version: 66.06
glider: 143
mission: 10
dive: 37
start: 10 25 109 12 48 6
data:
$ID,143
$MISSION,10
$DIVE,37
$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,-23633.387
$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,22
$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
$GPS1,124207,6714.707,-5728.523,28,0.8,28,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-66.9
$GPS2,124749,6714.744,-5728.610,9,1.0,14,-38.0
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6704.596,-5738.093
$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,626
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.98,-146.0,0.0,0.0,0,100,0.00,0.00,-81.45,0.000,2,0.000,0.000,128,2507,3085,0,0,0,0,0,0
$GC,103,-0.98,-146.0,3.2,-5.3,16,129,9.60,2.42,-8.93,0.000,4,0.306,0.106,2106,3903,3397,0,0,0,0,0,0
$GC,192,-0.76,-146.0,18.6,-15.1,32,199,0.30,2.28,0.00,0.000,6,0.213,0.061,2180,2498,3399,0,0,0,0,0,0
$GC,535,-0.76,-146.0,54.2,-9.5,93,541,0.00,2.38,0.00,0.000,4,0.000,0.090,2180,3907,3400,0,0,0,0,0,0
$GC,552,-0.76,-146.0,55.7,-9.1,96,558,0.00,2.25,0.00,0.000,6,0.000,0.061,2181,2500,3400,0,0,0,0,0,0
$GC,896,-0.81,-146.0,86.2,-8.7,157,902,0.00,2.33,0.00,0.000,4,0.000,0.090,2180,3900,3400,0,0,0,0,0,0
$GC,908,-0.81,-146.0,87.2,-8.3,159,914,0.00,2.22,0.00,0.000,6,0.000,0.061,2180,2506,3400,0,0,0,0,0,0
$GC,1247,-0.88,-146.0,114.9,-8.3,204,1251,0.00,2.58,0.00,0.000,4,0.000,0.082,2180,911,3400,0,0,0,0,0,0
$GC,1257,-0.94,-146.0,116.0,-8.9,204,1263,0.17,2.60,0.00,0.000,6,0.104,0.074,2121,2513,3400,0,0,0,0,0,0
$GC,1582,-0.82,-146.0,154.8,-11.8,235,1587,0.17,2.33,0.00,0.000,4,0.209,0.089,2152,3918,3399,0,0,0,0,0,0
$GC,1609,-0.82,-146.0,158.0,-10.7,237,1613,0.00,2.12,0.00,0.000,6,0.000,0.062,2151,2578,3399,0,0,0,0,0,0
$GC,1935,-0.82,-146.0,189.0,-8.6,267,1940,0.00,2.67,0.00,0.000,4,0.000,0.082,2152,914,3398,0,0,0,0,0,0
$GC,1946,-0.82,-146.0,190.2,-8.9,267,1951,0.00,2.72,0.00,0.000,6,0.000,0.076,2152,2597,3398,0,0,0,0,0,0
$GC,2270,-0.82,-146.0,217.5,-8.6,298,2275,0.00,2.72,0.00,0.000,4,0.000,0.082,2151,914,3398,0,0,0,0,0,0
$GC,2280,-0.82,-146.0,218.4,-8.6,298,2286,0.00,2.72,0.00,0.000,6,0.000,0.076,2151,2607,3398,0,0,0,0,0,0
$GC,2604,-0.82,-146.0,248.1,-9.6,329,2609,0.00,2.75,0.00,0.000,4,0.000,0.082,2151,910,3398,0,0,0,0,0,0
$GC,2614,-0.82,-146.0,249.1,-9.4,329,2620,0.00,2.75,0.00,0.000,6,0.000,0.074,2151,2618,3398,0,0,0,0,0,0
$GC,2939,-0.82,-146.0,279.1,-9.2,360,2943,0.00,2.78,0.00,0.000,4,0.000,0.081,2151,904,3397,0,0,0,0,0,0
$GC,2966,-0.82,-146.0,281.8,-9.6,362,2970,0.00,2.78,0.00,0.000,6,0.000,0.074,2151,2627,3397,0,0,0,0,0,0
$GC,3290,-0.82,-146.0,309.1,-7.5,392,3294,0.00,2.78,0.00,0.000,4,0.000,0.081,2151,906,3397,0,0,0,0,0,0
$GC,3299,-0.82,-146.0,310.0,-7.9,392,3305,0.00,2.75,0.00,0.000,6,0.000,0.074,2151,2619,3397,0,0,0,0,0,0
$GC,3624,-0.82,-146.0,335.0,-8.0,423,3629,0.00,2.75,0.00,0.000,4,0.000,0.080,2151,908,3398,0,0,0,0,0,0
