version: 66.06
glider: 143
mission: 10
dive: 29
start: 10 24 109 8 47 1
data:
$ID,143
$MISSION,10
$DIVE,29
$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,-23486.098
$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,21
$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
$GPS1,084125,6713.095,-5713.029,36,1.7,36,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-65.4
$GPS2,084644,6713.126,-5713.040,12,1.2,12,-37.9
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6702.979,-5722.512
$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,523
$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,-146.0,0.0,0.0,0,99,0.00,0.00,-80.85,0.000,2,0.000,0.000,131,2506,3112,0,0,0,0,0,0
$GC,101,-0.98,-146.0,3.2,-5.8,16,125,9.85,2.40,-7.60,0.000,4,0.316,0.100,2105,3918,3397,0,0,0,0,0,0
$GC,131,0.55,-146.0,10.8,-24.0,21,137,1.83,2.30,0.00,0.000,6,0.192,0.060,2603,2496,3398,0,0,0,0,0,0
$GC,475,-0.65,-146.0,29.6,-5.8,82,482,1.12,2.38,0.00,0.000,4,0.104,0.083,2226,3915,3400,0,0,0,0,0,0
$GC,555,-0.91,-146.0,34.3,-7.4,96,562,0.28,2.30,0.00,0.000,6,0.086,0.058,2128,2470,3399,0,0,0,0,0,0
$GC,900,-0.79,-146.0,75.1,-11.3,157,906,0.20,2.53,0.00,0.000,4,0.217,0.078,2180,908,3399,0,0,0,0,0,0
$GC,929,-0.79,-146.0,78.3,-10.9,162,934,0.00,2.50,0.00,0.000,6,0.000,0.072,2180,2458,3399,0,0,0,0,0,0
$GC,1274,-0.87,-146.0,105.7,-7.4,217,1278,0.00,2.40,0.00,0.000,4,0.000,0.090,2180,3907,3398,0,0,0,0,0,0
$GC,1318,-0.97,-146.0,109.3,-8.1,221,1324,0.20,2.30,0.00,0.000,6,0.102,0.061,2113,2458,3398,0,0,0,0,0,0
$GC,1643,-0.86,-146.0,143.9,-11.6,251,1648,0.15,2.42,0.00,0.000,4,0.212,0.087,2140,3914,3397,0,0,0,0,0,0
$GC,1653,-0.76,-146.0,145.3,-11.8,251,1660,0.17,2.22,0.00,0.000,6,0.213,0.061,2180,2499,3396,0,0,0,0,0,0
$GC,1978,-0.87,-146.0,172.0,-7.4,282,1982,0.00,2.33,0.00,0.000,4,0.000,0.088,2180,3909,3396,0,0,0,0,0,0
$GC,2006,-0.98,-146.0,174.0,-7.7,284,2012,0.20,2.20,0.00,0.000,6,0.100,0.060,2112,2508,3396,0,0,0,0,0,0
$GC,2331,-0.88,-146.0,206.4,-10.6,315,2335,0.15,2.33,0.00,0.000,4,0.213,0.086,2140,3913,3396,0,0,0,0,0,0
$GC,2340,-0.78,-146.0,207.6,-10.6,315,2347,0.12,2.25,0.00,0.000,6,0.201,0.059,2173,2506,3396,0,0,0,0,0,0
$GC,2666,-0.88,-146.0,235.6,-8.2,346,2670,0.00,2.30,0.00,0.000,4,0.000,0.087,2173,3909,3396,0,0,0,0,0,0
$GC,2705,-1.00,-146.0,238.8,-8.3,349,2710,0.20,2.20,0.00,0.000,6,0.100,0.058,2105,2504,3396,0,0,0,0,0,0
$GC,3029,-0.90,-146.0,273.5,-10.4,379,3034,0.15,2.33,0.00,0.000,4,0.212,0.087,2138,3911,3396,0,0,0,0,0,0
