version: 66.06
glider: 143
mission: 10
dive: 48
start: 10 27 109 2 31 13
data:
$ID,143
$MISSION,10
$DIVE,48
$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,-23819.898
$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,26
$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,2400
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,23
$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
$GPS1,022525,6716.349,-5756.241,42,1.3,42,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-66.5
$GPS2,023056,6716.346,-5756.245,14,1.5,14,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6706.198,-5805.738
$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,238.2,20000,-16.9,-9.167
$D_GRID,868
$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,-0.83,-146.0,0.0,0.0,0,100,0.00,0.00,-80.95,0.000,2,0.000,0.000,124,1911,3030,0,0,0,0,0,0
$GC,102,-0.83,-146.0,3.2,-5.8,16,129,9.60,0.00,-10.52,0.000,6,0.305,0.000,2114,1911,3398,0,0,0,0,0,0
$GC,297,-0.83,-146.0,35.8,-15.2,51,303,0.00,3.40,0.00,0.000,4,0.000,0.092,2114,3906,3401,0,0,0,0,0,0
$GC,438,-0.83,-146.0,56.4,-14.5,76,444,0.00,2.40,0.00,0.000,6,0.000,0.065,2114,2392,3401,0,0,0,0,0,0
$GC,615,-0.83,-146.0,78.2,-12.1,107,621,0.00,2.58,0.00,0.000,4,0.000,0.092,2114,3909,3401,0,0,0,0,0,0
$GC,643,-0.83,-146.0,82.1,-12.7,112,649,0.00,2.47,0.00,0.000,6,0.000,0.065,2114,2383,3401,0,0,0,0,0,0
$GC,822,-0.83,-146.0,103.9,-11.6,141,827,0.00,2.58,0.00,0.000,4,0.000,0.093,2114,3904,3401,0,0,0,0,0,0
$GC,849,-0.83,-146.0,107.3,-12.7,143,854,0.00,2.45,0.00,0.000,6,0.000,0.066,2114,2391,3401,0,0,0,0,0,0
$GC,1301,-0.83,-146.0,158.2,-10.8,185,1305,0.00,2.55,0.00,0.000,4,0.000,0.095,2114,3904,3401,0,0,0,0,0,0
$GC,1344,-0.83,-146.0,163.1,-11.0,188,1350,0.00,2.47,0.00,0.000,6,0.000,0.067,2114,2396,3400,0,0,0,0,0,0
$GC,1798,-0.83,-146.0,210.5,-10.8,231,1803,0.00,2.53,0.00,0.000,4,0.000,0.094,2114,3905,3399,0,0,0,0,0,0
$GC,1871,-0.83,-146.0,218.7,-10.6,237,1875,0.00,2.42,0.00,0.000,6,0.000,0.067,2114,2394,3399,0,0,0,0,0,0
$GC,2323,-0.83,-146.0,270.5,-11.3,279,2327,0.00,2.55,0.00,0.000,4,0.000,0.094,2114,3906,3398,0,0,0,0,0,0
$GC,2406,-0.83,-146.0,280.0,-11.7,286,2412,0.00,2.40,0.00,0.000,6,0.000,0.066,2114,2398,3398,0,0,0,0,0,0
$GC,2858,-0.83,-146.0,330.2,-10.4,329,2862,0.00,2.53,0.00,0.000,4,0.000,0.093,2114,3909,3398,0,0,0,0,0,0
$GC,3010,-0.83,-146.0,345.6,-9.9,342,3014,0.00,2.38,0.00,0.000,6,0.000,0.065,2114,2415,3398,0,0,0,0,0,0
$GC,3462,-0.83,-146.0,390.9,-9.8,384,3466,0.00,2.50,0.00,0.000,4,0.000,0.091,2114,3915,3398,0,0,0,0,0,0
$GC,3720,-0.83,-146.0,417.6,-10.5,407,3724,0.00,2.33,0.00,0.000,6,0.000,0.064,2114,2446,3399,0,0,0,0,0,0
$GC,4171,-0.83,-146.0,462.1,-9.6,449,4176,0.00,2.60,0.00,0.000,4,0.000,0.081,2114,813,3399,0,0,0,0,0,0
