version: 66.06
glider: 143
mission: 10
dive: 28
start: 10 24 109 5 38 18
data:
$ID,143
$MISSION,10
$DIVE,28
$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,-23471.268
$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,23
$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
$GPS1,053301,6712.943,-5712.221,39,1.4,39,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-65.3
$GPS2,053801,6712.993,-5712.229,9,2.0,9,-37.9
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6702.846,-5721.701
$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,521
$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,14,begin dive
$GC,16,-0.98,-146.0,0.0,0.0,0,99,0.00,0.00,-79.95,0.000,2,0.000,0.000,124,2501,3100,0,0,0,0,0,0
$GC,101,-0.98,-146.0,3.2,-5.6,16,128,9.68,2.42,-8.10,0.000,4,0.310,0.100,2103,3911,3399,0,0,0,0,0,0
$GC,221,-0.74,-146.0,24.4,-16.7,37,227,0.32,2.28,0.00,0.000,6,0.202,0.058,2186,2492,3401,0,0,0,0,0,0
$GC,565,-0.81,-146.0,59.2,-9.0,98,571,0.00,2.38,0.00,0.000,4,0.000,0.086,2186,3913,3401,0,0,0,0,0,0
$GC,719,-0.87,-146.0,72.5,-8.1,125,725,0.12,2.25,0.00,0.000,6,0.120,0.059,2145,2497,3400,0,0,0,0,0,0
$GC,1059,-0.87,-146.0,107.1,-10.5,180,1063,0.00,2.35,0.00,0.000,4,0.000,0.086,2144,3917,3399,0,0,0,0,0,0
$GC,1075,-0.82,-146.0,108.9,-10.9,181,1079,0.00,2.22,0.00,0.000,6,0.000,0.059,2144,2508,3399,0,0,0,0,0,0
$GC,1399,-0.82,-146.0,143.2,-10.2,211,1403,0.00,2.55,0.00,0.000,4,0.000,0.078,2144,910,3399,0,0,0,0,0,0
$GC,1409,-0.78,-146.0,144.3,-10.3,211,1415,0.15,2.58,0.00,0.000,6,0.223,0.071,2177,2514,3399,0,0,0,0,0,0
$GC,1734,-0.87,-146.0,171.0,-7.8,242,1738,0.00,2.30,0.00,0.000,4,0.000,0.088,2177,3921,3399,0,0,0,0,0,0
$GC,1744,-0.96,-146.0,171.8,-7.5,242,1750,0.17,2.22,0.00,0.000,6,0.104,0.059,2118,2510,3398,0,0,0,0,0,0
$GC,2068,-0.86,-146.0,205.0,-9.8,273,2073,0.15,2.58,0.00,0.000,4,0.212,0.079,2162,906,3398,0,0,0,0,0,0
$GC,2090,-0.86,-146.0,207.2,-9.4,274,2096,0.00,2.58,0.00,0.000,6,0.000,0.073,2162,2511,3398,0,0,0,0,0,0
$GC,2415,-0.92,-146.0,232.9,-7.7,305,2419,0.00,2.30,0.00,0.000,4,0.000,0.091,2162,3910,3398,0,0,0,0,0,0
$GC,2426,-0.99,-146.0,233.8,-7.7,306,2431,0.15,2.28,0.00,0.000,6,0.112,0.059,2112,2465,3398,0,0,0,0,0,0
$GC,2751,-0.89,-146.0,264.0,-9.1,336,2756,0.12,2.40,0.00,0.000,4,0.216,0.087,2138,3915,3398,0,0,0,0,0,0
$GC,2761,-0.80,-146.0,265.1,-9.6,336,2767,0.12,2.15,0.00,0.000,6,0.213,0.059,2166,2539,3398,0,0,0,0,0,0
$GC,3086,-0.89,-146.0,287.7,-6.8,367,3090,0.00,2.58,0.00,0.000,4,0.000,0.077,2167,912,3398,0,0,0,0,0,0
$GC,3096,-0.97,-146.0,288.5,-6.6,367,3103,0.15,2.65,0.00,0.000,6,0.106,0.071,2113,2572,3398,0,0,0,0,0,0
