version: 66.06
glider: 143
mission: 10
dive: 35
start: 10 25 109 5 33 56
data:
$ID,143
$MISSION,10
$DIVE,35
$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,-23600.406
$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
$GPS1,052636,6714.657,-5724.415,36,1.9,42,-38.0
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-66.8
$GPS2,053340,6714.710,-5724.389,13,2.1,32,-38.0
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6704.562,-5733.871
$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,238.0,20000,-16.9,-9.167
$D_GRID,595
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.98,-146.0,0.0,0.0,0,103,0.00,0.00,-85.12,0.000,2,0.000,0.000,128,2508,3169,0,0,0,0,0,0
$GC,105,-0.98,-146.0,3.3,-5.6,17,127,9.73,2.40,-6.15,0.000,4,0.311,0.103,2105,3915,3397,0,0,0,0,0,0
$GC,381,-0.77,-146.0,48.8,-14.5,66,387,0.30,2.28,0.00,0.000,6,0.209,0.061,2180,2493,3399,0,0,0,0,0,0
$GC,727,-0.83,-146.0,79.5,-8.5,127,732,0.00,2.38,0.00,0.000,4,0.000,0.090,2180,3912,3399,0,0,0,0,0,0
$GC,846,-0.89,-146.0,89.3,-8.1,148,852,0.12,2.28,0.00,0.000,6,0.118,0.061,2140,2484,3399,0,0,0,0,0,0
$GC,1182,-0.83,-146.0,122.7,-10.5,189,1186,0.00,2.38,0.00,0.000,4,0.000,0.089,2139,3911,3399,0,0,0,0,0,0
$GC,1222,-0.76,-146.0,126.8,-10.9,192,1226,0.17,2.28,0.00,0.000,6,0.209,0.061,2179,2483,3398,0,0,0,0,0,0
$GC,1546,-0.86,-146.0,155.3,-9.0,222,1550,0.00,2.38,0.00,0.000,4,0.000,0.089,2179,3909,3398,0,0,0,0,0,0
$GC,1805,-0.96,-146.0,179.7,-9.1,245,1810,0.17,2.20,0.00,0.000,6,0.106,0.061,2121,2519,3397,0,0,0,0,0,0
$GC,2131,-0.86,-146.0,214.8,-10.1,275,2136,0.12,2.33,0.00,0.000,4,0.213,0.087,2140,3921,3396,0,0,0,0,0,0
$GC,2388,-0.86,-146.0,238.9,-9.6,297,2394,0.00,2.25,0.00,0.000,6,0.000,0.061,2140,2522,3396,0,0,0,0,0,0
$GC,2713,-0.86,-146.0,267.2,-9.0,328,2717,0.00,2.28,0.00,0.000,4,0.000,0.087,2140,3910,3396,0,0,0,0,0,0
$GC,2947,-0.86,-146.0,289.8,-10.2,348,2954,0.00,2.22,0.00,0.000,6,0.000,0.059,2140,2515,3396,0,0,0,0,0,0
$GC,3274,-0.86,-146.0,319.2,-8.7,379,3278,0.00,2.55,0.00,0.000,4,0.000,0.077,2140,905,3396,0,0,0,0,0,0
$GC,3284,-0.86,-146.0,320.2,-8.7,379,3289,0.00,2.67,0.00,0.000,6,0.000,0.071,2140,2586,3396,0,0,0,0,0,0
$GC,3608,-0.86,-146.0,347.1,-8.3,410,3612,0.00,2.15,0.00,0.000,4,0.000,0.087,2140,3912,3397,0,0,0,0,0,0
$GC,3619,-0.86,-146.0,348.1,-8.4,411,3623,0.00,2.08,0.00,0.000,6,0.000,0.058,2140,2581,3397,0,0,0,0,0,0
$GC,3949,-0.86,-146.0,376.3,-8.4,442,3954,0.00,2.65,0.00,0.000,4,0.000,0.077,2140,910,3398,0,0,0,0,0,0
$GC,3960,-0.86,-146.0,377.1,-8.4,442,3966,0.00,2.67,0.00,0.000,6,0.000,0.071,2140,2590,3398,0,0,0,0,0,0
