version: 66.06
glider: 143
mission: 10
dive: 27
start: 10 24 109 2 36 36
data:
$ID,143
$MISSION,10
$DIVE,27
$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,-23459.709
$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,22
$R_STBD_OVSHOOT,24
$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
$GPS1,023101,6712.592,-5711.573,36,1.5,36,-37.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-67.3
$GPS2,023619,6712.665,-5711.500,10,1.3,15,-37.9
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6702.517,-5720.969
$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,237.9,20000,-16.9,-9.167
$D_GRID,500
$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,-146.0,0.0,0.0,0,100,0.00,0.00,-81.07,0.000,2,0.000,0.000,123,2506,3105,0,0,0,0,0,0
$GC,102,-0.98,-146.0,3.2,-5.8,16,129,9.70,2.40,-8.02,0.000,4,0.310,0.101,2104,3901,3399,0,0,0,0,0,0
$GC,299,-0.77,-146.0,36.2,-15.3,51,306,0.28,2.25,0.00,0.000,6,0.210,0.058,2173,2498,3401,0,0,0,0,0,0
$GC,644,-0.77,-146.0,70.7,-7.7,112,649,0.00,2.35,0.00,0.000,4,0.000,0.087,2173,3905,3402,0,0,0,0,0,0
$GC,717,-0.77,-146.0,76.7,-8.5,125,723,0.00,2.35,0.00,0.000,6,0.000,0.059,2173,2428,3401,0,0,0,0,0,0
$GC,1061,-0.83,-146.0,108.2,-9.2,179,1065,0.00,2.47,0.00,0.000,4,0.000,0.087,2173,3911,3400,0,0,0,0,0,0
$GC,1145,-0.90,-146.0,116.2,-10.1,186,1150,0.00,2.40,0.00,0.000,6,0.000,0.060,2173,2396,3400,0,0,0,0,0,0
$GC,1470,-0.97,-146.0,144.3,-8.0,217,1475,0.17,2.50,0.00,0.000,4,0.103,0.084,2101,3906,3400,0,0,0,0,0,0
$GC,1480,-0.97,-146.0,145.2,-8.2,217,1486,0.00,2.40,0.00,0.000,6,0.000,0.058,2101,2386,3399,0,0,0,0,0,0
$GC,1805,-0.80,-146.0,179.8,-10.7,248,1810,0.25,2.50,0.00,0.000,4,0.214,0.083,2158,3906,3400,0,0,0,0,0,0
$GC,1860,-0.86,-146.0,184.8,-8.7,252,1866,0.00,2.38,0.00,0.000,6,0.000,0.058,2158,2392,3399,0,0,0,0,0,0
$GC,2186,-0.86,-146.0,210.3,-7.8,283,2191,0.00,2.50,0.00,0.000,4,0.000,0.085,2158,3916,3399,0,0,0,0,0,0
$GC,2226,-0.91,-146.0,213.5,-8.1,286,2230,0.00,2.40,0.00,0.000,6,0.000,0.059,2158,2389,3399,0,0,0,0,0,0
$GC,2550,-0.91,-146.0,238.8,-7.8,316,2555,0.00,2.50,0.00,0.000,4,0.000,0.086,2158,3912,3399,0,0,0,0,0,0
$GC,2601,-0.96,-146.0,243.0,-8.4,320,2607,0.12,2.38,0.00,0.000,6,0.114,0.058,2114,2397,3399,0,0,0,0,0,0
$GC,2926,-0.86,-146.0,276.5,-10.4,351,2931,0.15,2.50,0.00,0.000,4,0.212,0.084,2142,3915,3399,0,0,0,0,0,0
$GC,2970,-0.86,-146.0,281.1,-9.5,354,2976,0.00,2.42,0.00,0.000,6,0.000,0.058,2141,2392,3399,0,0,0,0,0,0
$GC,3297,-0.86,-146.0,310.0,-8.8,385,3301,0.00,2.47,0.00,0.000,4,0.000,0.084,2142,3907,3399,0,0,0,0,0,0
