version: 66.06
glider: 143
mission: 10
dive: 44
start: 10 26 109 11 28 0
data:
$ID,143
$MISSION,10
$DIVE,44
$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,-23733.229
$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,20
$R_STBD_OVSHOOT,26
$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
$GPS1,111836,6714.623,-5744.343,33,1.1,33,-38.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-63.2
$GPS2,112743,6714.621,-5744.519,10,1.2,10,-38.1
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6704.473,-5754.001
$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,758
$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,-85.78,0.000,2,0.000,0.000,126,1918,3111,0,0,0,0,0,0
$GC,106,-0.98,-146.0,3.3,-6.0,17,133,9.52,2.78,-8.25,0.000,4,0.304,0.103,2106,313,3398,0,0,0,0,0,0
$GC,144,-0.98,-146.0,11.6,-18.3,24,150,0.00,2.62,0.00,0.000,6,0.000,0.073,2106,1900,3399,0,0,0,0,0,0
$GC,487,-0.98,-146.0,63.0,-13.1,85,493,0.00,2.67,0.00,0.000,4,0.000,0.091,2106,3495,3401,0,0,0,0,0,0
$GC,746,-0.98,-146.0,96.4,-13.1,131,752,0.00,2.58,0.00,0.000,6,0.000,0.072,2106,1912,3401,0,0,0,0,0,0
$GC,1077,-0.98,-146.0,137.7,-13.2,165,1082,0.00,2.62,0.00,0.000,4,0.000,0.090,2106,3493,3401,0,0,0,0,0,0
$GC,1334,-0.98,-146.0,172.0,-13.2,187,1341,0.00,2.55,0.00,0.000,6,0.000,0.074,2106,1941,3401,0,0,0,0,0,0
$GC,1659,-0.98,-146.0,212.6,-12.3,218,1664,0.00,2.58,0.00,0.000,4,0.000,0.092,2106,3493,3401,0,0,0,0,0,0
$GC,1916,-0.98,-146.0,242.8,-11.2,240,1923,0.00,2.53,0.00,0.000,6,0.000,0.074,2106,1955,3399,0,0,0,0,0,0
$GC,2241,-0.98,-146.0,276.4,-10.0,271,2246,0.00,2.55,0.00,0.000,4,0.000,0.092,2106,3495,3398,0,0,0,0,0,0
$GC,2498,-0.98,-146.0,301.7,-9.8,293,2505,0.00,2.47,0.00,0.000,6,0.000,0.073,2106,1953,3398,0,0,0,0,0,0
$GC,2823,-0.98,-146.0,332.4,-9.4,324,2828,0.00,2.53,0.00,0.000,4,0.000,0.090,2106,3486,3398,0,0,0,0,0,0
$GC,3080,-0.98,-146.0,357.1,-9.6,346,3087,0.00,2.47,0.00,0.000,6,0.000,0.072,2106,1968,3398,0,0,0,0,0,0
$GC,3407,-0.98,-146.0,386.1,-9.1,377,3411,0.00,2.50,0.00,0.000,4,0.000,0.088,2106,3493,3399,0,0,0,0,0,0
$GC,3664,-0.98,-146.0,408.6,-8.3,399,3670,0.00,2.42,0.00,0.000,6,0.000,0.070,2106,1967,3399,0,0,0,0,0,0
$GC,3989,-0.98,-146.0,436.7,-8.4,430,3993,0.00,2.47,0.00,0.000,4,0.000,0.087,2106,3486,3400,0,0,0,0,0,0
$GC,4246,-0.98,-146.0,460.0,-8.9,452,4252,0.00,2.40,0.00,0.000,6,0.000,0.069,2106,1976,3399,0,0,0,0,0,0