$GC,3421,-0.90,-146.0,316.5,-9.2,398,3425,0.00,2.65,0.00,0.000,4,0.000,0.076,2114,911,3398,0,0,0,0,0,0
$GC,3431,-0.80,-146.0,317.5,-9.2,398,3437,0.22,2.65,0.00,0.000,6,0.216,0.071,2167,2577,3398,0,0,0,0,0,0
$GC,3756,-0.90,-146.0,341.0,-7.1,429,3760,0.00,2.65,0.00,0.000,4,0.000,0.077,2167,913,3399,0,0,0,0,0,0
$GC,3788,-0.96,-146.0,343.5,-7.9,431,3794,0.15,2.65,0.00,0.000,6,0.104,0.070,2113,2579,3399,0,0,0,0,0,0
$GC,4114,-0.88,-146.0,372.9,-8.9,462,4120,0.12,2.67,0.00,0.000,4,0.206,0.077,2152,914,3399,0,0,0,0,0,0
$GC,4125,-0.82,-146.0,374.1,-9.2,462,4131,0.00,2.65,0.00,0.000,6,0.000,0.071,2152,2578,3399,0,0,0,0,0,0
$GC,4450,-0.87,-146.0,398.3,-7.6,493,4454,0.00,2.65,0.00,0.000,4,0.000,0.076,2152,913,3399,0,0,0,0,0,0
$GC,4459,-0.87,-146.0,399.2,-7.8,493,4465,0.00,2.65,0.00,0.000,6,0.000,0.070,2152,2584,3399,0,0,0,0,0,0
$GC,4785,-0.93,-146.0,424.0,-6.9,524,4789,0.00,2.67,0.00,0.000,4,0.000,0.077,2152,905,3400,0,0,0,0,0,0
$GC,4828,-0.93,-146.0,427.3,-7.7,527,4834,0.00,2.65,0.00,0.000,6,0.000,0.070,2152,2580,3400,0,0,0,0,0,0
$GC,5153,-0.99,-146.0,450.9,-7.7,558,5158,0.12,2.67,0.00,0.000,4,0.112,0.077,2111,911,3400,0,0,0,0,0,0
$GC,5215,-0.88,-146.0,457.2,-10.8,563,5220,0.12,2.65,0.00,0.000,6,0.226,0.070,2139,2581,3400,0,0,0,0,0,0
$GC,5540,-0.88,-146.0,484.2,-8.3,593,5544,0.00,2.65,0.00,0.000,4,0.000,0.075,2139,913,3400,0,0,0,0,0,0
$GC,5571,-0.88,-146.0,487.2,-9.7,595,5577,0.00,2.62,0.00,0.000,6,0.000,0.069,2139,2570,3400,0,0,0,0,0,0
$GC,5898,-1.39,-146.0,505.4,0.2,626,5904,0.43,2.65,0.00,0.000,4,0.074,0.074,1973,906,3401,0,0,0,0,0,0
$GC,5920,-1.86,-146.0,505.6,-0.5,627,5927,0.40,2.60,0.00,0.000,6,0.067,0.065,1817,2561,3401,0,0,0,0,0,0
$STATE,5967,end dive,NO_VERTICAL_VELOCITY
$STATE,5967,begin apogee
$GC,5972,-0.24,0.0,505.5,0.0,632,6093,1.73,0.00,116.40,1.049,6,0.158,0.000,2346,2284,2800,0,0,0,0,0,0
$STATE,6094,end apogee,CONTROL_FINISHED_OK
$STATE,6094,begin climb
$GC,6096,0.98,146.0,505.4,0.0,644,6229,1.27,2.88,119.50,1.007,4,0.118,0.077,2740,3886,2201,0,0,0,0,0,0
$GC,6279,0.49,146.0,479.6,21.3,661,6286,0.68,2.67,0.00,0.000,6,0.221,0.061,2594,2309,2197,0,0,0,0,0,0
$GC,6603,0.49,146.0,442.7,11.2,692,6608,0.00,2.62,0.00,0.000,4,0.000,0.077,2604,713,2193,0,0,0,0,0,0
$GC,6860,0.49,146.0,413.0,11.6,714,6867,0.00,2.55,0.00,0.000,6,0.000,0.064,2604,2297,2192,0,0,0,0,0,0
$GC,7185,0.49,146.0,375.8,11.8,745,7190,0.00,2.60,0.00,0.000,4,0.000,0.078,2616,702,2192,0,0,0,0,0,0
$GC,7442,0.49,146.0,344.3,11.9,767,7448,0.00,2.60,0.00,0.000,6,0.000,0.064,2616,2307,2192,0,0,0,0,0,0
