version: 66.06
glider: 143
mission: 10
dive: 33
start: 10 24 109 22 14 49
data:
$ID,143
$MISSION,10
$DIVE,33
$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,-23553.133
$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,30
$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
$GPS1,220507,6714.428,-5722.952,33,1.2,33,-37.9
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-63.9
$GPS2,221431,6714.431,-5722.984,12,1.3,12,-37.9
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6704.283,-5732.465
$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,591
$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,-146.0,0.0,0.0,0,98,0.00,0.00,-79.78,0.000,2,0.000,0.000,127,2508,3088,0,0,0,0,0,0
$GC,100,-0.98,-146.0,3.2,-5.2,16,127,9.55,2.42,-8.65,0.000,4,0.304,0.104,2104,3900,3398,0,0,0,0,0,0
$GC,380,-0.80,-146.0,46.2,-14.3,66,387,0.25,2.25,0.00,0.000,6,0.207,0.061,2167,2498,3400,0,0,0,0,0,0
$GC,724,-0.80,-146.0,80.2,-9.5,127,729,0.00,2.55,0.00,0.000,4,0.000,0.079,2167,915,3401,0,0,0,0,0,0
$GC,741,-0.80,-146.0,81.9,-10.1,130,746,0.00,2.67,0.00,0.000,6,0.000,0.072,2167,2560,3401,0,0,0,0,0,0
$GC,1081,-0.80,-146.0,113.0,-8.2,178,1086,0.00,2.70,0.00,0.000,4,0.000,0.080,2167,910,3400,0,0,0,0,0,0
$GC,1181,-0.80,-146.0,122.3,-9.0,186,1188,0.00,2.65,0.00,0.000,6,0.000,0.074,2167,2550,3401,0,0,0,0,0,0
$GC,1508,-0.80,-146.0,149.1,-8.1,217,1512,0.00,2.25,0.00,0.000,4,0.000,0.091,2167,3914,3399,0,0,0,0,0,0
$GC,1517,-0.80,-146.0,150.1,-8.0,217,1523,0.00,2.17,0.00,0.000,6,0.000,0.061,2167,2561,3399,0,0,0,0,0,0
$GC,1843,-0.86,-146.0,176.3,-8.3,248,1847,0.00,2.25,0.00,0.000,4,0.000,0.091,2167,3917,3399,0,0,0,0,0,0
$GC,1864,-0.91,-146.0,178.2,-8.2,249,1870,0.00,2.20,0.00,0.000,6,0.000,0.061,2167,2526,3399,0,0,0,0,0,0
$GC,2189,-0.97,-146.0,206.0,-8.9,280,2194,0.15,2.62,0.00,0.000,4,0.107,0.081,2124,908,3398,0,0,0,0,0,0
$GC,2199,-0.97,-146.0,207.0,-8.6,280,2205,0.00,2.70,0.00,0.000,6,0.000,0.074,2124,2589,3398,0,0,0,0,0,0
$GC,2524,-0.89,-146.0,241.6,-10.5,311,2528,0.00,2.17,0.00,0.000,4,0.000,0.092,2124,3912,3398,0,0,0,0,0,0
$GC,2534,-0.81,-146.0,242.7,-9.9,311,2540,0.17,2.10,0.00,0.000,6,0.212,0.061,2166,2576,3398,0,0,0,0,0,0
$GC,2859,-0.89,-146.0,269.7,-8.4,342,2863,0.00,2.65,0.00,0.000,4,0.000,0.080,2167,913,3398,0,0,0,0,0,0
$GC,3116,-0.94,-146.0,291.9,-8.3,364,3122,0.12,2.75,0.00,0.000,6,0.114,0.072,2121,2634,3398,0,0,0,0,0,0
$GC,3441,-0.88,-146.0,320.3,-8.7,395,3444,0.00,2.08,0.00,0.000,4,0.000,0.089,2121,3911,3398,0,0,0,0,0,0
$GC,3700,-0.82,-146.0,345.2,-10.2,418,3704,0.17,2.03,0.00,0.000,6,0.209,0.060,2162,2613,3398,0,0,0,0,0,0
$GC,4024,-0.90,-146.0,369.9,-7.8,448,4028,0.00,2.12,0.00,0.000,4,0.000,0.087,2162,3913,3398,0,0,0,0,0,0
