version: 66.06
glider: 143
mission: 10
dive: 43
start: 10 26 109 8 9 7
data:
$ID,143
$MISSION,10
$DIVE,43
$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,-23720.641
$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,1900
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,18
$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
$GPS1,080355,6714.820,-5741.395,39,1.0,39,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-65.1
$GPS2,080850,6714.854,-5741.458,13,1.0,13,-38.1
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6704.706,-5750.941
$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,238.1,20000,-16.9,-9.167
$D_GRID,717
$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,16,-0.98,-146.0,0.0,0.0,0,103,0.00,0.00,-84.38,0.000,2,0.000,0.000,126,2010,3088,0,0,0,0,0,0
$GC,106,-0.98,-146.0,3.2,-5.6,17,132,9.65,2.92,-8.80,0.000,4,0.308,0.101,2106,315,3397,0,0,0,0,0,0
$GC,172,-0.98,-146.0,16.8,-16.7,29,177,0.00,2.62,0.00,0.000,6,0.000,0.071,2106,1912,3399,0,0,0,0,0,0
$GC,515,-0.98,-146.0,66.8,-13.6,90,520,0.00,2.62,0.00,0.000,4,0.000,0.090,2105,3488,3400,0,0,0,0,0,0
$GC,773,-0.98,-146.0,101.9,-13.4,135,778,0.00,2.55,0.00,0.000,6,0.000,0.072,2106,1919,3400,0,0,0,0,0,0
$GC,1097,-0.98,-146.0,141.4,-11.9,165,1101,0.00,2.60,0.00,0.000,4,0.000,0.091,2106,3485,3401,0,0,0,0,0,0
$GC,1354,-0.98,-146.0,173.4,-11.9,187,1360,0.00,2.55,0.00,0.000,6,0.000,0.074,2106,1908,3400,0,0,0,0,0,0
$GC,1678,-0.98,-146.0,208.9,-10.4,218,1683,0.00,2.62,0.00,0.000,4,0.000,0.091,2106,3489,3399,0,0,0,0,0,0
$GC,1934,-0.98,-146.0,235.4,-10.2,240,1941,0.00,2.53,0.00,0.000,6,0.000,0.074,2106,1950,3398,0,0,0,0,0,0
$GC,2260,-0.98,-146.0,265.2,-8.7,271,2264,0.00,2.55,0.00,0.000,4,0.000,0.092,2106,3492,3398,0,0,0,0,0,0
$GC,2500,-0.98,-146.0,287.2,-9.4,292,2504,0.00,2.47,0.00,0.000,6,0.000,0.074,2106,1954,3397,0,0,0,0,0,0
$GC,2824,-0.98,-146.0,318.3,-9.6,322,2828,0.00,2.53,0.00,0.000,4,0.000,0.090,2106,3488,3397,0,0,0,0,0,0
$GC,3081,-0.98,-146.0,343.1,-9.4,344,3087,0.00,2.47,0.00,0.000,6,0.000,0.072,2106,1972,3397,0,0,0,0,0,0
$GC,3405,-0.98,-146.0,373.9,-9.8,375,3410,0.00,2.50,0.00,0.000,4,0.000,0.088,2106,3495,3397,0,0,0,0,0,0
$GC,3662,-0.98,-146.0,398.7,-10.2,397,3668,0.00,2.42,0.00,0.000,6,0.000,0.071,2106,1974,3397,0,0,0,0,0,0
$GC,3987,-0.98,-146.0,429.2,-9.5,428,3991,0.00,2.47,0.00,0.000,4,0.000,0.087,2106,3486,3398,0,0,0,0,0,0
$GC,4243,-0.98,-146.0,454.0,-9.9,450,4250,0.00,2.42,0.00,0.000,6,0.000,0.069,2106,1986,3399,0,0,0,0,0,0
$GC,4568,-0.98,-146.0,486.7,-10.5,481,4573,0.00,2.45,0.00,0.000,4,0.000,0.085,2106,3492,3399,0,0,0,0,0,0
$GC,4826,-0.98,-146.0,513.4,-10.0,503,4832,0.00,2.40,0.00,0.000,6,0.000,0.068,2106,2004,3399,0,0,0,0,0,0
$GC,5150,-0.98,-146.0,547.0,-9.9,534,5155,0.00,2.40,0.00,0.000,4,0.000,0.085,2105,3487,3400,0,0,0,0,0,0
$GC,5381,-0.98,-146.0,570.6,-10.6,554,5385,0.00,2.35,0.00,0.000,6,0.000,0.068,2106,2004,3400,0,0,0,0,0,0
$GC,5703,-0.98,-146.0,603.2,-10.1,582,5707,0.00,2.42,0.00,0.000,4,0.000,0.086,2106,3489,3401,0,0,0,0,0,0
$GC,5932,-0.98,-146.0,626.4,-10.2,588,5939,0.00,2.35,0.00,0.000,6,0.000,0.068,2106,2025,3401,0,0,0,0,0,0
$GC,6245,-0.98,-146.0,656.9,-9.6,599,6249,0.00,2.38,0.00,0.000,4,0.000,0.087,2106,3487,3401,0,0,0,0,0,0
$GC,6462,-0.98,-146.0,677.3,-9.9,605,6466,0.00,2.33,0.00,0.000,6,0.000,0.068,2105,2040,3401,0,0,0,0,0,0
