version: 66.06
glider: 143
mission: 10
dive: 16
start: 10 22 109 19 38 51
data:
$ID,143
$MISSION,10
$DIVE,16
$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,-23239.514
$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,24
$R_STBD_OVSHOOT,19
$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
$GPS1,193337,6706.062,-5655.947,28,1.0,28,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-64.8
$GPS2,193832,6706.126,-5655.975,15,1.0,15,-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,284.5,31189,-16.9,-9.167
$D_GRID,492
$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,-146.0,0.0,0.0,0,107,0.00,0.00,-88.95,0.000,2,0.000,0.000,127,2254,3277,0,0,0,0,0,0
$GC,109,-0.98,-146.0,3.5,-6.8,17,132,9.62,2.67,-3.00,0.000,4,0.308,0.092,2106,666,3400,0,0,0,0,0,0
$GC,138,0.59,-146.0,12.6,-28.5,22,149,1.88,2.60,0.00,0.000,6,0.194,0.070,2616,2255,3402,0,0,0,0,0,0
$GC,487,-0.55,-146.0,31.6,-5.6,84,493,1.30,2.62,0.00,0.000,4,0.201,0.080,2255,3842,3403,0,0,0,0,0,0
$GC,501,-1.63,-146.0,32.7,-6.5,86,507,1.00,2.53,0.00,0.000,6,0.069,0.058,1897,2260,3402,0,0,0,0,0,0
$GC,843,-0.91,-146.0,105.2,-20.4,145,849,0.93,2.62,0.00,0.000,4,0.252,0.081,2114,3846,3402,0,0,0,0,0,0
$GC,1102,-0.79,-146.0,137.5,-11.8,167,1108,0.25,2.47,0.00,0.000,6,0.207,0.059,2174,2283,3401,0,0,0,0,0,0
$GC,1427,-0.87,-146.0,165.9,-8.9,198,1432,0.00,2.58,0.00,0.000,4,0.000,0.085,2174,3843,3402,0,0,0,0,0,0
$GC,1684,-1.01,-146.0,189.3,-9.2,220,1691,0.22,2.45,0.00,0.000,6,0.099,0.059,2097,2288,3401,0,0,0,0,0,0
$GC,2009,-0.88,-146.0,227.1,-12.0,251,2014,0.20,2.55,0.00,0.000,4,0.209,0.083,2141,3838,3401,0,0,0,0,0,0
$GC,2266,-0.88,-146.0,254.8,-10.4,273,2273,0.00,2.47,0.00,0.000,6,0.000,0.060,2141,2296,3401,0,0,0,0,0,0
$GC,2592,-0.88,-146.0,283.2,-7.4,304,2597,0.00,2.53,0.00,0.000,4,0.000,0.085,2141,3838,3400,0,0,0,0,0,0
$GC,2849,-0.88,-146.0,301.7,-6.3,326,2855,0.00,2.42,0.00,0.000,6,0.000,0.060,2141,2294,3400,0,0,0,0,0,0
$GC,3174,-0.88,-146.0,326.6,-9.0,357,3178,0.00,2.53,0.00,0.000,4,0.000,0.084,2142,3839,3400,0,0,0,0,0,0
$GC,3431,-0.88,-146.0,351.0,-9.0,379,3437,0.00,2.40,0.00,0.000,6,0.000,0.059,2142,2299,3399,0,0,0,0,0,0
$GC,3756,-0.88,-146.0,380.1,-8.8,410,3761,0.00,2.50,0.00,0.000,4,0.000,0.083,2141,3839,3400,0,0,0,0,0,0
$GC,4014,-0.88,-146.0,397.6,-6.4,432,4020,0.00,2.40,0.00,0.000,6,0.000,0.058,2141,2299,3400,0,0,0,0,0,0
$GC,4338,-0.88,-146.0,421.3,-7.6,463,4343,0.00,2.50,0.00,0.000,4,0.000,0.083,2141,3839,3400,0,0,0,0,0,0
$GC,4596,-0.88,-146.0,442.2,-8.6,485,4603,0.00,2.40,0.00,0.000,6,0.000,0.058,2141,2298,3401,0,0,0,0,0,0
$GC,4920,-0.88,-146.0,468.1,-9.5,516,4925,0.00,2.50,0.00,0.000,4,0.000,0.082,2142,3839,3400,0,0,0,0,0,0
$GC,5178,-1.68,-146.0,480.4,-0.2,538,5184,0.73,2.40,0.00,0.000,6,0.100,0.058,1894,2296,3401,0,0,0,0,0,0
$STATE,5203,end dive,NO_VERTICAL_VELOCITY
$STATE,5203,begin apogee
$GC,5208,-0.24,0.0,480.4,0.0,541,5329,1.50,0.00,116.53,1.039,6,0.159,0.000,2349,2197,2800,0,0,0,0,0,0
$STATE,5330,end apogee,CONTROL_FINISHED_OK
$STATE,5330,begin climb
$GC,5332,0.98,146.0,480.3,0.0,553,5460,1.25,2.78,119.10,0.995,4,0.110,0.079,2753,616,2202,0,0,0,0,0,0