$GC,4035,-0.97,-146.0,370.8,-7.8,448,4041,0.15,2.00,0.00,0.000,6,0.110,0.058,2110,2628,3398,0,0,0,0,0,0
$GC,4360,-0.88,-146.0,401.8,-9.0,479,4365,0.15,2.75,0.00,0.000,4,0.211,0.077,2151,907,3398,0,0,0,0,0,0
$GC,4371,-0.80,-146.0,402.8,-8.9,479,4376,0.00,2.78,0.00,0.000,6,0.000,0.072,2151,2646,3398,0,0,0,0,0,0
$GC,4695,-0.86,-146.0,427.0,-7.3,510,4700,0.00,2.78,0.00,0.000,4,0.000,0.077,2151,907,3399,0,0,0,0,0,0
$GC,4727,-0.86,-146.0,429.7,-8.6,512,4733,0.00,2.78,0.00,0.000,6,0.000,0.071,2151,2650,3399,0,0,0,0,0,0
$GC,5053,-0.91,-146.0,452.9,-6.9,543,5057,0.00,2.78,0.00,0.000,4,0.000,0.077,2152,911,3399,0,0,0,0,0,0
$GC,5096,-0.91,-146.0,456.3,-7.7,546,5102,0.00,2.75,0.00,0.000,6,0.000,0.071,2151,2642,3400,0,0,0,0,0,0
$GC,5421,-0.97,-146.0,477.8,-6.2,577,5426,0.00,2.75,0.00,0.000,4,0.000,0.075,2151,913,3400,0,0,0,0,0,0
$GC,5465,-0.97,-146.0,481.0,-7.4,580,5470,0.00,2.75,0.00,0.000,6,0.000,0.071,2151,2644,3400,0,0,0,0,0,0
$GC,5790,-1.03,-146.0,503.0,-7.1,611,5795,0.17,2.78,0.00,0.000,4,0.092,0.076,2097,913,3400,0,0,0,0,0,0
$GC,5856,-0.89,-146.0,509.4,-9.7,616,5863,0.17,2.75,0.00,0.000,6,0.222,0.071,2139,2643,3400,0,0,0,0,0,0
$GC,6181,-0.89,-146.0,534.8,-7.6,647,6185,0.00,2.75,0.00,0.000,4,0.000,0.076,2139,913,3401,0,0,0,0,0,0
$GC,6220,-0.89,-146.0,538.0,-8.6,650,6224,0.00,2.75,0.00,0.000,6,0.000,0.070,2139,2646,3401,0,0,0,0,0,0
$GC,6544,-0.89,-146.0,563.2,-7.9,680,6548,0.00,2.78,0.00,0.000,4,0.000,0.075,2139,906,3401,0,0,0,0,0,0
$GC,6575,-0.89,-146.0,566.2,-9.3,682,6582,0.00,2.80,0.00,0.000,6,0.000,0.071,2139,2641,3401,0,0,0,0,0,0
$STATE,6899,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6899,begin apogee
$GC,6904,-0.24,0.0,591.8,7.6,713,7025,0.73,0.00,118.07,1.107,6,0.179,0.000,2349,2285,2800,0,0,0,0,0,0
$STATE,7026,end apogee,CONTROL_FINISHED_OK
$STATE,7026,begin climb
$GC,7028,0.98,146.0,593.1,0.0,725,7162,1.27,2.80,120.95,1.059,4,0.117,0.078,2754,721,2202,0,0,0,0,0,0
$GC,7414,0.53,146.0,526.3,19.8,760,7421,0.60,2.62,0.00,0.000,6,0.206,0.065,2605,2313,2195,0,0,0,0,0,0
$GC,7739,0.53,146.0,487.0,12.0,791,7743,0.00,2.62,0.00,0.000,4,0.000,0.078,2614,720,2194,0,0,0,0,0,0
$GC,7995,0.53,146.0,455.6,12.5,813,8001,0.00,2.55,0.00,0.000,6,0.000,0.065,2614,2309,2193,0,0,0,0,0,0
$GC,8320,0.46,146.0,415.7,11.9,844,8326,0.15,2.58,0.00,0.000,4,0.197,0.078,2589,720,2193,0,0,0,0,0,0
$GC,8577,0.46,146.0,388.0,10.6,866,8584,0.00,2.55,0.00,0.000,6,0.000,0.064,2589,2297,2193,0,0,0,0,0,0
$GC,8903,0.46,146.0,354.6,10.2,897,8907,0.00,2.55,0.00,0.000,4,0.000,0.078,2600,717,2192,0,0,0,0,0,0
$GC,9159,0.46,146.0,326.7,11.3,919,9165,0.00,2.53,0.00,0.000,6,0.000,0.064,2600,2288,2192,0,0,0,0,0,0
