version: 66.06
glider: 143
mission: 10
dive: 49
start: 10 27 109 7 0 31
data:
$ID,143
$MISSION,10
$DIVE,49
$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,-23832.84
$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,18
$R_STBD_OVSHOOT,17
$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
$GPS1,065406,6715.903,-5755.410,36,0.9,42,-38.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-66.9
$GPS2,070014,6715.901,-5755.346,10,1.3,10,-38.1
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6705.753,-5804.836
$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,853
$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,-0.83,-146.0,0.0,0.0,0,103,0.00,0.00,-84.90,0.000,2,0.000,0.000,127,2404,3102,0,0,0,0,0,0
$GC,106,-0.83,-146.0,3.6,-7.7,17,132,9.80,2.72,-7.75,0.000,4,0.311,0.097,2113,816,3399,0,0,0,0,0,0
$GC,138,-0.83,-146.0,12.7,-25.1,23,143,0.00,2.65,0.00,0.000,6,0.000,0.077,2113,2406,3400,0,0,0,0,0,0
$GC,313,-0.83,-146.0,40.5,-15.0,54,319,0.00,2.55,0.00,0.000,4,0.000,0.094,2113,3914,3401,0,0,0,0,0,0
$GC,330,-0.83,-146.0,43.2,-15.3,57,336,0.00,2.45,0.00,0.000,6,0.000,0.067,2113,2413,3401,0,0,0,0,0,0
$GC,506,-0.83,-146.0,67.1,-12.7,88,511,0.00,2.55,0.00,0.000,4,0.000,0.093,2113,3916,3401,0,0,0,0,0,0
$GC,597,-0.83,-146.0,79.8,-14.1,104,602,0.00,2.38,0.00,0.000,6,0.000,0.065,2113,2451,3401,0,0,0,0,0,0
$GC,771,-0.83,-146.0,103.3,-12.9,133,775,0.00,2.47,0.00,0.000,4,0.000,0.093,2113,3914,3402,0,0,0,0,0,0
$GC,820,-0.83,-146.0,109.8,-12.9,137,825,0.00,2.35,0.00,0.000,6,0.000,0.067,2113,2463,3402,0,0,0,0,0,0
$GC,1272,-0.83,-146.0,161.0,-11.3,179,1276,0.00,2.45,0.00,0.000,4,0.000,0.095,2113,3916,3401,0,0,0,0,0,0
$GC,1305,-0.83,-146.0,164.7,-11.4,182,1309,0.00,2.35,0.00,0.000,6,0.000,0.067,2113,2460,3401,0,0,0,0,0,0
$GC,1762,-0.83,-146.0,219.4,-12.9,225,1766,0.00,2.45,0.00,0.000,4,0.000,0.094,2113,3919,3399,0,0,0,0,0,0
$GC,1861,-0.83,-146.0,231.9,-12.4,233,1867,0.00,2.35,0.00,0.000,6,0.000,0.067,2113,2476,3399,0,0,0,0,0,0
$GC,2314,-0.83,-146.0,280.5,-10.5,276,2318,0.00,2.70,0.00,0.000,4,0.000,0.087,2113,809,3399,0,0,0,0,0,0
$GC,2368,-0.83,-146.0,286.7,-11.2,280,2374,0.00,2.70,0.00,0.000,6,0.000,0.077,2113,2478,3399,0,0,0,0,0,0
$GC,2820,-0.83,-146.0,331.6,-9.7,323,2824,0.00,2.38,0.00,0.000,4,0.000,0.094,2113,3917,3398,0,0,0,0,0,0
$GC,3073,-0.83,-146.0,356.4,-9.5,345,3077,0.00,2.25,0.00,0.000,6,0.000,0.065,2113,2500,3399,0,0,0,0,0,0
$GC,3525,-0.83,-146.0,397.5,-8.8,387,3529,0.00,2.35,0.00,0.000,4,0.000,0.092,2113,3914,3399,0,0,0,0,0,0
$GC,3866,-0.83,-146.0,430.2,-10.2,417,3872,0.00,2.28,0.00,0.000,6,0.000,0.064,2113,2504,3400,0,0,0,0,0,0
$GC,4318,-0.83,-146.0,472.5,-9.4,460,4322,0.00,2.33,0.00,0.000,4,0.000,0.091,2113,3914,3401,0,0,0,0,0,0
