version: 66.06
glider: 143
mission: 10
dive: 39
start: 10 25 109 20 1 25
data:
$ID,143
$MISSION,10
$DIVE,39
$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,-23662.141
$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
$PITCH_ADJ_DBAND,1
$ROLL_MIN,290
$ROLL_MAX,3915
$ROLL_DEG,45
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$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
$GPS1,195537,6715.963,-5734.585,40,1.3,40,-38.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-65.5
$GPS2,200108,6716.009,-5734.611,11,1.3,11,-38.0
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6705.862,-5744.102
$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,636
$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,-146.0,0.0,0.0,0,99,0.00,0.00,-80.40,0.000,2,0.000,0.000,120,2255,3070,0,0,0,0,0,0
$GC,102,-0.98,-146.0,3.2,-5.9,16,128,9.60,2.72,-9.43,0.000,4,0.305,0.104,2103,3845,3398,0,0,0,0,0,0
$GC,246,-0.98,-146.0,27.5,-15.1,42,252,0.00,2.60,0.00,0.000,6,0.000,0.062,2103,2247,3400,0,0,0,0,0,0
$GC,589,-0.98,-146.0,72.9,-11.6,103,595,0.00,2.67,0.00,0.000,4,0.000,0.088,2103,3837,3400,0,0,0,0,0,0
$GC,779,-0.98,-146.0,96.6,-13.0,137,785,0.00,2.58,0.00,0.000,6,0.000,0.064,2103,2240,3401,0,0,0,0,0,0
$GC,1105,-0.98,-146.0,139.0,-13.0,170,1109,0.00,2.67,0.00,0.000,4,0.000,0.090,2103,3838,3400,0,0,0,0,0,0
$GC,1294,-0.98,-146.0,164.1,-12.9,186,1300,0.00,2.55,0.00,0.000,6,0.000,0.065,2103,2249,3400,0,0,0,0,0,0
$GC,1619,-0.98,-146.0,206.1,-12.9,217,1623,0.00,2.65,0.00,0.000,4,0.000,0.091,2103,3837,3398,0,0,0,0,0,0
$GC,1736,-0.98,-146.0,221.4,-12.7,227,1740,0.00,2.55,0.00,0.000,6,0.000,0.065,2103,2244,3398,0,0,0,0,0,0
$GC,2060,-0.98,-146.0,260.6,-12.4,257,2064,0.00,2.65,0.00,0.000,4,0.000,0.090,2103,3839,3397,0,0,0,0,0,0
$GC,2194,-0.98,-146.0,277.0,-11.7,268,2200,0.00,2.53,0.00,0.000,6,0.000,0.065,2103,2248,3397,0,0,0,0,0,0
$GC,2518,-0.98,-146.0,313.8,-11.4,299,2522,0.00,2.65,0.00,0.000,4,0.000,0.089,2103,3845,3397,0,0,0,0,0,0
$GC,2617,-0.98,-146.0,325.2,-10.9,307,2623,0.00,2.58,0.00,0.000,6,0.000,0.064,2103,2249,3397,0,0,0,0,0,0
$GC,2942,-0.98,-146.0,360.1,-10.4,338,2946,0.00,2.62,0.00,0.000,4,0.000,0.088,2103,3838,3397,0,0,0,0,0,0
$GC,3115,-0.98,-146.0,377.7,-9.6,353,3119,0.00,2.53,0.00,0.000,6,0.000,0.064,2103,2244,3396,0,0,0,0,0,0
$GC,3438,-0.98,-146.0,408.3,-9.5,383,3443,0.00,2.62,0.00,0.000,4,0.000,0.087,2103,3839,3396,0,0,0,0,0,0
$GC,3590,-0.98,-146.0,423.6,-9.7,396,3595,0.00,2.53,0.00,0.000,6,0.000,0.062,2103,2241,3397,0,0,0,0,0,0
$GC,3914,-0.98,-146.0,453.1,-9.2,426,3918,0.00,2.62,0.00,0.000,4,0.000,0.086,2103,3838,3398,0,0,0,0,0,0
$GC,4099,-0.98,-146.0,469.2,-9.0,442,4103,0.00,2.50,0.00,0.000,6,0.000,0.061,2103,2248,3398,0,0,0,0,0,0
$GC,4423,-0.98,-146.0,497.9,-8.8,472,4427,0.00,2.60,0.00,0.000,4,0.000,0.084,2103,3838,3398,0,0,0,0,0,0
$GC,4620,-0.98,-146.0,515.4,-8.9,489,4625,0.00,2.50,0.00,0.000,6,0.000,0.060,2103,2245,3399,0,0,0,0,0,0
$GC,4944,-0.98,-146.0,543.5,-8.8,519,4949,0.00,2.60,0.00,0.000,4,0.000,0.084,2103,3837,3399,0,0,0,0,0,0
$GC,5077,-0.98,-146.0,555.7,-9.9,530,5083,0.00,2.53,0.00,0.000,6,0.000,0.060,2103,2253,3399,0,0,0,0,0,0
$GC,5402,-0.98,-146.0,584.0,-9.1,561,5407,0.00,2.60,0.00,0.000,4,0.000,0.084,2103,3845,3400,0,0,0,0,0,0
$GC,5626,-0.98,-146.0,605.4,-9.2,577,5632,0.00,2.50,0.00,0.000,6,0.000,0.060,2103,2246,3400,0,0,0,0,0,0
