version: 66.06
glider: 143
mission: 10
dive: 41
start: 10 26 109 1 50 43
data:
$ID,143
$MISSION,10
$DIVE,41
$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,-23691.281
$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,2000
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,21
$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
$GPS1,014536,6715.204,-5738.084,10,1.3,26,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-67.0
$GPS2,015026,6715.229,-5738.116,10,1.4,10,-38.0
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6705.082,-5747.602
$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,681
$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,-146.0,0.0,0.0,0,104,0.00,0.00,-85.80,0.000,2,0.000,0.000,124,2261,3138,0,0,0,0,0,0
$GC,106,-0.98,-146.0,3.3,-6.0,17,133,9.55,3.17,-7.15,0.000,4,0.304,0.096,2107,413,3400,0,0,0,0,0,0
$GC,387,-0.98,-146.0,51.1,-15.3,67,393,0.00,2.58,0.00,0.000,6,0.000,0.071,2107,2000,3402,0,0,0,0,0,0
$GC,730,-0.98,-146.0,90.0,-10.3,128,736,0.00,2.65,0.00,0.000,4,0.000,0.089,2107,407,3402,0,0,0,0,0,0
$GC,753,-0.98,-146.0,92.6,-11.0,132,758,0.00,2.60,0.00,0.000,6,0.000,0.071,2107,2020,3402,0,0,0,0,0,0
$GC,1081,-0.98,-146.0,131.1,-12.9,169,1085,0.00,2.60,0.00,0.000,4,0.000,0.091,2107,3595,3402,0,0,0,0,0,0
$GC,1299,-0.98,-146.0,157.9,-12.1,188,1304,0.00,2.53,0.00,0.000,6,0.000,0.071,2107,2028,3400,0,0,0,0,0,0
$GC,1623,-0.98,-146.0,195.8,-11.8,218,1627,0.00,2.60,0.00,0.000,4,0.000,0.091,2107,3592,3400,0,0,0,0,0,0
$GC,1880,-0.98,-146.0,225.5,-10.9,240,1886,0.00,2.53,0.00,0.000,6,0.000,0.071,2107,2041,3399,0,0,0,0,0,0
$GC,2206,-0.98,-146.0,262.8,-11.8,271,2210,0.00,2.55,0.00,0.000,4,0.000,0.089,2107,3588,3398,0,0,0,0,0,0
$GC,2463,-0.98,-146.0,292.5,-11.1,293,2469,0.00,2.45,0.00,0.000,6,0.000,0.069,2107,2052,3398,0,0,0,0,0,0
$GC,2787,-0.98,-146.0,325.5,-10.5,324,2792,0.00,2.53,0.00,0.000,4,0.000,0.087,2107,3591,3397,0,0,0,0,0,0
$GC,3044,-0.98,-146.0,352.1,-10.1,346,3050,0.00,2.47,0.00,0.000,6,0.000,0.068,2107,2060,3397,0,0,0,0,0,0
$GC,3369,-0.98,-146.0,383.7,-9.7,377,3373,0.00,2.50,0.00,0.000,4,0.000,0.087,2107,3592,3398,0,0,0,0,0,0
$GC,3598,-0.98,-146.0,405.5,-9.3,397,3603,0.00,2.42,0.00,0.000,6,0.000,0.067,2107,2061,3398,0,0,0,0,0,0
$GC,3922,-0.98,-146.0,435.0,-9.3,427,3926,0.00,2.50,0.00,0.000,4,0.000,0.084,2107,3599,3399,0,0,0,0,0,0
$GC,4096,-0.98,-146.0,450.7,-9.2,442,4102,0.00,2.40,0.00,0.000,6,0.000,0.065,2107,2075,3399,0,0,0,0,0,0
$GC,4420,-0.98,-146.0,479.3,-9.0,473,4425,0.00,2.45,0.00,0.000,4,0.000,0.085,2107,3589,3400,0,0,0,0,0,0
$GC,4588,-0.98,-146.0,494.9,-9.5,487,4594,0.00,2.38,0.00,0.000,6,0.000,0.065,2107,2082,3399,0,0,0,0,0,0
$GC,4912,-0.98,-146.0,524.9,-9.8,518,4917,0.00,2.45,0.00,0.000,4,0.000,0.084,2107,3595,3400,0,0,0,0,0,0
$GC,5054,-0.98,-146.0,538.6,-10.2,530,5058,0.00,2.35,0.00,0.000,6,0.000,0.064,2107,2097,3400,0,0,0,0,0,0
$GC,5378,-0.98,-146.0,567.8,-8.8,560,5382,0.00,2.42,0.00,0.000,4,0.000,0.084,2107,3596,3401,0,0,0,0,0,0
$GC,5553,-0.98,-146.0,583.3,-8.9,575,5557,0.00,2.35,0.00,0.000,6,0.000,0.064,2107,2100,3401,0,0,0,0,0,0
$GC,5873,-0.98,-146.0,611.1,-8.6,597,5878,0.00,2.40,0.00,0.000,4,0.000,0.082,2107,3589,3402,0,0,0,0,0,0
$GC,6086,-0.98,-146.0,629.8,-8.3,603,6090,0.00,2.33,0.00,0.000,6,0.000,0.063,2107,2102,3402,0,0,0,0,0,0
$GC,6410,-0.98,-146.0,656.2,-8.2,614,6414,0.00,2.40,0.00,0.000,4,0.000,0.084,2107,3589,3402,0,0,0,0,0,0