$GC,4514,-0.83,-146.0,491.7,-10.0,477,4518,0.00,2.22,0.00,0.000,6,0.000,0.063,2113,2501,3401,0,0,0,0,0,0
$GC,4967,-0.83,-146.0,536.8,-10.5,519,4971,0.00,2.70,0.00,0.000,4,0.000,0.081,2113,813,3401,0,0,0,0,0,0
$GC,4976,-0.83,-146.0,537.9,-10.2,519,4982,0.00,2.88,0.00,0.000,6,0.000,0.074,2113,2613,3401,0,0,0,0,0,0
$GC,5428,-0.83,-146.0,581.6,-9.4,562,5433,0.00,2.90,0.00,0.000,4,0.000,0.081,2113,807,3402,0,0,0,0,0,0
$GC,5445,-0.83,-146.0,583.1,-9.0,563,5450,0.00,2.88,0.00,0.000,6,0.000,0.074,2113,2608,3402,0,0,0,0,0,0
$GC,5908,-0.83,-146.0,624.4,-8.5,589,5913,0.00,2.90,0.00,0.000,4,0.000,0.081,2113,800,3403,0,0,0,0,0,0
$GC,5974,-0.83,-146.0,630.7,-9.9,591,5979,0.00,2.88,0.00,0.000,6,0.000,0.073,2113,2604,3403,0,0,0,0,0,0
$GC,6428,-0.83,-146.0,668.0,-8.1,606,6432,0.00,2.88,0.00,0.000,4,0.000,0.081,2113,813,3403,0,0,0,0,0,0
$GC,6494,-0.83,-146.0,674.1,-9.0,608,6498,0.00,2.88,0.00,0.000,6,0.000,0.073,2113,2612,3403,0,0,0,0,0,0
$GC,6946,-0.83,-146.0,709.5,-8.1,623,6950,0.00,2.90,0.00,0.000,4,0.000,0.081,2113,804,3403,0,0,0,0,0,0
$GC,6995,-0.83,-146.0,713.9,-8.6,624,6999,0.00,2.88,0.00,0.000,6,0.000,0.073,2113,2604,3404,0,0,0,0,0,0
$GC,7430,-0.83,-146.0,748.7,-8.1,638,7434,0.00,2.88,0.00,0.000,4,0.000,0.081,2113,813,3404,0,0,0,0,0,0
$GC,7445,-0.83,-146.0,750.0,-8.1,638,7450,0.00,2.85,0.00,0.000,6,0.000,0.073,2113,2598,3404,0,0,0,0,0,0
$GC,7880,-0.83,-146.0,786.8,-8.6,652,7885,0.00,2.88,0.00,0.000,4,0.000,0.081,2113,808,3404,0,0,0,0,0,0
$GC,7901,-0.83,-146.0,788.9,-9.5,652,7907,0.00,2.85,0.00,0.000,6,0.000,0.073,2113,2597,3404,0,0,0,0,0,0
$GC,8337,-0.83,-146.0,827.1,-8.5,667,8342,0.00,2.88,0.00,0.000,4,0.000,0.081,2113,808,3404,0,0,0,0,0,0
$GC,8420,-0.83,-146.0,834.7,-9.1,669,8425,0.00,2.85,0.00,0.000,6,0.000,0.074,2113,2595,3404,0,0,0,0,0,0
$STATE,8638,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8639,begin apogee
$GC,8645,-0.19,0.0,853.3,8.5,676,8771,0.70,0.00,123.30,1.299,6,0.150,0.000,2329,1600,2800,0,0,0,0,0,0
$STATE,8772,end apogee,CONTROL_FINISHED_OK
$STATE,8772,begin climb
$GC,8774,0.83,146.0,853.9,0.0,680,8909,1.05,2.45,127.20,1.246,4,0.124,0.090,2656,301,2202,0,0,0,0,0,0
$GC,9246,0.83,146.0,795.1,14.2,694,9250,0.00,2.20,0.00,0.000,6,0.000,0.064,2656,1605,2195,0,0,0,0,0,0
$GC,9692,0.83,146.0,731.9,14.6,709,9696,0.00,2.22,0.00,0.000,4,0.000,0.092,2666,290,2192,0,0,0,0,0,0
$GC,10033,0.83,146.0,678.8,15.6,719,10037,0.00,2.15,0.00,0.000,6,0.000,0.067,2666,1597,2191,0,0,0,0,0,0
$GC,10485,0.83,146.0,610.3,14.9,734,10488,0.00,2.17,0.00,0.000,4,0.000,0.093,2676,295,2189,0,0,0,0,0,0
$GC,10826,0.83,146.0,555.5,16.5,760,10832,0.00,2.12,0.00,0.000,6,0.000,0.067,2676,1603,2189,0,0,0,0,0,0
$GC,11279,0.83,146.0,484.7,15.9,803,11283,0.00,2.17,0.00,0.000,4,0.000,0.092,2686,286,2188,0,0,0,0,0,0
