version: 66.06
glider: 143
mission: 10
dive: 34
start: 10 25 109 1 52 38
data:
$ID,143
$MISSION,10
$DIVE,34
$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,-23565.254
$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,23
$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
$GPS1,014454,6714.184,-5723.647,38,1.3,38,-37.9
$_CALLS,1
$_XMS_NAKs,25
$_XMS_TOUTs,2
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-64.8
$GPS2,015220,6714.260,-5723.677,10,1.6,10,-37.9
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6704.113,-5733.156
$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,602
$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,-80.88,0.000,2,0.000,0.000,125,2518,3113,0,0,0,0,0,0
$GC,101,-0.98,-146.0,3.6,-6.9,16,128,9.73,2.45,-7.60,0.000,4,0.309,0.104,2106,3914,3398,0,0,0,0,0,0
$GC,279,-0.77,-146.0,35.5,-16.1,48,286,0.28,2.28,0.00,0.000,6,0.206,0.060,2174,2500,3400,0,0,0,0,0,0
$GC,624,-0.77,-146.0,69.9,-8.2,109,629,0.00,2.58,0.00,0.000,4,0.000,0.079,2175,913,3400,0,0,0,0,0,0
$GC,882,-0.77,-146.0,94.8,-10.2,155,888,0.00,2.65,0.00,0.000,6,0.000,0.073,2175,2546,3401,0,0,0,0,0,0
$GC,1217,-0.83,-146.0,124.7,-8.7,191,1222,0.00,2.25,0.00,0.000,4,0.000,0.091,2175,3911,3401,0,0,0,0,0,0
$GC,1475,-0.90,-146.0,147.2,-8.3,213,1482,0.12,2.15,0.00,0.000,6,0.121,0.061,2134,2548,3400,0,0,0,0,0,0
$GC,1800,-0.84,-146.0,180.2,-10.6,244,1804,0.00,2.28,0.00,0.000,4,0.000,0.090,2133,3922,3399,0,0,0,0,0,0
$GC,1899,-0.78,-146.0,190.9,-10.2,252,1906,0.17,2.15,0.00,0.000,6,0.209,0.061,2175,2558,3399,0,0,0,0,0,0
$GC,2225,-0.87,-146.0,219.1,-8.4,283,2229,0.00,2.25,0.00,0.000,4,0.000,0.090,2174,3920,3399,0,0,0,0,0,0
$GC,2483,-0.98,-146.0,238.2,-7.0,305,2489,0.17,2.17,0.00,0.000,6,0.106,0.061,2115,2540,3398,0,0,0,0,0,0
$GC,2807,-0.89,-146.0,269.6,-10.4,336,2811,0.00,2.28,0.00,0.000,4,0.000,0.089,2114,3921,3398,0,0,0,0,0,0
$GC,2817,-0.79,-146.0,270.6,-10.2,336,2823,0.22,2.17,0.00,0.000,6,0.209,0.060,2169,2536,3398,0,0,0,0,0,0
$GC,3142,-0.89,-146.0,296.5,-8.5,367,3146,0.00,2.28,0.00,0.000,4,0.000,0.088,2169,3921,3398,0,0,0,0,0,0
$GC,3399,-0.99,-146.0,317.6,-7.8,389,3406,0.17,2.17,0.00,0.000,6,0.102,0.060,2109,2531,3398,0,0,0,0,0,0
$GC,3724,-0.88,-146.0,347.2,-8.9,420,3729,0.15,2.28,0.00,0.000,4,0.210,0.086,2140,3912,3398,0,0,0,0,0,0
$GC,3970,-0.88,-146.0,367.0,-8.1,441,3976,0.00,2.15,0.00,0.000,6,0.000,0.058,2140,2533,3399,0,0,0,0,0,0
$GC,4295,-0.88,-146.0,392.1,-7.7,472,4299,0.00,2.58,0.00,0.000,4,0.000,0.077,2140,903,3399,0,0,0,0,0,0
$GC,4304,-0.88,-146.0,392.9,-7.5,472,4310,0.00,2.65,0.00,0.000,6,0.000,0.071,2140,2573,3399,0,0,0,0,0,0
$GC,4629,-0.88,-146.0,417.4,-7.2,503,4633,0.00,2.65,0.00,0.000,4,0.000,0.077,2141,911,3399,0,0,0,0,0,0