$GC,5938,-0.98,-146.0,635.4,-9.7,588,5942,0.00,2.60,0.00,0.000,4,0.000,0.084,2103,3842,3400,0,0,0,0,0,0
$STATE,5946,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5946,begin apogee
$GC,5953,-0.24,0.0,636.3,9.8,588,6076,0.82,0.00,118.95,1.141,6,0.184,0.000,2343,2201,2800,0,0,0,0,0,0
$STATE,6076,end apogee,CONTROL_FINISHED_OK
$STATE,6076,begin climb
$GC,6078,0.98,146.0,639.4,0.0,592,6210,1.30,2.85,121.72,1.095,4,0.121,0.080,2751,593,2202,0,0,0,0,0,0
$GC,6462,0.98,146.0,572.4,20.2,611,6468,0.00,2.65,0.00,0.000,6,0.000,0.063,2751,2202,2195,0,0,0,0,0,0
$GC,6787,0.98,146.0,508.0,19.6,642,6791,0.00,2.62,0.00,0.000,4,0.000,0.080,2762,614,2193,0,0,0,0,0,0
$GC,7043,0.98,146.0,455.9,19.9,664,7049,0.00,2.60,0.00,0.000,6,0.000,0.066,2762,2204,2193,0,0,0,0,0,0
$GC,7368,0.98,146.0,391.6,19.9,695,7372,0.00,2.60,0.00,0.000,4,0.000,0.081,2774,610,2192,0,0,0,0,0,0
$GC,7624,0.98,146.0,338.3,21.7,717,7631,0.00,2.53,0.00,0.000,6,0.000,0.065,2774,2201,2192,0,0,0,0,0,0
$GC,7949,0.98,146.0,271.8,20.3,748,7953,0.00,2.58,0.00,0.000,4,0.000,0.081,2785,610,2192,0,0,0,0,0,0
$GC,8205,0.98,146.0,220.9,19.0,770,8212,0.10,2.55,0.00,0.000,6,0.223,0.064,2750,2199,2192,0,0,0,0,0,0
$GC,8530,0.98,146.0,166.7,15.4,801,8535,0.00,2.58,0.00,0.000,4,0.000,0.081,2760,605,2192,0,0,0,0,0,0
$GC,8787,0.98,146.0,125.4,16.2,823,8794,0.00,2.55,0.00,0.000,6,0.000,0.064,2750,2201,2193,0,0,0,0,0,0
$GC,9120,0.98,146.0,79.5,12.6,867,9126,0.00,2.55,0.00,0.000,4,0.000,0.082,2760,613,2193,0,0,0,0,0,0
$GC,9379,0.98,146.0,48.2,10.1,913,9384,0.00,2.50,0.00,0.000,6,0.000,0.067,2751,2203,2193,0,0,0,0,0,0
$GC,9722,0.98,146.0,9.3,10.6,974,9727,0.00,2.58,0.00,0.000,4,0.000,0.084,2760,603,2192,0,0,0,0,0,0
$STATE,9787,end climb,SURFACE_DEPTH_REACHED
$STATE,9788,begin surface coast
$FINISH,0.4,1.025780
$STATE,9805,end surface coast,CONTROL_FINISHED_OK
$STATE,9806,begin surface
$SM_CCo,9823,78.12,0.755,0,0,1676,275.23
$SM_GC,1.13,0.00,0.00,78.12,0.000,0.000,0.755,126,2253,1676,-7.20,0.06,275.23
$RAFOS_CLK,613
$RAFOS,6,1256503750,20.833334,20.819445,69,68,65,0,0,0,670,218,119,0,0,0
$RAFOS,5,1256503263,20.700001,20.684166,75,64,61,0,0,0,642,209,198,0,0,0
$RAFOS,4,1256502784,20.566668,20.551111,67,65,62,0,0,0,805,188,209,0,0,0
$RAFOS,3,1256502311,20.433332,20.419722,69,67,59,0,0,0,218,945,201,0,0,0
$RAFOS,2,1256501829,20.299999,20.285833,59,58,55,0,0,0,203,159,215,0,0,0
$RAFOS,1,1256501343,20.166666,20.150833,66,59,57,0,0,0,974,151,222,0,0,0
$RAFOS,0,1256500906,20.033333,20.029444,60,60,56,0,0,0,190,214,231,0,0,0
$RAFOS_FIX,6714.966309,-5737.926758,251009,202044,4,69,1.48
$IRIDIUM_FIX,6647.44,-5735.56,190199,161641
$TT8_MAMPS,0.027612
$HUMID,47.08
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,17.00
$XPDR_PINGS,2
$24V_AH,23.4,19.213
$10V_AH,10.3,8.998
$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,19.325,103.750,240.675,78.125,0.000,30.704,36.930,156.073,0.500,0.000,12.642,1690.865,5860.158,448.420,1877.551,363.230,0.000,1389.558,0.000,1844.942,2520.000,0.532,0.000
$DEVICE_MAMPS,305.266,103.545,1140.529,754.728,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,726.294,677.036,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150576
$DATA_FILE_SIZE,37804,989
$CAP_FILE_SIZE,110673,0
$CFSIZE,260165632,248053760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.4
$GPS,251009,224807,6715.948,-5737.059,41,1.0,41,-38.1