version: 66.06
glider: 143
mission: 10
dive: 46
start: 10 26 109 18 30 30
data:
$ID,143
$MISSION,10
$DIVE,46
$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,300
$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,-23786.723
$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,2390
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$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,24
$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
$GPS1,182330,6714.982,-5750.564,33,1.1,39,-38.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-66.3
$GPS2,183014,6715.017,-5750.615,12,1.6,18,-38.1
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6704.869,-5800.100
$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,798
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.88,-146.0,0.0,0.0,0,103,0.00,0.00,-84.95,0.000,2,0.000,0.000,123,1905,3105,0,0,0,0,0,0
$GC,105,-0.88,-146.0,3.5,-7.6,17,132,9.57,2.72,-7.72,0.000,4,0.307,0.104,2096,3477,3400,0,0,0,0,0,0
$GC,137,-0.88,-146.0,12.4,-24.3,23,143,0.00,2.60,0.00,0.000,6,0.000,0.072,2096,1903,3400,0,0,0,0,0,0
$GC,480,-0.88,-146.0,69.5,-16.1,84,485,0.00,2.65,0.00,0.000,4,0.000,0.094,2096,314,3402,0,0,0,0,0,0
$GC,513,-0.88,-146.0,74.8,-15.9,90,519,0.00,2.60,0.00,0.000,6,0.000,0.073,2096,1906,3402,0,0,0,0,0,0
$GC,853,-0.88,-146.0,122.1,-13.5,137,857,0.00,2.62,0.00,0.000,4,0.000,0.090,2096,3490,3403,0,0,0,0,0,0
$GC,1143,-0.88,-146.0,161.8,-13.5,162,1149,0.00,2.55,0.00,0.000,6,0.000,0.074,2096,1920,3403,0,0,0,0,0,0
$GC,1596,-0.88,-146.0,221.8,-12.0,205,1600,0.00,2.60,0.00,0.000,4,0.000,0.092,2096,3484,3401,0,0,0,0,0,0
$GC,1938,-0.88,-146.0,261.0,-11.0,235,1942,0.00,2.50,0.00,0.000,6,0.000,0.075,2096,1937,3400,0,0,0,0,0,0
$GC,2389,-0.88,-146.0,311.3,-11.4,277,2393,0.00,2.55,0.00,0.000,4,0.000,0.091,2096,3484,3400,0,0,0,0,0,0
$GC,2730,-0.88,-146.0,350.0,-11.1,307,2735,0.00,2.47,0.00,0.000,6,0.000,0.073,2096,1941,3399,0,0,0,0,0,0
$GC,3182,-0.88,-146.0,397.4,-10.4,349,3186,0.00,2.55,0.00,0.000,4,0.000,0.088,2096,3493,3400,0,0,0,0,0,0
$GC,3524,-0.88,-146.0,431.4,-10.4,379,3528,0.00,2.47,0.00,0.000,6,0.000,0.071,2096,1950,3400,0,0,0,0,0,0
$GC,3981,-0.88,-146.0,478.9,-9.8,422,3985,0.00,2.50,0.00,0.000,4,0.000,0.087,2096,3486,3401,0,0,0,0,0,0
$GC,4323,-0.88,-146.0,514.0,-10.6,452,4327,0.00,2.42,0.00,0.000,6,0.000,0.069,2096,1959,3401,0,0,0,0,0,0
$GC,4774,-0.88,-146.0,559.4,-9.8,494,4779,0.00,2.50,0.00,0.000,4,0.000,0.086,2096,3486,3402,0,0,0,0,0,0
$GC,5099,-0.88,-146.0,590.8,-10.1,522,5105,0.00,2.42,0.00,0.000,6,0.000,0.068,2096,1979,3403,0,0,0,0,0,0
$GC,5538,-0.88,-146.0,634.1,-9.8,543,5542,0.00,2.45,0.00,0.000,4,0.000,0.086,2095,3487,3404,0,0,0,0,0,0
$GC,5845,-0.88,-146.0,665.1,-10.1,552,5849,0.00,2.40,0.00,0.000,6,0.000,0.069,2096,1991,3404,0,0,0,0,0,0
$GC,6299,-0.88,-146.0,710.6,-9.8,567,6303,0.00,2.42,0.00,0.000,4,0.000,0.087,2096,3486,3404,0,0,0,0,0,0
$GC,6589,-0.88,-146.0,739.7,-10.2,575,6595,0.00,2.40,0.00,0.000,6,0.000,0.068,2096,1994,3404,0,0,0,0,0,0
$GC,7024,-0.88,-146.0,782.2,-9.8,590,7028,0.00,2.45,0.00,0.000,4,0.000,0.087,2096,3495,3404,0,0,0,0,0,0
$STATE,7179,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7179,begin apogee
$GC,7186,-0.21,0.0,798.1,10.4,594,7313,0.77,0.00,122.43,1.262,6,0.196,0.000,2315,1598,2800,0,0,0,0,0,0