$GC,7767,0.42,146.0,306.5,11.1,798,7772,0.20,2.58,0.00,0.000,4,0.190,0.076,2576,713,2192,0,0,0,0,0,0
$GC,8025,0.52,166.5,284.8,8.3,820,8046,0.00,2.50,15.80,0.865,6,0.000,0.064,2576,2297,2121,0,0,0,0,0,0
$GC,8365,0.61,170.3,255.7,9.0,852,8377,0.15,2.60,4.47,0.647,4,0.103,0.079,2641,703,2105,0,0,0,0,0,0
$GC,8629,0.52,170.3,221.7,13.4,875,8635,0.17,2.53,0.00,0.000,6,0.191,0.064,2600,2299,2104,0,0,0,0,0,0
$GC,8955,0.58,170.3,186.4,10.6,906,8959,0.00,2.55,0.00,0.000,4,0.000,0.077,2609,712,2104,0,0,0,0,0,0
$GC,9212,0.58,170.3,159.2,9.9,928,9218,0.00,2.55,0.00,0.000,6,0.000,0.064,2609,2326,2103,0,0,0,0,0,0
$GC,9537,0.61,190.8,129.6,8.3,959,9561,0.00,2.67,17.88,0.795,4,0.000,0.078,2620,718,2021,0,0,0,0,0,0
$GC,9815,0.66,190.8,102.6,9.9,984,9819,0.00,2.58,0.00,0.000,6,0.000,0.065,2620,2328,2018,0,0,0,0,0,0
$GC,10158,0.73,190.8,68.1,9.3,1042,10164,0.12,2.62,0.00,0.000,4,0.106,0.079,2677,711,2017,0,0,0,0,0,0
$GC,10417,0.68,190.8,38.2,10.2,1088,10423,0.00,2.53,0.00,0.000,6,0.000,0.065,2677,2315,2017,0,0,0,0,0,0
$GC,10762,0.62,190.8,5.1,9.7,1149,10768,0.17,2.60,0.00,0.000,4,0.194,0.080,2644,711,2017,0,0,0,0,0,0
$STATE,10800,end climb,SURFACE_DEPTH_REACHED
$STATE,10800,begin surface coast
$FINISH,0.3,1.014732
$STATE,10823,end surface coast,CONTROL_FINISHED_OK
$STATE,10824,begin surface
$SM_CCo,10842,52.88,0.751,0,0,1677,275.23
$SM_GC,1.24,0.00,0.00,52.88,0.000,0.000,0.751,131,2506,1677,-7.19,0.17,275.23
$RAFOS_CLK,667
$RAFOS,3,1256372706,8.433333,8.418333,63,59,59,0,0,0,211,187,170,0,0,0
$RAFOS,2,1256372222,8.300000,8.283889,67,55,54,0,0,0,1065,194,121,0,0,0
$RAFOS,1,1256371746,8.166667,8.151667,64,57,57,0,0,0,160,129,198,0,0,0
$RAFOS,0,1256371264,8.033334,8.017777,90,66,65,0,0,0,1145,148,214,0,0,0
$RAFOS_FIX,6620.101562,-5707.020508,241009,080852,2,78,10.49
$IRIDIUM_FIX,6641.98,-5710.89,180199,020224
$TT8_MAMPS,0.029146
$HUMID,46.29
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,17.30
$XPDR_PINGS,5
$24V_AH,23.7,17.981
$10V_AH,10.3,8.201
$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,24.350,133.050,274.050,52.875,0.000,23.562,36.041,134.088,1.250,0.000,10.930,1976.543,6424.183,472.332,1966.551,361.825,0.000,1496.212,0.000,1945.079,1800.000,0.534,0.000
$DEVICE_MAMPS,309.868,100.477,1049.256,750.893,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,852.480,790.501,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150556
$DATA_FILE_SIZE,44138,1160
$CAP_FILE_SIZE,137378,0
$CFSIZE,260165632,248832000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.2
$GPS,241009,084125,6713.095,-5713.029,36,1.7,36,-37.9