$GC,4285,-0.86,-146.0,403.7,-8.2,473,4289,0.00,2.67,0.00,0.000,4,0.000,0.077,2140,913,3398,0,0,0,0,0,0
$GC,4294,-0.86,-146.0,404.5,-8.2,473,4300,0.00,2.75,0.00,0.000,6,0.000,0.071,2139,2642,3398,0,0,0,0,0,0
$GC,4619,-0.86,-146.0,430.2,-7.5,504,4623,0.00,2.75,0.00,0.000,4,0.000,0.076,2140,913,3399,0,0,0,0,0,0
$GC,4640,-0.86,-146.0,431.9,-7.9,505,4646,0.00,2.75,0.00,0.000,6,0.000,0.070,2140,2644,3399,0,0,0,0,0,0
$GC,4965,-0.86,-146.0,456.2,-7.5,536,4969,0.00,2.78,0.00,0.000,4,0.000,0.075,2140,903,3399,0,0,0,0,0,0
$GC,4996,-0.86,-146.0,458.9,-8.8,538,5003,0.00,2.75,0.00,0.000,6,0.000,0.071,2140,2636,3399,0,0,0,0,0,0
$GC,5322,-0.86,-146.0,482.9,-7.4,569,5326,0.00,2.75,0.00,0.000,4,0.000,0.075,2140,906,3399,0,0,0,0,0,0
$GC,5365,-0.86,-146.0,486.5,-8.2,572,5371,0.00,2.72,0.00,0.000,6,0.000,0.070,2140,2629,3399,0,0,0,0,0,0
$GC,5690,-0.86,-146.0,510.2,-7.3,603,5694,0.00,2.75,0.00,0.000,4,0.000,0.075,2139,901,3400,0,0,0,0,0,0
$GC,5767,-0.86,-146.0,516.5,-7.8,609,5773,0.00,2.72,0.00,0.000,6,0.000,0.069,2140,2623,3400,0,0,0,0,0,0
$GC,6093,-0.86,-146.0,543.6,-9.1,640,6098,0.00,2.72,0.00,0.000,4,0.000,0.075,2140,907,3400,0,0,0,0,0,0
$GC,6144,-0.86,-146.0,548.5,-9.3,644,6148,0.00,2.72,0.00,0.000,6,0.000,0.069,2140,2628,3400,0,0,0,0,0,0
$GC,6468,-0.86,-146.0,576.0,-8.2,674,6473,0.00,2.72,0.00,0.000,4,0.000,0.075,2140,913,3401,0,0,0,0,0,0
$GC,6557,-0.86,-146.0,583.7,-8.2,681,6562,0.00,2.70,0.00,0.000,6,0.000,0.068,2140,2624,3400,0,0,0,0,0,0
$STATE,6720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6720,begin apogee
$GC,6725,-0.24,0.0,595.8,7.2,697,6846,0.73,0.00,117.70,1.108,6,0.176,0.000,2349,2286,2800,0,0,0,0,0,0
$STATE,6847,end apogee,CONTROL_FINISHED_OK
$STATE,6847,begin climb
$GC,6849,0.98,146.0,596.4,0.0,709,6983,1.23,2.78,120.70,1.063,4,0.100,0.077,2751,731,2202,0,0,0,0,0,0
$GC,7235,0.53,146.0,534.3,18.6,744,7242,0.57,2.60,0.00,0.000,6,0.206,0.064,2609,2315,2195,0,0,0,0,0,0
$GC,7560,0.47,146.0,494.5,11.9,775,7564,0.00,2.62,0.00,0.000,4,0.000,0.077,2618,720,2194,0,0,0,0,0,0
$GC,7817,0.40,146.0,461.9,12.6,797,7824,0.22,2.53,0.00,0.000,6,0.180,0.064,2562,2294,2193,0,0,0,0,0,0
$GC,8142,0.49,146.0,430.2,10.0,828,8146,0.00,2.55,0.00,0.000,4,0.000,0.078,2571,720,2193,0,0,0,0,0,0
$GC,8399,0.59,150.1,404.7,9.0,850,8406,0.15,2.55,0.00,0.000,6,0.111,0.064,2623,2322,2193,0,0,0,0,0,0
$GC,8724,0.52,150.1,366.9,12.1,881,8728,0.00,2.58,0.00,0.000,4,0.000,0.078,2635,721,2192,0,0,0,0,0,0
$GC,8981,0.41,150.1,335.6,13.1,903,8987,0.25,2.53,0.00,0.000,6,0.183,0.064,2570,2320,2192,0,0,0,0,0,0
$GC,9306,0.52,162.4,306.6,8.7,934,9327,0.00,2.65,12.70,0.862,4,0.000,0.077,2580,721,2136,0,0,0,0,0,0
