version: 66.06
glider: 143
mission: 10
dive: 26
start: 10 23 109 23 30 37
data:
$ID,143
$MISSION,10
$DIVE,26
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,200
$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,-23441.699
$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,2500
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,22
$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
$GPS1,232507,6712.251,-5711.704,35,1.0,35,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-66.6
$GPS2,233020,6712.300,-5711.761,12,1.1,12,-37.8
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6702.152,-5721.228
$TGT_RADIUS,1852.000
$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,237.8,20000,-16.9,-9.167
$D_GRID,540
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.98,-146.0,0.0,0.0,0,104,0.00,0.00,-84.75,0.000,2,0.000,0.000,123,2506,3214,0,0,0,0,0,0
$GC,106,-0.98,-146.0,4.0,-9.0,17,128,9.77,2.65,-4.50,0.000,4,0.311,0.089,2105,911,3400,0,0,0,0,0,0
$GC,134,0.56,-146.0,12.7,-29.1,22,144,1.85,2.60,0.00,0.000,6,0.196,0.071,2606,2496,3401,0,0,0,0,0,0
$GC,483,-0.45,-146.0,32.0,-5.2,84,489,1.15,2.35,0.00,0.000,4,0.200,0.081,2282,3919,3402,0,0,0,0,0,0
$GC,495,-1.54,-146.0,32.8,-6.1,86,501,1.00,2.28,0.00,0.000,6,0.074,0.059,1927,2493,3401,0,0,0,0,0,0
$GC,844,-0.89,-146.0,105.7,-22.1,146,846,0.88,0.00,0.00,0.000,6,0.245,0.000,2139,2492,3401,0,0,0,0,0,0
$GC,1162,-0.89,-146.0,137.2,-8.2,176,1166,0.00,2.35,0.00,0.000,4,0.000,0.087,2139,3913,3400,0,0,0,0,0,0
$GC,1189,-0.89,-146.0,139.4,-8.0,178,1194,0.00,2.20,0.00,0.000,6,0.000,0.059,2140,2521,3400,0,0,0,0,0,0
$GC,1515,-0.89,-146.0,165.2,-8.0,208,1519,0.00,2.30,0.00,0.000,4,0.000,0.087,2140,3915,3400,0,0,0,0,0,0
$GC,1525,-0.89,-146.0,166.3,-8.0,208,1531,0.00,2.22,0.00,0.000,6,0.000,0.059,2140,2527,3400,0,0,0,0,0,0
$GC,1850,-0.89,-146.0,191.7,-7.9,239,1854,0.00,2.58,0.00,0.000,4,0.000,0.078,2140,910,3399,0,0,0,0,0,0
$GC,1860,-0.89,-146.0,192.6,-8.2,239,1866,0.00,2.62,0.00,0.000,6,0.000,0.072,2140,2547,3400,0,0,0,0,0,0
$GC,2185,-0.89,-146.0,220.2,-8.3,270,2189,0.00,2.22,0.00,0.000,4,0.000,0.087,2140,3914,3399,0,0,0,0,0,0
$GC,2441,-0.89,-146.0,244.1,-9.6,292,2448,0.00,2.25,0.00,0.000,6,0.000,0.059,2140,2508,3400,0,0,0,0,0,0
$GC,2768,-0.89,-146.0,273.1,-8.3,323,2772,0.00,2.53,0.00,0.000,4,0.000,0.077,2140,913,3399,0,0,0,0,0,0
$GC,2897,-0.89,-146.0,284.8,-9.2,334,2901,0.00,2.55,0.00,0.000,6,0.000,0.070,2140,2518,3399,0,0,0,0,0,0
$GC,3221,-0.89,-146.0,310.2,-7.8,364,3225,0.00,2.58,0.00,0.000,4,0.000,0.077,2140,905,3399,0,0,0,0,0,0