$GC,4672,-0.88,-146.0,421.0,-7.9,506,4678,0.00,2.62,0.00,0.000,6,0.000,0.070,2140,2568,3400,0,0,0,0,0,0
$GC,4997,-0.88,-146.0,446.7,-8.4,537,5001,0.00,2.62,0.00,0.000,4,0.000,0.076,2140,914,3400,0,0,0,0,0,0
$GC,5035,-0.88,-146.0,450.2,-9.3,540,5040,0.00,2.62,0.00,0.000,6,0.000,0.070,2140,2571,3400,0,0,0,0,0,0
$GC,5360,-0.88,-146.0,477.0,-8.1,570,5364,0.00,2.65,0.00,0.000,4,0.000,0.076,2140,902,3401,0,0,0,0,0,0
$GC,5369,-0.88,-146.0,477.8,-8.0,570,5375,0.00,2.65,0.00,0.000,6,0.000,0.070,2140,2574,3401,0,0,0,0,0,0
$GC,5694,-0.88,-146.0,504.6,-7.8,601,5698,0.00,2.65,0.00,0.000,4,0.000,0.075,2140,908,3401,0,0,0,0,0,0
$GC,5715,-0.88,-146.0,506.4,-8.2,602,5721,0.00,2.62,0.00,0.000,6,0.000,0.069,2140,2571,3401,0,0,0,0,0,0
$GC,6039,-0.88,-146.0,530.5,-7.5,633,6044,0.00,2.62,0.00,0.000,4,0.000,0.075,2140,914,3401,0,0,0,0,0,0
$GC,6067,-0.88,-146.0,532.6,-7.5,635,6071,0.00,2.62,0.00,0.000,6,0.000,0.069,2139,2573,3401,0,0,0,0,0,0
$GC,6391,-0.88,-146.0,556.0,-6.6,665,6396,0.00,2.62,0.00,0.000,4,0.000,0.075,2139,914,3402,0,0,0,0,0,0
$GC,6435,-0.88,-146.0,559.5,-7.7,668,6441,0.00,2.62,0.00,0.000,6,0.000,0.068,2139,2575,3402,0,0,0,0,0,0
$GC,6760,-0.88,-146.0,582.8,-7.1,699,6764,0.00,2.62,0.00,0.000,4,0.000,0.074,2139,914,3402,0,0,0,0,0,0
$GC,6781,-0.88,-146.0,584.4,-7.3,700,6787,0.00,2.60,0.00,0.000,6,0.000,0.068,2139,2564,3402,0,0,0,0,0,0
$GC,7123,-1.30,-146.0,600.8,0.0,725,7129,0.32,2.62,0.00,0.000,4,0.075,0.074,2008,914,3403,0,0,0,0,0,0
$GC,7134,-1.78,-146.0,601.0,0.0,725,7139,0.43,2.60,0.00,0.000,6,0.062,0.066,1840,2561,3403,0,0,0,0,0,0
$STATE,7235,end dive,NO_VERTICAL_VELOCITY
$STATE,7235,begin apogee
$GC,7240,-0.24,0.0,600.9,0.0,729,7363,1.70,0.00,118.68,1.112,6,0.163,0.000,2352,2284,2800,0,0,0,0,0,0
$STATE,7364,end apogee,CONTROL_FINISHED_OK
$STATE,7364,begin climb
$GC,7366,0.98,146.0,600.7,0.0,733,7500,1.23,2.78,121.07,1.065,4,0.109,0.077,2749,728,2202,0,0,0,0,0,0
$GC,7752,0.53,146.0,534.9,20.1,766,7759,0.57,2.60,0.00,0.000,6,0.205,0.063,2606,2312,2195,0,0,0,0,0,0
$GC,8078,0.48,146.0,495.8,11.6,797,8083,0.00,2.62,0.00,0.000,4,0.000,0.081,2606,3882,2194,0,0,0,0,0,0
$GC,8144,0.39,146.0,487.0,13.4,802,8151,0.22,2.58,0.00,0.000,6,0.190,0.060,2562,2296,2192,0,0,0,0,0,0
$GC,8469,0.51,164.8,458.4,8.4,833,8490,0.00,2.60,15.02,0.945,4,0.000,0.077,2571,711,2127,0,0,0,0,0,0
$GC,8743,0.62,164.8,432.0,9.3,857,8750,0.17,2.53,0.00,0.000,6,0.103,0.064,2632,2292,2125,0,0,0,0,0,0
$GC,9068,0.52,164.8,390.5,13.2,888,9073,0.15,2.58,0.00,0.000,4,0.191,0.077,2607,714,2124,0,0,0,0,0,0
$GC,9325,0.52,164.8,359.7,12.6,910,9331,0.00,2.58,0.00,0.000,6,0.000,0.064,2608,2310,2124,0,0,0,0,0,0
$GC,9650,0.52,164.8,322.3,11.3,941,9654,0.00,2.58,0.00,0.000,4,0.000,0.081,2608,3890,2124,0,0,0,0,0,0
$GC,9704,0.44,164.8,315.4,12.6,945,9711,0.17,2.53,0.00,0.000,6,0.189,0.061,2577,2298,2123,0,0,0,0,0,0