$GC,9484,0.46,146.0,291.9,10.9,950,9488,0.00,2.53,0.00,0.000,4,0.000,0.078,2611,717,2192,0,0,0,0,0,0
$GC,9740,0.46,146.0,261.8,12.3,972,9747,0.08,2.50,0.00,0.000,6,0.178,0.064,2579,2282,2192,0,0,0,0,0,0
$GC,10067,0.57,159.8,231.0,8.6,1003,10084,0.12,2.53,10.60,0.809,4,0.114,0.077,2633,721,2147,0,0,0,0,0,0
$GC,10336,0.52,159.8,201.2,10.8,1026,10343,0.12,2.47,0.00,0.000,6,0.193,0.063,2604,2294,2147,0,0,0,0,0,0
$GC,10661,0.52,159.8,168.5,9.9,1057,10665,0.00,2.53,0.00,0.000,4,0.000,0.078,2613,719,2146,0,0,0,0,0,0
$GC,10917,0.52,159.8,143.5,9.3,1079,10924,0.00,2.50,0.00,0.000,6,0.000,0.064,2613,2282,2147,0,0,0,0,0,0
$GC,11243,0.53,164.9,113.5,9.0,1110,11254,0.00,2.53,5.38,0.664,4,0.000,0.078,2625,721,2128,0,0,0,0,0,0
$GC,11507,0.53,167.0,88.8,9.1,1144,11518,0.00,2.47,3.92,0.573,6,0.000,0.065,2624,2289,2118,0,0,0,0,0,0
$GC,11858,0.65,217.1,59.2,7.1,1206,11905,0.00,2.60,41.25,0.788,4,0.000,0.080,2635,722,1912,0,0,0,0,0,0
$GC,12161,0.75,217.1,31.5,10.0,1260,12168,0.08,2.50,0.00,0.000,6,0.091,0.067,2669,2286,1905,0,0,0,0,0,0
$STATE,12430,end climb,SURFACE_DEPTH_REACHED
$STATE,12430,begin surface coast
$FINISH,0.4,1.025017
$STATE,12454,end surface coast,CONTROL_FINISHED_OK
$STATE,12454,begin surface
$SM_CCo,12470,43.58,0.757,0,0,1678,275.23
$SM_GC,1.30,0.00,0.00,43.58,0.000,0.000,0.757,126,2517,1678,-7.20,0.48,275.23
$RAFOS_CLK,785
$RAFOS,6,1256431748,0.833333,0.818889,59,58,58,0,0,0,721,184,213,0,0,0
$RAFOS,5,1256431262,0.700000,0.683889,132,58,58,0,0,0,650,189,178,0,0,0
$RAFOS,4,1256430786,0.566667,0.551667,65,65,58,0,0,0,207,217,193,0,0,0
$RAFOS,3,1256430304,0.433333,0.417778,65,59,57,0,0,0,161,223,144,0,0,0
$RAFOS,2,1256429823,0.300000,0.284167,81,65,53,0,0,0,1042,177,207,0,0,0
$RAFOS,1,1256429346,0.166667,0.151667,66,58,54,0,0,0,197,171,187,0,0,0
$RAFOS,0,1256428871,0.033333,0.019722,59,57,54,0,0,0,157,220,119,0,0,0
$RAFOS_FIX,6714.456543,-5753.671875,251009,000000,2,106,2.67
$IRIDIUM_FIX,6647.44,-5717.22,180199,222239
$TT8_MAMPS,0.027612
$HUMID,47.59
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,17.10
$XPDR_PINGS,4
$24V_AH,23.6,18.540
$10V_AH,10.3,8.561
$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,21.450,132.950,300.175,43.575,0.000,58.930,60.831,267.557,1.000,0.000,13.960,2197.021,7514.262,481.690,2312.271,573.506,0.000,1652.874,0.000,2274.623,2520.000,0.532,0.000
$DEVICE_MAMPS,303.732,104.312,1106.781,757.029,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,961.316,894.341,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150644
$DATA_FILE_SIZE,50480,1312
$CAP_FILE_SIZE,153467,0
$CFSIZE,260165632,248455168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.5
$GPS,251009,014454,6714.184,-5723.647,38,1.3,38,-37.9