$GC,4293,-0.83,-146.0,474.8,-10.3,459,4299,0.00,2.62,0.00,0.000,6,0.000,0.074,2114,2460,3399,0,0,0,0,0,0
$GC,4745,-0.83,-146.0,518.2,-9.4,502,4749,0.00,2.38,0.00,0.000,4,0.000,0.090,2114,3915,3400,0,0,0,0,0,0
$GC,4755,-0.83,-146.0,519.1,-9.2,502,4761,0.00,2.28,0.00,0.000,6,0.000,0.061,2114,2469,3400,0,0,0,0,0,0
$GC,5207,-0.83,-146.0,560.4,-8.9,545,5211,0.00,2.38,0.00,0.000,4,0.000,0.090,2114,3914,3401,0,0,0,0,0,0
$GC,5217,-0.83,-146.0,561.2,-8.2,545,5223,0.00,2.28,0.00,0.000,6,0.000,0.062,2114,2468,3400,0,0,0,0,0,0
$GC,5669,-0.83,-146.0,599.0,-8.4,588,5673,0.00,2.38,0.00,0.000,4,0.000,0.089,2114,3914,3402,0,0,0,0,0,0
$GC,5679,-0.83,-146.0,600.0,-8.2,588,5684,0.00,2.28,0.00,0.000,6,0.000,0.061,2114,2464,3401,0,0,0,0,0,0
$GC,6113,-0.83,-146.0,635.2,-8.0,603,6118,0.00,2.38,0.00,0.000,4,0.000,0.088,2114,3906,3402,0,0,0,0,0,0
$GC,6421,-0.83,-146.0,660.8,-8.7,612,6425,0.00,2.08,0.00,0.000,6,0.000,0.061,2114,2575,3402,0,0,0,0,0,0
$GC,6873,-0.83,-146.0,695.8,-7.8,627,6877,0.00,2.17,0.00,0.000,4,0.000,0.089,2114,3904,3402,0,0,0,0,0,0
$GC,7214,-0.83,-146.0,724.6,-8.2,637,7218,0.00,2.10,0.00,0.000,6,0.000,0.061,2114,2585,3402,0,0,0,0,0,0
$GC,7666,-0.83,-146.0,762.7,-8.1,652,7670,0.00,2.17,0.00,0.000,4,0.000,0.090,2114,3904,3403,0,0,0,0,0,0
$GC,7675,-0.83,-146.0,763.6,-8.0,652,7680,0.00,2.10,0.00,0.000,6,0.000,0.060,2114,2581,3403,0,0,0,0,0,0
$GC,8128,-0.83,-146.0,801.7,-8.7,667,8132,0.00,2.83,0.00,0.000,4,0.000,0.080,2114,811,3403,0,0,0,0,0,0
$GC,8182,-0.83,-146.0,807.0,-9.2,668,8188,0.00,2.80,0.00,0.000,6,0.000,0.074,2114,2571,3403,0,0,0,0,0,0
$GC,8617,-0.83,-146.0,844.1,-8.6,683,8622,0.00,2.83,0.00,0.000,4,0.000,0.081,2114,809,3403,0,0,0,0,0,0
$GC,8684,-0.83,-146.0,850.3,-9.5,685,8689,0.00,2.80,0.00,0.000,6,0.000,0.074,2114,2565,3403,0,0,0,0,0,0
$STATE,8981,end dive,NO_VERTICAL_VELOCITY
$STATE,8981,begin apogee
$GC,8987,-0.19,0.0,855.9,0.0,695,9113,0.68,0.00,123.15,1.298,6,0.150,0.000,2322,1603,2800,0,0,0,0,0,0
$STATE,9114,end apogee,CONTROL_FINISHED_OK
$STATE,9114,begin climb
$GC,9116,0.83,146.0,855.7,0.0,699,9252,1.10,2.45,126.82,1.246,4,0.129,0.090,2660,302,2203,0,0,0,0,0,0
$GC,9588,0.83,146.0,795.2,14.0,713,9593,0.00,2.17,0.00,0.000,6,0.000,0.064,2660,1589,2195,0,0,0,0,0,0
$GC,10034,0.83,146.0,732.2,14.4,728,10038,0.00,2.20,0.00,0.000,4,0.000,0.093,2670,291,2192,0,0,0,0,0,0
$GC,10376,0.83,146.0,679.7,14.9,738,10380,0.00,2.15,0.00,0.000,6,0.000,0.067,2670,1596,2191,0,0,0,0,0,0
$GC,10828,0.83,146.0,610.7,15.2,753,10831,0.00,2.17,0.00,0.000,4,0.000,0.094,2680,295,2190,0,0,0,0,0,0
$GC,11169,0.83,146.0,556.5,16.6,779,11175,0.00,2.15,0.00,0.000,6,0.000,0.067,2680,1614,2190,0,0,0,0,0,0
$GC,11621,0.83,146.0,486.8,15.0,822,11625,0.00,2.17,0.00,0.000,4,0.000,0.093,2690,295,2189,0,0,0,0,0,0
