,0,0,0,0,0
$STATE,5333,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5333,begin apogee
$GC,5338,-0.24,0.0,482.6,8.5,554,5458,0.73,0.00,116.43,1.038,6,0.183,0.000,2345,2198,2800,0,0,0,0,0,0
$STATE,5459,end apogee,CONTROL_FINISHED_OK
$STATE,5459,begin climb
$GC,5461,0.98,146.0,485.7,0.0,566,5590,1.27,2.78,119.38,0.996,4,0.120,0.080,2748,617,2203,0,0,0,0,0,0
$GC,5842,0.54,146.0,425.4,19.3,600,5849,0.55,2.60,0.00,0.000,6,0.206,0.063,2612,2203,2195,0,0,0,0,0,0
$GC,6168,0.49,146.0,388.3,10.8,631,6172,0.00,2.62,0.00,0.000,4,0.000,0.080,2621,611,2194,0,0,0,0,0,0
$GC,6424,0.43,146.0,358.6,11.9,653,6431,0.20,2.53,0.00,0.000,6,0.181,0.063,2572,2196,2194,0,0,0,0,0,0
$GC,6749,0.51,146.0,330.0,9.6,684,6754,0.00,2.58,0.00,0.000,4,0.000,0.080,2582,611,2193,0,0,0,0,0,0
$GC,7007,0.57,146.0,305.0,9.7,706,7014,0.00,2.50,0.00,0.000,6,0.000,0.063,2581,2193,2193,0,0,0,0,0,0
$GC,7332,0.66,166.7,277.0,8.3,737,7355,0.17,2.60,15.95,0.865,4,0.094,0.078,2655,611,2121,0,0,0,0,0,0
$GC,7607,0.53,166.7,242.1,12.5,761,7614,0.22,2.53,0.00,0.000,6,0.194,0.064,2600,2202,2118,0,0,0,0,0,0
$GC,7932,0.58,166.7,209.5,10.4,792,7936,0.00,2.58,0.00,0.000,4,0.000,0.080,2609,609,2118,0,0,0,0,0,0
$GC,8189,0.61,196.2,184.9,7.9,814,8219,0.00,2.50,25.12,0.844,6,0.000,0.064,2609,2197,1999,0,0,0,0,0,0
$GC,8545,0.66,196.2,153.2,9.6,848,8550,0.10,2.60,0.00,0.000,4,0.123,0.081,2660,615,1994,0,0,0,0,0,0
$GC,8802,0.59,196.2,118.9,14.1,870,8809,0.15,2.50,0.00,0.000,6,0.192,0.065,2626,2191,1993,0,0,0,0,0,0
$GC,9136,0.64,196.2,80.7,9.5,916,9141,0.00,2.55,0.00,0.000,4,0.000,0.082,2635,615,1993,0,0,0,0,0,0
$GC,9394,0.70,196.2,50.6,12.4,962,9401,0.00,2.50,0.00,0.000,6,0.000,0.066,2635,2195,1992,0,0,0,0,0,0
$GC,9738,0.70,196.2,15.9,9.9,1023,9744,0.00,2.55,0.00,0.000,4,0.000,0.083,2647,616,1991,0,0,0,0,0,0
$STATE,9872,end climb,SURFACE_DEPTH_REACHED
$STATE,9872,begin surface coast
$FINISH,0.3,1.026477
$STATE,9889,end surface coast,CONTROL_FINISHED_OK
$STATE,9889,begin surface
$SM_CCo,9907,47.55,0.751,0,0,1677,275.23
$SM_GC,1.08,0.00,0.00,47.55,0.000,0.000,0.751,127,2254,1677,-7.20,0.08,275.23
$RAFOS_CLK,612
$RAFOS,6,1256230146,16.833334,16.818333,70,67,58,0,0,0,816,215,112,0,0,0
$RAFOS,4,1256229185,16.566668,16.551390,83,62,61,0,0,0,881,149,169,0,0,0
$RAFOS_FIX,6705.949707,-5655.068359,221009,161642,3,75,0.00
$IRIDIUM_FIX,6636.54,-5650.71,160199,131300
$TT8_MAMPS,0.027612
$HUMID,47.12
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,17.40
$XPDR_PINGS,4
$24V_AH,23.7,16.676
$10V_AH,10.3,7.383
$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,24.850,108.175,276.875,47.550,0.000,29.798,30.727,145.975,1.000,0.000,11.662,1899.983,5694.901,447.521,1877.906,350.159,0.000,1409.189,0.000,1854.069,360.000,0.534,0.000
$DEVICE_MAMPS,305.266,122.720,1037.751,750.893,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,768.018,715.529,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150272
$DATA_FILE_SIZE,41030,1050
$CAP_FILE_SIZE,121056,0
$CFSIZE,260165632,249663488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.8
$CURRENT,0.030,227.8,1
$GPS,221009,193337,6706.062,-5655.947,28,1.0,28,-37.6