$GC,11621,0.83,146.0,429.4,16.5,833,11625,0.00,2.10,0.00,0.000,6,0.000,0.065,2686,1614,2188,0,0,0,0,0,0
$GC,12078,0.83,146.0,357.9,15.6,876,12081,0.00,2.17,0.00,0.000,4,0.000,0.090,2696,290,2188,0,0,0,0,0,0
$GC,12419,0.83,146.0,303.3,15.9,906,12426,0.12,2.08,0.00,0.000,6,0.209,0.064,2663,1589,2188,0,0,0,0,0,0
$GC,12872,0.83,146.0,247.7,11.9,949,12875,0.00,2.12,0.00,0.000,4,0.000,0.089,2671,289,2189,0,0,0,0,0,0
$GC,13213,0.83,146.0,202.4,13.2,979,13219,0.00,2.08,0.00,0.000,6,0.000,0.063,2671,1594,2189,0,0,0,0,0,0
$GC,13666,0.83,146.0,149.7,10.7,1022,13670,0.00,2.12,0.00,0.000,4,0.000,0.090,2681,294,2190,0,0,0,0,0,0
$GC,14006,0.83,146.0,111.1,10.9,1052,14013,0.00,2.10,0.00,0.000,6,0.000,0.064,2680,1607,2190,0,0,0,0,0,0
$GC,14479,0.83,146.0,63.1,10.1,1127,14484,0.00,2.15,0.00,0.000,4,0.000,0.091,2690,293,2190,0,0,0,0,0,0
$GC,14822,0.83,146.0,28.1,9.3,1188,14828,0.12,2.08,0.00,0.000,6,0.204,0.067,2662,1611,2190,0,0,0,0,0,0
$GC,14997,0.85,161.6,14.1,8.5,1219,15013,0.00,2.17,11.30,0.758,4,0.000,0.092,2670,294,2140,0,0,0,0,0,0
$STATE,15147,end climb,SURFACE_DEPTH_REACHED
$STATE,15147,begin surface coast
$FINISH,0.3,1.026024
$STATE,15176,end surface coast,CONTROL_FINISHED_OK
$STATE,15176,begin surface
$SM_CCo,15195,74.80,0.765,0,0,1678,275.23
$SM_GC,1.32,0.00,0.00,74.80,0.000,0.000,0.765,123,2397,1678,-7.09,-0.08,275.23
$RAFOS_CLK,979
$RAFOS,6,1256633345,8.833333,8.818055,90,60,56,0,0,0,655,223,126,0,0,0
$RAFOS,5,1256632887,8.700000,8.690833,74,64,53,0,0,0,201,514,212,0,0,0
$RAFOS,4,1256632386,8.566667,8.551666,64,59,56,0,0,0,759,746,187,0,0,0
$RAFOS,3,1256631907,8.433333,8.418612,61,55,53,0,0,0,196,211,114,0,0,0
$RAFOS,2,1256631423,8.300000,8.284166,68,51,51,0,0,0,199,182,157,0,0,0
$RAFOS,1,1256630946,8.166667,8.151667,68,65,63,0,0,0,181,223,201,0,0,0
$RAFOS,0,1256630466,8.033334,8.018333,66,55,52,0,0,0,162,221,202,0,0,0
$RAFOS_FIX,6715.303223,-5758.265137,271009,080844,2,77,0.38
$IRIDIUM_FIX,6647.44,-5752.61,210199,020200
$TT8_MAMPS,0.027612
$HUMID,48.22
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,16.80
$XPDR_PINGS,2
$24V_AH,22.9,20.397
$10V_AH,10.3,9.717
$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,19.100,136.475,261.800,74.800,0.000,23.201,31.707,196.213,0.500,0.000,12.313,2205.970,10056.612,486.465,2446.608,439.127,0.000,1706.032,0.000,2409.627,2520.000,0.531,0.000
$DEVICE_MAMPS,310.635,97.409,1298.531,765.466,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,916.667,867.299,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150624
$DATA_FILE_SIZE,50407,1251
$CAP_FILE_SIZE,147331,0
$CFSIZE,260165632,247365632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.9
$GPS,271009,111630,6716.014,-5756.003,37,1.3,37,-38.1