$STATE,7313,end apogee,CONTROL_FINISHED_OK
$STATE,7314,begin climb
$GC,7316,0.88,146.0,801.7,0.0,599,7451,1.17,2.45,126.00,1.210,4,0.133,0.089,2674,297,2203,0,0,0,0,0,0
$GC,7788,0.88,146.0,740.6,15.6,613,7792,0.00,2.17,0.00,0.000,6,0.000,0.065,2674,1606,2195,0,0,0,0,0,0
$GC,8229,0.88,146.0,672.8,15.9,628,8233,0.00,2.22,0.00,0.000,4,0.000,0.093,2684,297,2192,0,0,0,0,0,0
$GC,8570,0.88,146.0,615.4,17.5,638,8574,0.00,2.15,0.00,0.000,6,0.000,0.067,2684,1603,2191,0,0,0,0,0,0
$GC,9025,0.88,146.0,544.1,15.7,674,9029,0.00,2.17,0.00,0.000,4,0.000,0.094,2694,297,2191,0,0,0,0,0,0
$GC,9367,0.88,146.0,488.8,15.2,704,9371,0.00,2.10,0.00,0.000,6,0.000,0.068,2694,1610,2190,0,0,0,0,0,0
$GC,9818,0.88,146.0,418.8,15.7,746,9822,0.00,2.17,0.00,0.000,4,0.000,0.093,2704,296,2190,0,0,0,0,0,0
$GC,10160,0.88,146.0,362.0,16.7,776,10164,0.00,2.08,0.00,0.000,6,0.000,0.066,2704,1607,2190,0,0,0,0,0,0
$GC,10612,0.88,146.0,293.8,15.6,818,10616,0.00,2.15,0.00,0.000,4,0.000,0.092,2714,296,2190,0,0,0,0,0,0
$GC,10954,0.88,146.0,239.5,15.5,848,10959,0.15,2.08,0.00,0.000,6,0.221,0.066,2681,1614,2190,0,0,0,0,0,0
$GC,11405,0.88,146.0,181.5,11.8,890,11409,0.00,2.15,0.00,0.000,4,0.000,0.091,2689,295,2190,0,0,0,0,0,0
$GC,11748,0.88,146.0,140.4,11.6,920,11752,0.00,2.08,0.00,0.000,6,0.000,0.065,2689,1617,2191,0,0,0,0,0,0
$GC,12204,0.88,146.0,90.0,10.9,970,12210,0.00,2.17,0.00,0.000,4,0.000,0.092,2699,292,2191,0,0,0,0,0,0
$GC,12547,0.88,146.0,51.5,9.9,1031,12552,0.00,2.10,0.00,0.000,6,0.000,0.067,2699,1629,2191,0,0,0,0,0,0
$GC,12890,0.88,146.0,20.7,9.5,1092,12895,0.00,2.20,0.00,0.000,4,0.000,0.094,2709,293,2190,0,0,0,0,0,0
$STATE,13079,end climb,SURFACE_DEPTH_REACHED
$STATE,13079,begin surface coast
$FINISH,0.3,1.011354
$STATE,13097,end surface coast,CONTROL_FINISHED_OK
$STATE,13097,begin surface
$SM_CCo,13115,75.03,0.760,0,0,1676,275.23
$SM_GC,1.05,0.00,0.00,75.03,0.000,0.000,0.760,124,1898,1676,-7.08,-0.08,275.23
$RAFOS_CLK,847
$RAFOS,6,1256590146,20.833334,20.818333,80,58,56,0,0,0,646,191,212,0,0,0
$RAFOS,5,1256589688,20.700001,20.691111,100,65,58,0,0,0,517,192,216,0,0,0
$RAFOS,4,1256589185,20.566668,20.551390,83,57,57,0,0,0,758,197,165,0,0,0
$RAFOS,3,1256588730,20.433332,20.424999,62,59,57,0,0,0,215,162,198,0,0,0
$RAFOS,2,1256588222,20.299999,20.283890,62,59,58,0,0,0,196,985,221,0,0,0
$RAFOS,1,1256587757,20.166666,20.154722,62,59,59,0,0,0,201,191,216,0,0,0
$RAFOS,0,1256587274,20.033333,20.020555,64,60,57,0,0,0,158,203,191,0,0,0
$RAFOS_FIX,6714.351562,-5757.301270,261009,202044,3,88,0.62
$IRIDIUM_FIX,6647.44,-5749.65,200199,151531
$TT8_MAMPS,0.027612
$HUMID,47.83
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,16.80
$XPDR_PINGS,1
$24V_AH,23.0,20.013
$10V_AH,10.3,9.474
$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,19.125,91.000,248.425,75.025,0.000,30.309,35.341,220.029,0.250,0.000,19.489,1988.659,8295.668,434.118,2442.445,439.256,0.000,1608.085,0.000,2390.691,2520.000,0.531,0.000
$DEVICE_MAMPS,306.800,104.312,1262.482,760.097,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,825.382,782.393,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150568
$DATA_FILE_SIZE,44160,1129
$CAP_FILE_SIZE,130166,0
$CFSIZE,260165632,247603200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.2
$GPS,261009,221155,6715.707,-5754.280,37,1.0,37,-38.1