$GC,3039,-0.80,-146.0,274.7,-10.3,379,3046,0.08,2.33,0.00,0.000,6,0.208,0.059,2159,2453,3396,0,0,0,0,0,0
$GC,3365,-0.88,-146.0,299.5,-7.2,410,3369,0.00,2.40,0.00,0.000,4,0.000,0.086,2159,3915,3396,0,0,0,0,0,0
$GC,3375,-0.95,-146.0,300.4,-7.1,410,3381,0.12,2.30,0.00,0.000,6,0.120,0.059,2118,2450,3396,0,0,0,0,0,0
$GC,3700,-0.89,-146.0,328.3,-8.7,441,3704,0.00,2.40,0.00,0.000,4,0.000,0.086,2117,3912,3396,0,0,0,0,0,0
$GC,3733,-0.82,-146.0,331.3,-8.6,444,3738,0.20,2.30,0.00,0.000,6,0.209,0.059,2165,2451,3396,0,0,0,0,0,0
$GC,4058,-0.92,-146.0,353.5,-6.6,474,4062,0.00,2.40,0.00,0.000,4,0.000,0.085,2165,3918,3397,0,0,0,0,0,0
$GC,4069,-1.02,-146.0,354.2,-6.8,474,4075,0.20,2.30,0.00,0.000,6,0.100,0.060,2097,2449,3397,0,0,0,0,0,0
$GC,4393,-0.91,-146.0,385.0,-9.6,505,4398,0.15,2.42,0.00,0.000,4,0.211,0.083,2127,3921,3397,0,0,0,0,0,0
$GC,4432,-0.91,-146.0,388.5,-8.9,508,4437,0.00,2.30,0.00,0.000,6,0.000,0.058,2127,2455,3397,0,0,0,0,0,0
$GC,4762,-0.91,-146.0,416.9,-8.3,539,4767,0.00,2.38,0.00,0.000,4,0.000,0.084,2127,3915,3397,0,0,0,0,0,0
$GC,4773,-0.91,-146.0,417.8,-8.4,539,4778,0.00,2.12,0.00,0.000,6,0.000,0.058,2127,2547,3397,0,0,0,0,0,0
$GC,5098,-0.91,-146.0,445.5,-8.5,570,5102,0.00,2.58,0.00,0.000,4,0.000,0.076,2127,914,3398,0,0,0,0,0,0
$GC,5114,-0.91,-146.0,447.0,-8.9,571,5118,0.00,2.62,0.00,0.000,6,0.000,0.069,2127,2569,3398,0,0,0,0,0,0
$GC,5438,-0.91,-146.0,472.8,-7.6,601,5443,0.00,2.62,0.00,0.000,4,0.000,0.075,2127,911,3398,0,0,0,0,0,0
$GC,5455,-0.91,-146.0,474.0,-7.5,602,5459,0.00,2.62,0.00,0.000,6,0.000,0.069,2127,2566,3398,0,0,0,0,0,0
$GC,5779,-0.91,-146.0,500.7,-8.6,632,5783,0.00,2.17,0.00,0.000,4,0.000,0.084,2127,3919,3398,0,0,0,0,0,0
$GC,5789,-0.91,-146.0,501.6,-8.5,632,5794,0.00,2.22,0.00,0.000,6,0.000,0.058,2127,2489,3398,0,0,0,0,0,0
$STATE,6047,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6047,begin apogee
$GC,6053,-0.24,0.0,523.0,8.1,657,6174,0.77,0.00,116.43,1.065,6,0.188,0.000,2346,2294,2800,0,0,0,0,0,0
$STATE,6174,end apogee,CONTROL_FINISHED_OK
$STATE,6175,begin climb
$GC,6177,0.98,146.0,525.0,0.0,669,6309,1.27,2.83,119.70,1.021,4,0.117,0.077,2751,715,2202,0,0,0,0,0,0
$GC,6562,0.51,146.0,458.0,21.1,704,6568,0.62,2.60,0.00,0.000,6,0.209,0.063,2597,2301,2195,0,0,0,0,0,0
$GC,6886,0.51,146.0,419.0,11.8,735,6891,0.00,2.60,0.00,0.000,4,0.000,0.078,2606,721,2194,0,0,0,0,0,0
$GC,7143,0.51,146.0,388.3,12.3,757,7150,0.00,2.60,0.00,0.000,6,0.000,0.064,2606,2343,2193,0,0,0,0,0,0