$GC,11964,0.83,146.0,433.0,15.2,852,11969,0.12,2.08,0.00,0.000,6,0.222,0.067,2664,1611,2189,0,0,0,0,0,0
$GC,12416,0.83,146.0,370.5,14.2,894,12420,0.00,2.17,0.00,0.000,4,0.000,0.091,2672,289,2189,0,0,0,0,0,0
$GC,12757,0.83,146.0,320.3,14.3,924,12763,0.00,2.10,0.00,0.000,6,0.000,0.063,2664,1601,2189,0,0,0,0,0,0
$GC,13209,0.83,146.0,260.4,12.8,967,13213,0.00,2.12,0.00,0.000,4,0.000,0.090,2672,294,2189,0,0,0,0,0,0
$GC,13550,0.83,146.0,215.0,13.0,997,13557,0.00,2.08,0.00,0.000,6,0.000,0.064,2672,1593,2189,0,0,0,0,0,0
$GC,14003,0.83,146.0,163.1,11.2,1040,14006,0.00,2.12,0.00,0.000,4,0.000,0.091,2682,290,2190,0,0,0,0,0,0
$GC,14344,0.83,146.0,122.4,12.1,1070,14350,0.00,2.08,0.00,0.000,6,0.000,0.064,2681,1591,2190,0,0,0,0,0,0
$GC,14814,0.83,146.0,72.2,10.0,1136,14819,0.00,2.12,0.00,0.000,4,0.000,0.092,2692,294,2190,0,0,0,0,0,0
$GC,15157,0.83,146.0,37.1,9.9,1197,15163,0.15,2.05,0.00,0.000,6,0.206,0.067,2657,1600,2190,0,0,0,0,0,0
$GC,15332,0.86,173.5,22.3,8.0,1228,15359,0.00,2.17,20.92,0.767,4,0.000,0.092,2664,294,2091,0,0,0,0,0,0
$GC,15404,0.87,181.7,16.1,8.8,1241,15420,0.00,2.03,7.90,0.708,6,0.000,0.066,2658,1573,2058,0,0,0,0,0,0
$STATE,15575,end climb,SURFACE_DEPTH_REACHED
$STATE,15576,begin surface coast
$FINISH,0.5,1.026087
$STATE,15599,end surface coast,CONTROL_FINISHED_OK
$STATE,15600,begin surface
$SM_CCo,15616,60.90,0.756,0,0,1677,275.23
$SM_GC,1.40,0.00,0.00,60.90,0.000,0.000,0.756,129,2402,1677,-7.07,0.06,275.23
$RAFOS_CLK,997
$RAFOS,6,1256618951,4.833333,4.819722,67,59,58,0,0,0,623,192,219,0,0,0
$RAFOS,5,1256618461,4.700000,4.683611,131,68,60,0,0,0,649,198,171,0,0,0
$RAFOS,4,1256618000,4.566667,4.555555,67,56,52,0,0,0,678,206,217,0,0,0
$RAFOS,3,1256617513,4.433333,4.420278,64,54,53,0,0,0,205,219,152,0,0,0
$RAFOS,2,1256617025,4.300000,4.284722,72,62,60,0,0,0,167,194,214,0,0,0
$RAFOS,1,1256616570,4.166667,4.158333,63,58,56,0,0,0,221,197,160,0,0,0
$RAFOS,0,1256616063,4.033333,4.017500,61,59,54,0,0,0,152,191,234,0,0,0
$RAFOS_FIX,6713.530762,-5756.995605,271009,040444,3,88,0.66
$IRIDIUM_FIX,6647.44,-5749.65,200199,222258
$TT8_MAMPS,0.026845
$HUMID,47.63
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,16.80
$XPDR_PINGS,2
$24V_AH,22.9,20.272
$10V_AH,10.3,9.638
$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,18.900,125.500,278.800,60.900,0.000,31.315,32.364,151.190,0.500,0.000,16.154,2282.781,10287.666,479.541,2557.571,401.511,0.000,1747.697,0.000,2516.468,2520.000,0.532,0.000
$DEVICE_MAMPS,305.266,95.108,1297.764,756.262,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,934.820,884.251,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150576
$DATA_FILE_SIZE,50416,1276
$CAP_FILE_SIZE,150693,0
$CFSIZE,260165632,247439360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.6
$GPS,271009,065406,6715.903,-5755.410,36,0.9,42,-38.1