$GC,6610,-0.98,-146.0,673.7,-8.6,620,6615,0.00,2.30,0.00,0.000,6,0.000,0.063,2107,2119,3402,0,0,0,0,0,0
$STATE,6698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6698,begin apogee
$GC,6704,-0.24,0.0,681.1,8.3,623,6827,0.85,0.00,119.90,1.172,6,0.186,0.000,2350,1695,2800,0,0,0,0,0,0
$STATE,6828,end apogee,CONTROL_FINISHED_OK
$STATE,6828,begin climb
$GC,6830,0.98,146.0,683.4,0.0,627,6962,1.27,2.53,122.65,1.128,4,0.119,0.085,2751,295,2203,0,0,0,0,0,0
$GC,7214,0.98,146.0,615.7,21.0,638,7220,0.00,2.38,0.00,0.000,6,0.000,0.061,2751,1706,2194,0,0,0,0,0,0
$GC,7535,0.98,146.0,551.6,19.8,663,7539,0.00,2.38,0.00,0.000,4,0.000,0.088,2762,296,2194,0,0,0,0,0,0
$GC,7791,0.98,146.0,498.4,20.3,685,7798,0.00,2.30,0.00,0.000,6,0.000,0.064,2762,1700,2193,0,0,0,0,0,0
$GC,8116,0.98,146.0,436.2,18.9,716,8120,0.00,2.35,0.00,0.000,4,0.000,0.088,2772,288,2192,0,0,0,0,0,0
$GC,8374,0.98,146.0,385.5,19.7,739,8378,0.00,2.25,0.00,0.000,6,0.000,0.064,2772,1701,2192,0,0,0,0,0,0
$GC,8698,0.98,146.0,324.4,18.6,769,8702,0.00,2.33,0.00,0.000,4,0.000,0.088,2782,291,2192,0,0,0,0,0,0
$GC,8954,0.98,146.0,271.9,20.5,791,8961,0.08,2.28,0.00,0.000,6,0.232,0.064,2755,1703,2192,0,0,0,0,0,0
$GC,9279,0.98,146.0,214.8,16.7,822,9283,0.00,2.33,0.00,0.000,4,0.000,0.087,2763,285,2192,0,0,0,0,0,0
$GC,9536,0.98,146.0,170.1,16.6,844,9542,0.00,2.28,0.00,0.000,6,0.000,0.063,2756,1705,2192,0,0,0,0,0,0
$GC,9860,0.98,146.0,121.1,14.7,875,9864,0.00,2.30,0.00,0.000,4,0.000,0.088,2765,296,2192,0,0,0,0,0,0
$GC,10119,0.98,146.0,83.6,14.7,907,10124,0.00,2.22,0.00,0.000,6,0.000,0.065,2765,1705,2192,0,0,0,0,0,0
$GC,10462,0.98,146.0,39.8,10.8,968,10467,0.00,2.33,0.00,0.000,4,0.000,0.092,2775,290,2192,0,0,0,0,0,0
$GC,10721,0.98,146.0,6.2,12.9,1014,10726,0.00,2.25,0.00,0.000,6,0.000,0.069,2775,1708,2191,0,0,0,0,0,0
$STATE,10753,end climb,SURFACE_DEPTH_REACHED
$STATE,10753,begin surface coast
$FINISH,0.4,1.026411
$STATE,10765,end surface coast,CONTROL_FINISHED_OK
$STATE,10765,begin surface
$SM_CCo,10781,79.28,0.765,0,0,1677,275.23
$SM_GC,1.15,0.00,0.00,79.28,0.000,0.000,0.765,130,2005,1677,-7.19,0.14,275.23
$RAFOS_CLK,681
$RAFOS,5,1256532066,4.700000,4.685000,113,58,58,0,0,0,615,216,200,0,0,0
$RAFOS,4,1256531585,4.566667,4.551389,67,63,61,0,0,0,791,212,203,0,0,0
$RAFOS,3,1256531110,4.433333,4.419445,64,58,57,0,0,0,944,146,197,0,0,0
$RAFOS,2,1256530622,4.300000,4.283889,66,59,59,0,0,0,1019,215,197,0,0,0
$RAFOS,1,1256530142,4.166667,4.150556,75,62,58,0,0,0,972,192,339,0,0,0
$RAFOS,0,1256529671,4.033333,4.019722,60,58,54,0,0,0,170,222,209,0,0,0
$RAFOS_FIX,6713.495605,-5746.421875,261009,040405,5,77,0.72
$IRIDIUM_FIX,6647.44,-5740.25,190199,222232
$TT8_MAMPS,0.029913
$HUMID,47.67
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,16.70
$XPDR_PINGS,2
$24V_AH,23.3,19.428
$10V_AH,10.3,9.124
$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,19.375,98.525,242.550,79.275,0.000,24.590,32.165,131.382,0.500,0.000,11.678,1846.794,6455.162,451.849,2071.824,341.547,0.000,1480.105,0.000,2039.906,2520.000,0.532,0.000
$DEVICE_MAMPS,304.499,95.875,1171.976,765.466,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,749.477,701.811,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150632
$DATA_FILE_SIZE,40924,1022
$CAP_FILE_SIZE,119616,0
$CFSIZE,260165632,247930880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.3
$GPS,261009,045336,6714.848,-5739.156,50,1.0,50,-38.0