$GC,9579,0.62,164.4,282.1,9.1,958,9586,0.15,2.53,0.00,0.000,6,0.110,0.064,2632,2316,2135,0,0,0,0,0,0
$GC,9904,0.53,164.4,245.2,11.2,989,9908,0.00,2.58,0.00,0.000,4,0.000,0.078,2644,716,2134,0,0,0,0,0,0
$GC,10161,0.44,164.4,214.5,11.8,1011,10168,0.25,2.50,0.00,0.000,6,0.179,0.064,2579,2303,2134,0,0,0,0,0,0
$GC,10486,0.59,191.5,188.2,8.0,1042,10518,0.12,2.60,24.33,0.836,4,0.117,0.078,2633,721,2019,0,0,0,0,0,0
$GC,10770,0.59,191.5,155.4,12.9,1067,10777,0.00,2.53,0.00,0.000,6,0.000,0.064,2632,2305,2015,0,0,0,0,0,0
$GC,11095,0.59,191.5,117.5,11.0,1098,11099,0.00,2.58,0.00,0.000,4,0.000,0.079,2644,712,2015,0,0,0,0,0,0
$GC,11352,0.59,191.5,89.4,10.5,1129,11357,0.00,2.53,0.00,0.000,6,0.000,0.067,2644,2305,2015,0,0,0,0,0,0
$GC,11696,0.59,191.5,54.3,9.8,1190,11702,0.00,2.55,0.00,0.000,4,0.000,0.081,2655,721,2014,0,0,0,0,0,0
$GC,11954,0.59,191.5,28.2,9.5,1236,11960,0.15,2.50,0.00,0.000,6,0.185,0.067,2619,2297,2014,0,0,0,0,0,0
$STATE,12285,end climb,SURFACE_DEPTH_REACHED
$STATE,12285,begin surface coast
$FINISH,0.5,1.026322
$STATE,12319,end surface coast,CONTROL_FINISHED_OK
$STATE,12319,begin surface
$SM_CCo,12335,55.67,0.764,0,0,1677,275.23
$SM_GC,1.41,0.00,0.00,55.67,0.000,0.000,0.764,126,2512,1677,-7.20,0.34,275.23
$RAFOS_CLK,771
$RAFOS,6,1256460541,8.833333,8.816944,67,64,62,0,0,0,741,190,220,0,0,0
$RAFOS,5,1256460063,8.700000,8.684167,83,61,60,0,0,0,640,204,161,0,0,0
$RAFOS,4,1256459583,8.566667,8.550834,72,62,59,0,0,0,837,184,217,0,0,0
$RAFOS,3,1256459107,8.433333,8.418612,64,60,60,0,0,0,209,190,222,0,0,0
$RAFOS,2,1256458621,8.300000,8.283611,65,59,58,0,0,0,1035,203,162,0,0,0
$RAFOS,1,1256458145,8.166667,8.151389,64,59,55,0,0,0,216,207,161,0,0,0
$RAFOS,0,1256457664,8.033334,8.017777,65,57,52,0,0,0,211,187,121,0,0,0
$RAFOS_FIX,6712.475098,-5735.819824,251009,080848,4,72,0.84
$IRIDIUM_FIX,6647.44,-5727.90,190199,010127
$TT8_MAMPS,0.027612
$HUMID,47.32
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.10
$XPDR_PINGS,2
$24V_AH,23.6,18.769
$10V_AH,10.3,8.715
$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,21.575,127.825,275.425,55.675,0.000,31.092,35.306,224.145,0.500,0.000,34.523,2217.499,7317.616,470.998,2342.535,473.517,0.000,1640.907,0.000,2289.904,2520.000,0.531,0.000
$DEVICE_MAMPS,310.635,102.778,1108.315,763.932,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,957.543,887.846,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150628
$DATA_FILE_SIZE,50364,1301
$CAP_FILE_SIZE,147113,0
$CFSIZE,260165632,248307712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.8
$GPS,251009,090206,6715.054,-5726.910,39,1.0,39,-38.0