$GC,4570,-0.98,-146.0,489.8,-9.4,483,4575,0.00,2.47,0.00,0.000,4,0.000,0.086,2106,3496,3400,0,0,0,0,0,0
$GC,4812,-0.98,-146.0,512.3,-9.1,504,4816,0.00,2.38,0.00,0.000,6,0.000,0.069,2106,1997,3401,0,0,0,0,0,0
$GC,5136,-0.98,-146.0,542.1,-8.9,534,5141,0.00,2.42,0.00,0.000,4,0.000,0.086,2106,3488,3401,0,0,0,0,0,0
$GC,5337,-0.98,-146.0,561.3,-9.6,551,5343,0.00,2.40,0.00,0.000,6,0.000,0.069,2106,2003,3401,0,0,0,0,0,0
$GC,5662,-0.98,-146.0,590.9,-9.4,582,5666,0.00,2.42,0.00,0.000,4,0.000,0.086,2106,3496,3402,0,0,0,0,0,0
$GC,5896,-0.98,-146.0,613.0,-9.3,595,5901,0.00,2.38,0.00,0.000,6,0.000,0.069,2106,2024,3402,0,0,0,0,0,0
$GC,6231,-0.98,-146.0,643.3,-8.8,606,6236,0.00,2.38,0.00,0.000,4,0.000,0.087,2106,3487,3402,0,0,0,0,0,0
$GC,6489,-0.98,-146.0,665.8,-7.8,613,6495,0.00,2.33,0.00,0.000,6,0.000,0.069,2106,2021,3402,0,0,0,0,0,0
$GC,6801,-0.98,-146.0,692.4,-8.5,624,6806,0.00,2.40,0.00,0.000,4,0.000,0.087,2106,3494,3402,0,0,0,0,0,0
$GC,7025,-0.98,-146.0,711.7,-8.6,630,7031,0.00,2.30,0.00,0.000,6,0.000,0.069,2106,2039,3402,0,0,0,0,0,0
$GC,7338,-0.98,-146.0,738.6,-8.8,641,7342,0.00,2.35,0.00,0.000,4,0.000,0.085,2106,3488,3402,0,0,0,0,0,0
$GC,7544,-0.98,-146.0,756.9,-9.1,647,7548,0.00,2.28,0.00,0.000,6,0.000,0.068,2106,2041,3402,0,0,0,0,0,0
$STATE,7558,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7558,begin apogee
$GC,7564,-0.24,0.0,758.4,9.1,647,7690,0.82,0.00,121.60,1.240,6,0.187,0.000,2344,1591,2800,0,0,0,0,0,0
$STATE,7691,end apogee,CONTROL_FINISHED_OK
$STATE,7691,begin climb
$GC,7693,0.98,146.0,760.6,0.0,652,7828,1.30,2.33,125.12,1.190,4,0.120,0.088,2751,298,2202,0,0,0,0,0,0
$GC,8081,0.98,146.0,696.1,21.1,664,8085,0.00,2.17,0.00,0.000,6,0.000,0.064,2750,1601,2195,0,0,0,0,0,0
$GC,8415,0.98,146.0,630.8,19.6,675,8419,0.00,2.22,0.00,0.000,4,0.000,0.092,2760,297,2192,0,0,0,0,0,0
$GC,8671,0.98,146.0,578.3,20.4,688,8678,0.00,2.17,0.00,0.000,6,0.000,0.067,2760,1609,2192,0,0,0,0,0,0
$GC,8996,0.98,146.0,515.8,19.2,719,9000,0.00,2.20,0.00,0.000,4,0.000,0.092,2770,296,2191,0,0,0,0,0,0
$GC,9253,0.98,146.0,462.6,20.8,741,9259,0.00,2.12,0.00,0.000,6,0.000,0.068,2769,1596,2191,0,0,0,0,0,0
$GC,9577,0.98,146.0,398.6,19.7,772,9581,0.00,2.15,0.00,0.000,4,0.000,0.092,2780,297,2190,0,0,0,0,0,0
$GC,9834,0.98,146.0,345.5,21.6,794,9841,0.10,2.12,0.00,0.000,6,0.232,0.067,2756,1603,2190,0,0,0,0,0,0
$GC,10159,0.98,146.0,286.0,17.1,825,10163,0.00,2.15,0.00,0.000,4,0.000,0.091,2763,297,2190,0,0,0,0,0,0