$GC,7470,0.51,146.0,349.7,12.2,788,7474,0.00,2.65,0.00,0.000,4,0.000,0.078,2618,715,2193,0,0,0,0,0,0
$GC,7727,0.46,146.0,318.8,11.0,810,7733,0.15,2.60,0.00,0.000,6,0.191,0.064,2583,2351,2193,0,0,0,0,0,0
$GC,8052,0.52,154.1,288.6,8.8,841,8064,0.00,2.65,6.28,0.753,4,0.000,0.076,2592,718,2170,0,0,0,0,0,0
$GC,8316,0.57,154.1,264.1,9.6,864,8322,0.00,2.60,0.00,0.000,6,0.000,0.064,2592,2356,2170,0,0,0,0,0,0
$GC,8641,0.57,154.1,231.9,10.3,895,8645,0.00,2.62,0.00,0.000,4,0.000,0.078,2604,721,2170,0,0,0,0,0,0
$GC,8897,0.57,154.1,204.6,10.5,917,8904,0.00,2.55,0.00,0.000,6,0.000,0.064,2604,2338,2170,0,0,0,0,0,0
$GC,9222,0.57,154.1,172.7,9.2,948,9226,0.00,2.60,0.00,0.000,4,0.000,0.078,2615,717,2170,0,0,0,0,0,0
$GC,9479,0.59,170.5,149.5,8.5,970,9499,0.00,2.55,14.62,0.800,6,0.000,0.064,2615,2333,2104,0,0,0,0,0,0
$GC,9824,0.59,170.5,117.3,9.8,1003,9828,0.00,2.60,0.00,0.000,4,0.000,0.079,2627,721,2101,0,0,0,0,0,0
$GC,10081,0.59,170.5,90.2,10.7,1033,10087,0.00,2.58,0.00,0.000,6,0.000,0.066,2627,2347,2101,0,0,0,0,0,0
$GC,10426,0.68,196.1,57.5,8.1,1094,10452,0.00,2.67,21.40,0.774,4,0.000,0.078,2638,715,1999,0,0,0,0,0,0
$GC,10706,0.75,204.7,32.7,8.8,1144,10722,0.00,2.60,8.02,0.707,6,0.000,0.066,2638,2341,1964,0,0,0,0,0,0
$STATE,11047,end climb,SURFACE_DEPTH_REACHED
$STATE,11047,begin surface coast
$FINISH,0.2,1.013217
$STATE,11069,end surface coast,CONTROL_FINISHED_OK
$STATE,11069,begin surface
$SM_CCo,11085,49.40,0.753,0,0,1677,275.23
$SM_GC,1.11,0.00,0.00,49.40,0.000,0.000,0.753,123,2512,1677,-7.21,0.34,275.23
$RAFOS_CLK,684
$RAFOS,6,1256374141,8.833333,8.816944,91,66,66,0,0,0,793,191,148,0,0,0
$RAFOS,4,1256373181,8.566667,8.550278,67,56,54,0,0,0,869,222,132,0,0,0
$RAFOS_FIX,6704.903809,-5714.453613,241009,080816,4,79,0.00
$IRIDIUM_FIX,6641.98,-5703.22,180199,050527
$TT8_MAMPS,0.026845
$HUMID,46.33
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,17.30
$XPDR_PINGS,3
$24V_AH,23.6,18.086
$10V_AH,10.3,8.268
$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,25.325,122.650,286.450,49.400,0.000,30.174,32.074,145.681,0.750,0.000,14.200,2031.133,6540.436,459.691,2051.008,377.115,0.000,1517.132,0.000,2019.897,360.000,0.533,0.000
$DEVICE_MAMPS,316.004,100.477,1065.363,753.194,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,887.633,823.187,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150644
$DATA_FILE_SIZE,47313,1209
$CAP_FILE_SIZE,137608,0
$CFSIZE,260165632,248758272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.9
$GPS,241009,115407,6712.762,-5713.894,35,1.5,35,-37.9