$GC,5713,0.54,146.0,416.5,20.6,587,5719,0.57,2.60,0.00,0.000,6,0.203,0.064,2609,2202,2195,0,0,0,0,0,0
$GC,6038,0.54,146.0,377.3,11.4,618,6042,0.00,2.62,0.00,0.000,4,0.000,0.080,2618,610,2194,0,0,0,0,0,0
$GC,6295,0.49,146.0,346.4,11.8,640,6301,0.00,2.55,0.00,0.000,6,0.000,0.064,2618,2205,2194,0,0,0,0,0,0
$GC,6621,0.43,146.0,308.9,11.2,671,6626,0.20,2.60,0.00,0.000,4,0.185,0.078,2578,608,2193,0,0,0,0,0,0
$GC,6879,0.51,152.3,285.4,8.9,693,6889,0.00,2.50,5.05,0.694,6,0.000,0.063,2578,2191,2177,0,0,0,0,0,0
$GC,7208,0.57,152.3,254.8,9.2,724,7213,0.12,2.58,0.00,0.000,4,0.110,0.080,2636,608,2177,0,0,0,0,0,0
$GC,7466,0.48,152.3,224.2,11.7,746,7472,0.20,2.50,0.00,0.000,6,0.186,0.063,2587,2195,2177,0,0,0,0,0,0
$GC,7790,0.55,152.3,193.4,9.5,777,7795,0.00,2.55,0.00,0.000,4,0.000,0.080,2596,610,2177,0,0,0,0,0,0
$GC,8047,0.63,152.3,166.9,9.6,799,8054,0.10,2.47,0.00,0.000,6,0.131,0.063,2632,2188,2177,0,0,0,0,0,0
$GC,8373,0.58,152.3,130.6,10.6,830,8377,0.00,2.53,0.00,0.000,4,0.000,0.081,2643,616,2177,0,0,0,0,0,0
$GC,8630,0.51,152.3,104.6,9.7,852,8636,0.17,2.45,0.00,0.000,6,0.189,0.065,2600,2182,2177,0,0,0,0,0,0
$GC,8970,0.67,213.1,80.7,6.6,908,9028,0.15,2.65,48.90,0.795,4,0.108,0.082,2664,622,1929,0,0,0,0,0,0
$GC,9282,0.67,213.1,45.9,11.5,964,9288,0.00,2.50,0.00,0.000,6,0.000,0.065,2663,2181,1921,0,0,0,0,0,0
$GC,9625,0.67,213.1,9.3,12.2,1025,9631,0.00,2.55,0.00,0.000,4,0.000,0.083,2675,619,1919,0,0,0,0,0,0
$STATE,9686,end climb,SURFACE_DEPTH_REACHED
$STATE,9686,begin surface coast
$FINISH,0.6,1.026462
$STATE,9699,end surface coast,CONTROL_FINISHED_OK
$STATE,9699,begin surface
$SM_CCo,9716,40.08,0.749,0,0,1677,275.23
$SM_GC,0.93,0.00,0.00,40.08,0.000,0.000,0.749,129,2255,1677,-7.19,0.11,275.23
$RAFOS_CLK,598
$RAFOS,6,1256244551,20.833334,20.819723,67,59,57,0,0,0,218,784,206,0,0,0
$RAFOS,5,1256244063,20.700001,20.684166,83,59,59,0,0,0,647,195,180,0,0,0
$RAFOS,4,1256243581,20.566668,20.550278,59,58,58,0,0,0,193,159,124,0,0,0
$RAFOS,3,1256243106,20.433332,20.418333,73,60,58,0,0,0,206,170,194,0,0,0
$RAFOS,2,1256242622,20.299999,20.283890,70,59,59,0,0,0,173,147,197,0,0,0
$RAFOS,1,1256242147,20.166666,20.151945,65,58,55,0,0,0,194,211,174,0,0,0
$RAFOS,0,1256241670,20.033333,20.019444,66,62,61,0,0,0,196,177,209,0,0,0
$RAFOS_FIX,6705.949707,-5655.068359,221009,161642,3,75,0.00
$IRIDIUM_FIX,6636.54,-5647.69,160199,161619
$TT8_MAMPS,0.027612
$HUMID,47.28
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,17.30
$XPDR_PINGS,3
$24V_AH,23.7,16.776
$10V_AH,10.3,7.446
$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,27.750,91.375,289.575,40.075,0.000,25.850,33.452,127.419,0.750,0.000,17.184,1881.709,5395.347,446.037,2002.034,326.198,0.000,1447.055,0.000,1966.769,2520.000,0.533,0.000
$DEVICE_MAMPS,308.334,103.545,1038.518,749.359,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,753.670,706.260,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150276
$DATA_FILE_SIZE,41056,1038
$CAP_FILE_SIZE,118621,0
$CFSIZE,260165632,249606144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.4
$CURRENT,0.114,159.2,1
$GPS,221009,222255,6706.501,-5656.162,40,0.9,40,-37.6