$GC,3237,-0.89,-146.0,311.5,-8.1,365,3241,0.00,2.58,0.00,0.000,6,0.000,0.071,2140,2521,3399,0,0,0,0,0,0
$GC,3561,-0.89,-146.0,339.0,-8.7,395,3566,0.00,2.58,0.00,0.000,4,0.000,0.077,2140,912,3399,0,0,0,0,0,0
$GC,3571,-0.89,-146.0,340.1,-9.1,395,3577,0.00,2.55,0.00,0.000,6,0.000,0.070,2140,2521,3399,0,0,0,0,0,0
$GC,3896,-0.89,-146.0,367.6,-8.2,426,3900,0.00,2.25,0.00,0.000,4,0.000,0.085,2140,3914,3399,0,0,0,0,0,0
$GC,3907,-0.89,-146.0,368.5,-8.1,426,3912,0.00,2.30,0.00,0.000,6,0.000,0.058,2140,2441,3399,0,0,0,0,0,0
$GC,4234,-0.89,-146.0,395.3,-8.0,457,4238,0.00,2.40,0.00,0.000,4,0.000,0.084,2140,3915,3399,0,0,0,0,0,0
$GC,4244,-0.89,-146.0,396.5,-8.5,457,4250,0.00,2.40,0.00,0.000,6,0.000,0.058,2140,2381,3400,0,0,0,0,0,0
$GC,4569,-0.89,-146.0,424.4,-8.6,488,4573,0.00,2.30,0.00,0.000,4,0.000,0.076,2140,912,3400,0,0,0,0,0,0
$GC,4579,-0.89,-146.0,425.3,-8.5,488,4584,0.00,2.30,0.00,0.000,6,0.000,0.069,2140,2372,3400,0,0,0,0,0,0
$GC,4903,-0.89,-146.0,451.5,-7.3,519,4908,0.00,2.50,0.00,0.000,4,0.000,0.084,2140,3918,3400,0,0,0,0,0,0
$GC,4942,-0.89,-146.0,454.6,-8.3,522,4946,0.00,2.42,0.00,0.000,6,0.000,0.058,2140,2365,3400,0,0,0,0,0,0
$GC,5267,-0.89,-146.0,479.5,-7.7,552,5271,0.00,2.53,0.00,0.000,4,0.000,0.084,2140,3915,3401,0,0,0,0,0,0
$GC,5305,-0.89,-146.0,482.7,-8.1,555,5310,0.00,2.42,0.00,0.000,6,0.000,0.058,2140,2365,3401,0,0,0,0,0,0
$GC,5631,-0.89,-146.0,508.3,-8.0,585,5636,0.00,2.53,0.00,0.000,4,0.000,0.083,2140,3917,3401,0,0,0,0,0,0
$GC,5697,-0.89,-146.0,513.8,-8.2,590,5703,0.00,2.40,0.00,0.000,6,0.000,0.058,2140,2375,3401,0,0,0,0,0,0
$STATE,5893,end dive,NO_VERTICAL_VELOCITY
$STATE,5893,begin apogee
$GC,5898,-0.24,0.0,516.0,0.0,609,6019,0.68,0.00,117.07,1.056,6,0.135,0.000,2354,2290,2799,0,0,0,0,0,0
$STATE,6020,end apogee,CONTROL_FINISHED_OK
$STATE,6020,begin climb
$GC,6021,0.98,146.0,515.8,0.0,621,6155,1.25,2.80,119.72,1.012,4,0.118,0.077,2752,722,2201,0,0,0,0,0,0
$GC,6407,0.55,146.0,450.7,18.6,656,6414,0.57,2.60,0.00,0.000,6,0.207,0.064,2610,2308,2194,0,0,0,0,0,0
$GC,6732,0.50,146.0,411.2,12.1,687,6736,0.00,2.65,0.00,0.000,4,0.000,0.081,2609,3892,2193,0,0,0,0,0,0
$GC,6804,0.41,146.0,401.6,12.9,693,6810,0.22,2.58,0.00,0.000,6,0.192,0.061,2565,2301,2192,0,0,0,0,0,0
$GC,7129,0.50,146.0,369.6,9.7,723,7133,0.00,2.58,0.00,0.000,4,0.000,0.078,2575,707,2192,0,0,0,0,0,0
$GC,7386,0.58,146.0,343.7,10.6,745,7392,0.12,2.50,0.00,0.000,6,0.120,0.063,2617,2289,2192,0,0,0,0,0,0
$GC,7711,0.53,146.0,304.2,12.2,776,7715,0.00,2.55,0.00,0.000,4,0.000,0.078,2629,710,2192,0,0,0,0,0,0