$GC,3330,-0.86,-146.0,312.8,-8.6,387,3336,0.00,2.35,0.00,0.000,6,0.000,0.057,2142,2401,3399,0,0,0,0,0,0
$GC,3655,-0.86,-146.0,339.1,-8.2,418,3659,0.00,2.35,0.00,0.000,4,0.000,0.076,2141,914,3399,0,0,0,0,0,0
$GC,3671,-0.86,-146.0,340.6,-8.4,419,3676,0.00,2.33,0.00,0.000,6,0.000,0.069,2142,2388,3399,0,0,0,0,0,0
$GC,3995,-0.86,-146.0,365.9,-7.7,450,4000,0.00,2.45,0.00,0.000,4,0.000,0.084,2141,3906,3400,0,0,0,0,0,0
$GC,4006,-0.86,-146.0,366.7,-7.5,450,4011,0.00,2.35,0.00,0.000,6,0.000,0.058,2141,2396,3399,0,0,0,0,0,0
$GC,4330,-0.86,-146.0,392.4,-8.4,481,4334,0.00,2.45,0.00,0.000,4,0.000,0.084,2141,3907,3400,0,0,0,0,0,0
$GC,4380,-0.86,-146.0,396.8,-8.7,485,4384,0.00,2.35,0.00,0.000,6,0.000,0.058,2142,2396,3399,0,0,0,0,0,0
$GC,4704,-0.86,-146.0,422.8,-7.9,515,4708,0.00,2.45,0.00,0.000,4,0.000,0.084,2141,3906,3400,0,0,0,0,0,0
$GC,4755,-0.86,-146.0,426.9,-7.9,519,4759,0.00,2.35,0.00,0.000,6,0.000,0.057,2141,2396,3400,0,0,0,0,0,0
$GC,5079,-0.86,-146.0,452.4,-7.4,549,5083,0.00,2.45,0.00,0.000,4,0.000,0.083,2142,3906,3400,0,0,0,0,0,0
$GC,5095,-0.86,-146.0,453.7,-7.4,550,5099,0.00,2.35,0.00,0.000,6,0.000,0.057,2141,2395,3400,0,0,0,0,0,0
$GC,5419,-0.86,-146.0,478.1,-7.4,580,5423,0.00,2.45,0.00,0.000,4,0.000,0.082,2142,3907,3401,0,0,0,0,0,0
$GC,5447,-0.86,-146.0,480.1,-7.9,582,5451,0.00,2.35,0.00,0.000,6,0.000,0.057,2141,2392,3401,0,0,0,0,0,0
$STATE,5737,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5738,begin apogee
$GC,5742,-0.24,0.0,500.2,7.6,609,5863,0.73,0.00,116.57,1.046,6,0.179,0.000,2350,2289,2800,0,0,0,0,0,0
$STATE,5864,end apogee,CONTROL_FINISHED_OK
$STATE,5864,begin climb
$GC,5865,0.98,146.0,500.6,0.0,621,5993,1.25,2.72,119.40,1.001,4,0.114,0.075,2751,724,2202,0,0,0,0,0,0
$GC,6245,0.54,146.0,435.1,19.2,655,6252,0.57,2.60,0.00,0.000,6,0.204,0.062,2607,2305,2194,0,0,0,0,0,0
$GC,6570,0.54,146.0,397.9,11.1,686,6574,0.00,2.60,0.00,0.000,4,0.000,0.077,2617,724,2193,0,0,0,0,0,0
$GC,6827,0.49,146.0,368.2,11.4,708,6833,0.00,2.55,0.00,0.000,6,0.000,0.063,2617,2319,2193,0,0,0,0,0,0
$GC,7152,0.44,146.0,332.5,11.1,739,7157,0.17,2.58,0.00,0.000,4,0.189,0.080,2570,3891,2193,0,0,0,0,0,0
$GC,7192,0.44,146.0,328.4,10.5,742,7196,0.00,2.50,0.00,0.000,6,0.000,0.060,2580,2325,2191,0,0,0,0,0,0
$GC,7516,0.51,163.7,300.2,8.4,772,7537,0.00,2.67,13.70,0.855,4,0.000,0.078,2592,710,2131,0,0,0,0,0,0
$GC,7790,0.59,179.6,275.9,8.5,796,7810,0.00,2.55,14.20,0.854,6,0.000,0.064,2591,2314,2068,0,0,0,0,0,0
$GC,8136,0.63,180.9,244.5,9.1,829,8141,0.12,2.62,0.00,0.000,4,0.112,0.077,2648,711,2064,0,0,0,0,0,0