$GC,3645,-0.82,-146.0,336.9,-8.7,424,3651,0.00,2.75,0.00,0.000,6,0.000,0.073,2151,2623,3397,0,0,0,0,0,0
$GC,3970,-0.82,-146.0,362.8,-7.9,455,3975,0.00,2.75,0.00,0.000,4,0.000,0.079,2151,914,3398,0,0,0,0,0,0
$GC,4009,-0.82,-146.0,366.0,-8.6,458,4013,0.00,2.75,0.00,0.000,6,0.000,0.073,2151,2622,3398,0,0,0,0,0,0
$GC,4334,-0.87,-146.0,391.2,-8.0,488,4338,0.00,2.75,0.00,0.000,4,0.000,0.077,2151,904,3398,0,0,0,0,0,0
$GC,4361,-0.87,-146.0,393.5,-8.0,490,4366,0.00,2.72,0.00,0.000,6,0.000,0.072,2151,2613,3398,0,0,0,0,0,0
$GC,4686,-0.92,-146.0,418.9,-7.8,520,4690,0.00,2.72,0.00,0.000,4,0.000,0.077,2152,910,3400,0,0,0,0,0,0
$GC,4706,-0.92,-146.0,420.9,-9.2,521,4713,0.00,2.72,0.00,0.000,6,0.000,0.072,2151,2619,3399,0,0,0,0,0,0
$GC,5032,-0.97,-146.0,447.5,-8.2,552,5037,0.10,2.75,0.00,0.000,4,0.122,0.077,2113,908,3399,0,0,0,0,0,0
$GC,5094,-0.88,-146.0,453.7,-10.7,557,5099,0.15,2.72,0.00,0.000,6,0.225,0.071,2146,2620,3400,0,0,0,0,0,0
$GC,5418,-0.93,-146.0,480.1,-7.9,587,5423,0.00,2.72,0.00,0.000,4,0.000,0.076,2146,913,3400,0,0,0,0,0,0
$GC,5439,-0.93,-146.0,482.0,-8.7,588,5445,0.00,2.70,0.00,0.000,6,0.000,0.071,2146,2613,3400,0,0,0,0,0,0
$GC,5764,-0.93,-146.0,505.7,-7.2,619,5768,0.00,2.72,0.00,0.000,4,0.000,0.076,2146,903,3400,0,0,0,0,0,0
$GC,5807,-0.93,-146.0,509.2,-7.9,622,5813,0.00,2.72,0.00,0.000,6,0.000,0.071,2146,2616,3400,0,0,0,0,0,0
$GC,6133,-0.98,-146.0,532.1,-7.4,653,6137,0.00,2.72,0.00,0.000,4,0.000,0.076,2146,904,3401,0,0,0,0,0,0
$GC,6165,-0.98,-146.0,534.5,-8.3,655,6171,0.00,2.70,0.00,0.000,6,0.000,0.070,2146,2610,3401,0,0,0,0,0,0
$GC,6490,-1.03,-146.0,557.7,-7.2,686,6495,0.15,2.72,0.00,0.000,4,0.102,0.076,2097,907,3401,0,0,0,0,0,0
$GC,6541,-0.88,-146.0,562.3,-9.5,690,6546,0.17,2.70,0.00,0.000,6,0.222,0.071,2140,2606,3401,0,0,0,0,0,0
$GC,6866,-0.88,-146.0,587.9,-8.1,720,6871,0.00,2.70,0.00,0.000,4,0.000,0.076,2140,909,3402,0,0,0,0,0,0
$GC,6883,-0.88,-146.0,589.4,-8.5,721,6887,0.00,2.70,0.00,0.000,6,0.000,0.070,2140,2609,3402,0,0,0,0,0,0
$GC,7200,-0.88,-146.0,616.0,-8.4,739,7204,0.00,2.70,0.00,0.000,4,0.000,0.076,2140,912,3402,0,0,0,0,0,0
$GC,7242,-0.88,-146.0,619.9,-9.4,740,7247,0.00,2.70,0.00,0.000,6,0.000,0.070,2140,2615,3402,0,0,0,0,0,0
$STATE,7319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7319,begin apogee
$GC,7325,-0.24,0.0,626.2,8.2,743,7447,0.70,0.00,119.07,1.131,6,0.172,0.000,2346,2294,2799,0,0,0,0,0,0
$STATE,7448,end apogee,CONTROL_FINISHED_OK
$STATE,7448,begin climb
$GC,7450,0.98,146.0,629.0,0.0,747,7582,1.25,2.83,121.40,1.088,4,0.110,0.078,2747,722,2203,0,0,0,0,0,0
$GC,7834,0.52,146.0,564.0,19.8,768,7841,0.57,2.62,0.00,0.000,6,0.203,0.065,2604,2310,2194,0,0,0,0,0,0
$GC,8159,0.46,146.0,524.1,11.7,799,8164,0.00,2.65,0.00,0.000,4,0.000,0.079,2614,714,2194,0,0,0,0,0,0
$GC,8417,0.40,146.0,492.9,12.2,821,8424,0.20,2.60,0.00,0.000,6,0.177,0.065,2563,2331,2193,0,0,0,0,0,0