$GC,6780,-0.98,-146.0,706.4,-9.2,616,6784,0.00,2.35,0.00,0.000,4,0.000,0.087,2106,3487,3401,0,0,0,0,0,0
$STATE,6894,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6895,begin apogee
$GC,6903,-0.24,0.0,717.3,9.1,619,7026,0.82,0.00,120.45,1.212,6,0.187,0.000,2345,1587,2800,0,0,0,0,0,0
$STATE,7027,end apogee,CONTROL_FINISHED_OK
$STATE,7027,begin climb
$GC,7029,0.98,146.0,719.9,0.0,623,7161,1.30,2.28,124.10,1.160,4,0.121,0.088,2750,298,2203,0,0,0,0,0,0
$GC,7413,0.98,146.0,653.3,20.5,634,7419,0.00,2.20,0.00,0.000,6,0.000,0.063,2750,1598,2194,0,0,0,0,0,0
$GC,7727,0.98,146.0,592.3,19.6,647,7731,0.00,2.22,0.00,0.000,4,0.000,0.091,2760,292,2193,0,0,0,0,0,0
$GC,7984,0.98,146.0,538.6,20.7,669,7990,0.00,2.15,0.00,0.000,6,0.000,0.067,2759,1597,2193,0,0,0,0,0,0
$GC,8309,0.98,146.0,472.6,20.8,700,8313,0.00,2.17,0.00,0.000,4,0.000,0.091,2769,295,2192,0,0,0,0,0,0
$GC,8565,0.98,146.0,418.3,20.9,722,8572,0.00,2.15,0.00,0.000,6,0.000,0.067,2769,1607,2192,0,0,0,0,0,0
$GC,8890,0.98,146.0,354.5,19.2,753,8894,0.00,2.17,0.00,0.000,4,0.000,0.091,2779,294,2192,0,0,0,0,0,0
$GC,9147,0.98,146.0,303.2,19.2,775,9154,0.10,2.12,0.00,0.000,6,0.227,0.066,2755,1603,2192,0,0,0,0,0,0
$GC,9472,0.98,146.0,247.2,16.7,806,9475,0.00,2.15,0.00,0.000,4,0.000,0.091,2762,296,2192,0,0,0,0,0,0
$GC,9731,0.98,146.0,200.3,17.7,829,9735,0.00,2.08,0.00,0.000,6,0.000,0.064,2755,1613,2192,0,0,0,0,0,0
$GC,10061,0.98,146.0,149.5,14.1,860,10065,0.00,2.17,0.00,0.000,4,0.000,0.090,2763,294,2192,0,0,0,0,0,0
$GC,10318,0.98,146.0,109.8,14.9,883,10322,0.00,2.08,0.00,0.000,6,0.000,0.066,2763,1607,2192,0,0,0,0,0,0
$GC,10658,0.98,146.0,63.4,12.8,937,10663,0.00,2.17,0.00,0.000,4,0.000,0.092,2772,291,2192,0,0,0,0,0,0
$GC,10916,0.98,146.0,31.3,12.7,983,10922,0.00,2.08,0.00,0.000,6,0.000,0.068,2772,1607,2192,0,0,0,0,0,0
$STATE,11162,end climb,SURFACE_DEPTH_REACHED
$STATE,11162,begin surface coast
$FINISH,0.3,1.014481
$STATE,11180,end surface coast,CONTROL_FINISHED_OK
$STATE,11180,begin surface
$SM_CCo,11196,80.55,0.765,0,0,1678,275.23
$SM_GC,1.22,0.00,0.00,80.55,0.000,0.000,0.765,127,1916,1678,-7.20,0.45,275.23
$RAFOS_CLK,717
$RAFOS,6,1256546944,8.833333,8.817778,83,64,58,0,0,0,694,200,231,0,0,0
$RAFOS,5,1256546464,8.700000,8.684444,60,59,59,0,0,0,163,196,212,0,0,0
$RAFOS,4,1256545990,8.566667,8.552778,75,69,62,0,0,0,756,181,196,0,0,0
$RAFOS,3,1256545504,8.433333,8.417778,68,60,59,0,0,0,204,170,968,0,0,0
$RAFOS,2,1256545026,8.300000,8.285000,83,61,60,0,0,0,984,205,221,0,0,0
$RAFOS,1,1256544567,8.166667,8.157500,64,60,59,0,0,0,835,203,188,0,0,0
$RAFOS_FIX,6708.652832,-5744.197754,261009,080820,4,76,9.49
$IRIDIUM_FIX,6647.44,-5752.61,200199,050508
$TT8_MAMPS,0.027612
$HUMID,48.42
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,16.70
$XPDR_PINGS,1
$24V_AH,23.2,19.650
$10V_AH,10.2,9.256
$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,19.500,96.050,244.550,80.550,0.000,22.939,31.252,133.092,0.250,0.000,15.187,1841.913,6797.957,450.149,2149.191,342.744,0.000,1509.883,0.000,2110.940,2160.000,0.531,0.000
$DEVICE_MAMPS,308.334,101.244,1211.860,765.466,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,754.963,711.997,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150620
$DATA_FILE_SIZE,40956,1030
$CAP_FILE_SIZE,120850,0
$CFSIZE,260165632,247808000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.1
$GPS,261009,111836,6714.623,-5744.343,33,1.1,33,-38.1