$GC,8393,0.55,180.9,212.6,12.3,851,8400,0.15,2.58,0.00,0.000,6,0.193,0.064,2613,2331,2063,0,0,0,0,0,0
$GC,8718,0.55,180.9,175.0,11.1,882,8722,0.00,2.60,0.00,0.000,4,0.000,0.077,2622,714,2063,0,0,0,0,0,0
$GC,8974,0.55,180.9,145.3,11.6,904,8981,0.00,2.62,0.00,0.000,6,0.000,0.064,2622,2373,2064,0,0,0,0,0,0
$GC,9299,0.55,180.9,109.4,10.7,935,9303,0.00,2.45,0.00,0.000,4,0.000,0.081,2622,3886,2063,0,0,0,0,0,0
$GC,9349,0.48,180.9,103.7,11.9,939,9354,0.17,2.45,0.00,0.000,6,0.191,0.061,2592,2339,2063,0,0,0,0,0,0
$GC,9690,0.63,199.8,74.4,8.4,995,9717,0.12,2.70,17.02,0.773,4,0.117,0.079,2645,707,1984,0,0,0,0,0,0
$GC,9970,0.63,199.8,43.3,10.8,1045,9976,0.00,2.60,0.00,0.000,6,0.000,0.064,2645,2343,1981,0,0,0,0,0,0
$GC,10313,0.63,199.8,11.7,9.3,1106,10319,0.00,2.58,0.00,0.000,4,0.000,0.080,2656,714,1981,0,0,0,0,0,0
$STATE,10413,end climb,SURFACE_DEPTH_REACHED
$STATE,10413,begin surface coast
$FINISH,1.2,1.026271
$STATE,10421,end surface coast,CONTROL_FINISHED_OK
$STATE,10421,begin surface
$SM_CCo,10440,49.10,0.748,0,0,1677,275.23
$SM_GC,1.04,0.00,0.00,49.10,0.000,0.000,0.748,124,2501,1677,-7.21,0.03,275.23
$RAFOS_CLK,642
$RAFOS,6,1256359748,4.833333,4.818889,82,68,59,0,0,0,745,209,133,0,0,0
$RAFOS,5,1256359267,4.700000,4.685278,131,66,60,0,0,0,622,205,149,0,0,0
$RAFOS,4,1256358786,4.566667,4.551667,72,56,53,0,0,0,850,166,184,0,0,0
$RAFOS,3,1256358311,4.433333,4.419722,72,71,57,0,0,0,205,965,150,0,0,0
$RAFOS,2,1256357821,4.300000,4.283611,67,61,56,0,0,0,201,162,219,0,0,0
$RAFOS,1,1256357342,4.166667,4.150556,60,59,57,0,0,0,227,147,216,0,0,0
$RAFOS,0,1256356862,4.033333,4.017222,62,55,54,0,0,0,196,179,116,0,0,0
$RAFOS_FIX,6712.149902,-5715.242676,241009,040444,3,95,0.37
$IRIDIUM_FIX,6641.98,-5715.55,170199,232329
$TT8_MAMPS,0.027612
$HUMID,45.78
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,17.30
$XPDR_PINGS,4
$24V_AH,23.7,17.880
$10V_AH,10.3,8.135
$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,21.150,119.225,280.900,49.100,0.000,24.535,33.450,147.197,1.000,0.000,17.383,1913.173,6168.196,452.062,1918.194,361.794,0.000,1444.623,0.000,1886.389,2520.000,0.534,0.000
$DEVICE_MAMPS,309.868,101.244,1046.188,747.825,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,822.223,765.473,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150624
$DATA_FILE_SIZE,44122,1125
$CAP_FILE_SIZE,128301,0
$CFSIZE,260165632,248909824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.4
$GPS,241009,053301,6712.943,-5712.221,39,1.4,39,-37.9