$GC,10416,0.98,146.0,236.4,18.7,847,10423,0.00,2.10,0.00,0.000,6,0.000,0.064,2757,1600,2190,0,0,0,0,0,0
$GC,10741,0.98,146.0,182.5,15.9,878,10745,0.00,2.15,0.00,0.000,4,0.000,0.091,2764,290,2190,0,0,0,0,0,0
$GC,10998,0.98,146.0,142.1,15.0,900,11005,0.00,2.12,0.00,0.000,6,0.000,0.066,2764,1608,2191,0,0,0,0,0,0
$GC,11324,0.98,146.0,95.8,14.0,933,11330,0.00,2.15,0.00,0.000,4,0.000,0.091,2774,297,2191,0,0,0,0,0,0
$GC,11584,0.98,146.0,58.6,14.1,979,11590,0.00,2.08,0.00,0.000,6,0.000,0.067,2774,1610,2191,0,0,0,0,0,0
$GC,11927,0.98,146.0,16.0,10.6,1040,11933,0.00,2.17,0.00,0.000,4,0.000,0.093,2784,291,2190,0,0,0,0,0,0
$GC,12017,0.98,146.0,3.5,16.6,1056,12024,0.15,2.08,0.00,0.000,6,0.223,0.068,2751,1607,2188,0,0,0,0,0,0
$STATE,12028,end climb,SURFACE_DEPTH_REACHED
$STATE,12028,begin surface coast
$FINISH,0.3,1.017540
$STATE,12040,end surface coast,CONTROL_FINISHED_OK
$STATE,12040,begin surface
$SM_CCo,12056,76.85,0.765,0,0,1677,275.23
$SM_GC,1.13,0.00,0.00,76.85,0.000,0.000,0.765,129,1907,1677,-7.19,0.20,275.23
$RAFOS_CLK,789
$RAFOS,6,1256561349,12.833333,12.819167,83,60,58,0,0,0,657,204,172,0,0,0
$RAFOS,5,1256560868,12.700000,12.685555,99,63,62,0,0,0,604,206,186,0,0,0
$RAFOS,4,1256560382,12.566667,12.550555,61,60,59,0,0,0,147,216,190,0,0,0
$RAFOS,3,1256559901,12.433333,12.416945,60,57,57,0,0,0,119,198,966,0,0,0
$RAFOS,2,1256559425,12.300000,12.284722,67,66,59,0,0,0,206,216,187,0,0,0
$RAFOS,1,1256558944,12.166667,12.151111,67,66,53,0,0,0,225,196,141,0,0,0
$RAFOS,0,1256558465,12.033333,12.018056,62,58,50,0,0,0,209,161,121,0,0,0
$RAFOS_FIX,6712.769531,-5748.107422,261009,121200,2,91,0.89
$IRIDIUM_FIX,6647.44,-5740.25,200199,111157
$TT8_MAMPS,0.027612
$HUMID,48.18
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,16.80
$XPDR_PINGS,3
$24V_AH,23.1,19.773
$10V_AH,10.2,9.328
$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,19.425,104.950,246.725,76.850,0.000,53.182,63.722,257.807,0.750,0.000,11.961,1906.212,7487.089,470.526,2276.124,543.960,0.000,1592.786,0.000,2236.902,2520.000,0.532,0.000
$DEVICE_MAMPS,303.732,102.778,1240.239,765.466,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,775.939,733.390,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150560
$DATA_FILE_SIZE,41015,1060
$CAP_FILE_SIZE,135077,0
$CFSIZE,260165632,247730176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.4
$GPS,261009,145157,6714.261,-5746.825,30,99.0,49,-38.1