$GC,10029,0.53,164.8,284.2,9.3,976,10034,0.00,2.53,0.00,0.000,4,0.000,0.078,2587,711,2123,0,0,0,0,0,0
$GC,10289,0.60,164.8,256.6,11.8,998,10295,0.12,2.50,0.00,0.000,6,0.117,0.064,2631,2302,2123,0,0,0,0,0,0
$GC,10613,0.54,164.8,215.0,12.3,1029,10618,0.00,2.55,0.00,0.000,4,0.000,0.078,2642,709,2122,0,0,0,0,0,0
$GC,10870,0.47,164.8,181.8,12.8,1051,10876,0.22,2.55,0.00,0.000,6,0.183,0.064,2585,2333,2123,0,0,0,0,0,0
$GC,11195,0.61,183.9,153.5,8.4,1082,11217,0.12,2.62,16.25,0.805,4,0.115,0.077,2640,713,2050,0,0,0,0,0,0
$GC,11222,0.61,183.9,150.8,10.2,1084,11228,0.00,2.58,0.00,0.000,6,0.000,0.065,2640,2328,2049,0,0,0,0,0,0
$GC,11547,0.61,183.9,116.9,9.9,1115,11551,0.00,2.62,0.00,0.000,4,0.000,0.080,2652,707,2047,0,0,0,0,0,0
$GC,11805,0.61,183.9,89.0,11.0,1146,11810,0.00,2.62,0.00,0.000,6,0.000,0.065,2652,2368,2048,0,0,0,0,0,0
$GC,12150,0.61,183.9,52.1,9.9,1207,12155,0.00,2.67,0.00,0.000,4,0.000,0.080,2664,708,2048,0,0,0,0,0,0
$GC,12408,0.62,190.3,24.8,8.9,1253,12425,0.15,2.65,6.35,0.679,6,0.189,0.067,2628,2385,2023,0,0,0,0,0,0
$STATE,12654,end climb,SURFACE_DEPTH_REACHED
$STATE,12654,begin surface coast
$FINISH,0.3,1.023934
$STATE,12678,end surface coast,CONTROL_FINISHED_OK
$STATE,12678,begin surface
$SM_CCo,12694,56.55,0.759,0,0,1678,275.23
$SM_GC,1.32,0.00,0.00,56.55,0.000,0.000,0.759,128,2507,1678,-7.19,0.20,275.23
$RAFOS_CLK,790
$RAFOS,6,1256446147,4.833333,4.818611,68,67,67,0,0,0,211,178,728,0,0,0
$RAFOS,5,1256445664,4.700000,4.684444,99,72,59,0,0,0,630,198,221,0,0,0
$RAFOS,4,1256445185,4.566667,4.551389,63,58,57,0,0,0,209,187,132,0,0,0
$RAFOS,3,1256444702,4.433333,4.417222,62,58,56,0,0,0,210,220,133,0,0,0
$RAFOS,2,1256444221,4.300000,4.283611,60,58,58,0,0,0,166,190,222,0,0,0
$RAFOS,1,1256443748,4.166667,4.152222,62,61,60,0,0,0,195,215,113,0,0,0
$RAFOS,0,1256443264,4.033333,4.017778,61,61,55,0,0,0,194,217,135,0,0,0
$RAFOS_FIX,6714.456543,-5753.671875,251009,000000,2,106,2.67
$IRIDIUM_FIX,6647.44,-5720.23,180199,222243
$TT8_MAMPS,0.027612
$HUMID,46.96
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.00
$XPDR_PINGS,1
$24V_AH,23.5,18.656
$10V_AH,10.3,8.638
$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,23.750,136.300,277.375,56.550,0.000,25.307,38.994,265.801,0.250,0.000,11.492,2238.442,7626.268,497.750,2303.443,523.079,0.000,1663.364,0.000,2275.221,2520.000,0.533,0.000
$DEVICE_MAMPS,309.101,105.079,1112.150,759.330,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,957.045,888.919,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150560
$DATA_FILE_SIZE,50432,1301
$CAP_FILE_SIZE,153253,0
$CFSIZE,260165632,248377344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.0
$GPS,251009,052636,6714.657,-5724.415,36,1.9,42,-38.0