$GC,8742,0.50,157.6,463.0,8.7,852,8756,0.00,2.65,9.12,0.899,4,0.000,0.080,2572,720,2157,0,0,0,0,0,0
$GC,9010,0.61,177.7,439.4,8.3,876,9035,0.17,2.58,18.00,0.964,6,0.104,0.064,2633,2320,2075,0,0,0,0,0,0
$GC,9360,0.50,177.7,397.7,12.5,909,9365,0.15,2.65,0.00,0.000,4,0.189,0.079,2609,711,2072,0,0,0,0,0,0
$GC,9616,0.50,177.7,368.5,11.5,931,9623,0.00,2.58,0.00,0.000,6,0.000,0.064,2608,2299,2071,0,0,0,0,0,0
$GC,9942,0.50,177.7,329.6,12.6,962,9946,0.00,2.55,0.00,0.000,4,0.000,0.079,2620,720,2070,0,0,0,0,0,0
$GC,10198,0.50,177.7,294.0,14.8,984,10204,0.00,2.53,0.00,0.000,6,0.000,0.064,2619,2290,2070,0,0,0,0,0,0
$GC,10523,0.50,177.7,248.2,13.5,1015,10527,0.00,2.53,0.00,0.000,4,0.000,0.079,2631,719,2070,0,0,0,0,0,0
$GC,10780,0.50,177.7,213.4,12.7,1037,10787,0.15,2.47,0.00,0.000,6,0.189,0.065,2596,2290,2070,0,0,0,0,0,0
$GC,11105,0.59,186.9,181.9,8.8,1068,11119,0.00,2.60,8.40,0.769,4,0.000,0.080,2604,714,2038,0,0,0,0,0,0
$GC,11374,0.71,217.5,158.8,7.9,1092,11406,0.15,2.55,26.12,0.828,6,0.109,0.066,2658,2316,1912,0,0,0,0,0,0
$GC,11724,0.66,217.5,120.5,11.2,1125,11728,0.00,2.60,0.00,0.000,4,0.000,0.082,2658,3894,1908,0,0,0,0,0,0
$GC,11774,0.54,217.5,114.1,12.7,1129,11779,0.25,2.55,0.00,0.000,6,0.193,0.063,2608,2308,1905,0,0,0,0,0,0
$GC,12108,0.67,217.5,83.5,9.2,1175,12114,0.12,2.60,0.00,0.000,4,0.114,0.082,2662,706,1906,0,0,0,0,0,0
$GC,12367,0.67,217.5,52.2,11.5,1221,12373,0.00,2.55,0.00,0.000,6,0.000,0.067,2662,2305,1906,0,0,0,0,0,0
$GC,12710,0.67,217.5,16.3,10.5,1282,12716,0.00,2.58,0.00,0.000,4,0.000,0.084,2673,714,1905,0,0,0,0,0,0
$STATE,12845,end climb,SURFACE_DEPTH_REACHED
$STATE,12845,begin surface coast
$FINISH,0.5,1.026340
$STATE,12866,end surface coast,CONTROL_FINISHED_OK
$STATE,12867,begin surface
$SM_CCo,12885,43.88,0.770,0,0,1678,275.23
$SM_GC,0.98,0.00,0.00,43.88,0.000,0.000,0.770,121,2500,1678,-7.22,0.03,275.23
$RAFOS_CLK,804
$RAFOS,1,1256486941,16.166666,16.150278,75,61,59,0,0,0,991,204,162,0,0,0
$RAFOS,0,1256486469,16.033333,16.019167,68,64,58,0,0,0,201,216,161,0,0,0
$RAFOS,6,1256474943,12.833333,12.817500,115,71,61,0,0,0,732,182,207,0,0,0
$RAFOS_FIX,6708.488281,-5731.814453,251009,121220,4,99,0.00
$IRIDIUM_FIX,6641.98,-5403.25,190199,090957
$TT8_MAMPS,0.029146
$HUMID,48.26
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.00
$XPDR_PINGS,6
$24V_AH,23.5,18.998
$10V_AH,10.3,8.865
$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,21.800,163.550,302.125,43.875,0.000,28.948,34.321,160.627,1.500,0.000,16.349,2237.955,7828.974,508.325,2282.535,417.795,0.000,1683.980,0.000,2246.500,1440.000,0.532,0.000
$DEVICE_MAMPS,306.033,105.846,1131.325,770.068,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,967.080,896.180,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150620
$DATA_FILE_SIZE,50416,1310
$CAP_FILE_SIZE,155454,0
$CFSIZE,260165632,248143872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.6
$GPS,251009,162507,6714.811,-5730.784,33,0.9,33,-38.0