$GC,7968,0.46,146.0,270.3,12.9,798,7975,0.20,2.55,0.00,0.000,6,0.191,0.064,2579,2323,2192,0,0,0,0,0,0
$GC,8293,0.54,146.0,236.8,10.8,829,8297,0.00,2.60,0.00,0.000,4,0.000,0.078,2589,706,2192,0,0,0,0,0,0
$GC,8550,0.60,146.0,210.0,10.4,851,8556,0.10,2.55,0.00,0.000,6,0.133,0.064,2624,2324,2191,0,0,0,0,0,0
$GC,8875,0.54,146.0,173.9,10.6,882,8879,0.00,2.58,0.00,0.000,4,0.000,0.077,2635,713,2192,0,0,0,0,0,0
$GC,9131,0.48,146.0,148.2,10.1,904,9138,0.20,2.53,0.00,0.000,6,0.186,0.064,2586,2322,2192,0,0,0,0,0,0
$GC,9457,0.60,165.8,123.2,8.3,935,9479,0.12,2.62,15.38,0.777,4,0.117,0.077,2640,703,2122,0,0,0,0,0,0
$GC,9732,0.60,165.8,88.9,12.8,967,9738,0.00,2.55,0.00,0.000,6,0.000,0.064,2640,2313,2119,0,0,0,0,0,0
$GC,10075,0.60,165.8,51.6,9.2,1028,10081,0.00,2.58,0.00,0.000,4,0.000,0.080,2651,711,2119,0,0,0,0,0,0
$GC,10336,0.60,167.5,27.5,9.1,1074,10341,0.00,2.50,0.00,0.000,6,0.000,0.065,2651,2299,2118,0,0,0,0,0,0
$STATE,10621,end climb,SURFACE_DEPTH_REACHED
$STATE,10621,begin surface coast
$FINISH,0.3,1.026216
$STATE,10645,end surface coast,CONTROL_FINISHED_OK
$STATE,10645,begin surface
$SM_CCo,10661,61.53,0.739,0,0,1676,275.23
$SM_GC,1.35,0.00,0.00,61.53,0.000,0.000,0.739,123,2505,1676,-7.21,0.14,275.23
$RAFOS_CLK,660
$RAFOS,6,1256345347,0.833333,0.818611,98,59,57,0,0,0,762,202,151,0,0,0
$RAFOS,5,1256344866,0.700000,0.685000,152,67,57,0,0,0,629,192,213,0,0,0
$RAFOS,4,1256344382,0.566667,0.550556,83,63,57,0,0,0,862,218,206,0,0,0
$RAFOS,3,1256343909,0.433333,0.419167,104,64,56,0,0,0,971,208,193,0,0,0
$RAFOS,2,1256343425,0.300000,0.284722,67,62,60,0,0,0,1053,200,119,0,0,0
$RAFOS,1,1256342943,0.166667,0.150833,60,59,57,0,0,0,193,1036,213,0,0,0
$RAFOS,0,1256342465,0.033333,0.018056,67,63,59,0,0,0,1143,231,199,0,0,0
$RAFOS_FIX,6710.166016,-5715.261719,241009,000034,6,95,1.30
$IRIDIUM_FIX,6647.44,-5647.86,170199,202032
$TT8_MAMPS,0.026845
$HUMID,45.66
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,17.50
$XPDR_PINGS,2
$24V_AH,23.7,17.777
$10V_AH,10.3,8.070
$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,25.275,114.475,252.175,61.525,0.000,22.199,34.445,146.289,0.500,0.000,14.418,1936.126,6345.285,449.475,1953.891,364.936,0.000,1452.459,0.000,1927.582,2520.000,0.534,0.000
$DEVICE_MAMPS,311.402,108.147,1056.159,739.388,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,826.181,770.744,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150584
$DATA_FILE_SIZE,44176,1129
$CAP_FILE_SIZE,129194,0
$CFSIZE,260165632,248979456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.2
$GPS,241009,023101,6712.592,-5711.573,36,1.5,36,-37.9