version: 66.06
glider: 143
mission: 10
dive: 50
start: 10 27 109 11 22 57
data:
$ID,143
$MISSION,10
$DIVE,50
$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,-23866.611
$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,19
$R_STBD_OVSHOOT,19
$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
$GPS1,111630,6716.014,-5756.003,37,1.3,37,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-67.0
$GPS2,112240,6715.989,-5755.963,11,3.5,30,-38.1
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6705.841,-5805.454
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.83,-146.0,0.0,0.0,0,98,0.00,0.00,-80.25,0.000,2,0.000,0.000,122,2398,3023,0,0,0,0,0,0
$GC,100,-0.83,-146.0,3.4,-6.5,16,127,9.73,2.67,-10.38,0.000,4,0.309,0.095,2113,809,3398,0,0,0,0,0,0
$GC,466,-0.83,-146.0,60.3,-12.9,81,471,0.00,2.62,0.00,0.000,6,0.000,0.077,2113,2405,3401,0,0,0,0,0,0
$GC,641,-0.83,-146.0,80.3,-11.1,112,646,0.00,2.55,0.00,0.000,4,0.000,0.096,2113,3917,3400,0,0,0,0,0,0
$GC,983,-0.83,-146.0,122.8,-13.1,157,989,0.00,2.45,0.00,0.000,6,0.000,0.067,2113,2399,3400,0,0,0,0,0,0
$GC,1435,-0.83,-146.0,181.3,-12.3,200,1439,0.00,2.55,0.00,0.000,4,0.000,0.095,2113,3911,3400,0,0,0,0,0,0
$GC,1703,-0.83,-146.0,212.3,-11.2,223,1709,0.00,2.42,0.00,0.000,6,0.000,0.068,2113,2402,3399,0,0,0,0,0,0
$GC,2155,-0.83,-146.0,259.7,-11.1,266,2159,0.00,2.53,0.00,0.000,4,0.000,0.095,2113,3911,3398,0,0,0,0,0,0
$GC,2243,-0.83,-146.0,269.9,-11.9,273,2249,0.00,2.42,0.00,0.000,6,0.000,0.067,2113,2396,3398,0,0,0,0,0,0
$GC,2695,-0.83,-146.0,319.4,-11.1,316,2700,0.00,2.53,0.00,0.000,4,0.000,0.094,2113,3912,3398,0,0,0,0,0,0
$GC,2824,-0.83,-146.0,334.1,-11.3,327,2828,0.00,2.40,0.00,0.000,6,0.000,0.067,2113,2408,3398,0,0,0,0,0,0
$GC,3275,-0.83,-146.0,380.8,-9.7,369,3279,0.00,2.50,0.00,0.000,4,0.000,0.093,2113,3913,3398,0,0,0,0,0,0
$GC,3363,-0.83,-146.0,389.7,-10.1,376,3369,0.00,2.42,0.00,0.000,6,0.000,0.065,2113,2412,3398,0,0,0,0,0,0
$GC,3816,-0.83,-146.0,429.7,-8.4,419,3820,0.00,2.50,0.00,0.000,4,0.000,0.091,2113,3919,3399,0,0,0,0,0,0
$GC,3825,-0.83,-146.0,430.5,-7.7,419,3831,0.00,2.40,0.00,0.000,6,0.000,0.064,2113,2401,3399,0,0,0,0,0,0
$GC,4277,-0.83,-146.0,468.0,-8.7,462,4282,0.00,2.50,0.00,0.000,4,0.000,0.091,2113,3913,3400,0,0,0,0,0,0
$GC,4288,-0.83,-146.0,469.0,-8.7,462,4294,0.00,2.38,0.00,0.000,6,0.000,0.063,2113,2404,3400,0,0,0,0,0,0
$GC,4740,-0.83,-146.0,508.4,-8.7,505,4744,0.00,2.50,0.00,0.000,4,0.000,0.090,2113,3918,3401,0,0,0,0,0,0
$GC,4761,-0.83,-146.0,510.3,-8.6,506,4766,0.00,2.38,0.00,0.000,6,0.000,0.063,2113,2409,3401,0,0,0,0,0,0
$GC,5213,-0.83,-146.0,550.2,-8.6,549,5217,0.00,2.47,0.00,0.000,4,0.000,0.089,2113,3913,3401,0,0,0,0,0,0
$GC,5240,-0.83,-146.0,552.8,-9.0,551,5245,0.00,2.38,0.00,0.000,6,0.000,0.061,2113,2402,3401,0,0,0,0,0,0
$GC,5692,-0.83,-146.0,591.9,-8.6,593,5696,0.00,2.47,0.00,0.000,4,0.000,0.089,2113,3912,3402,0,0,0,0,0,0
$GC,5747,-0.83,-146.0,596.9,-8.6,597,5753,0.00,2.35,0.00,0.000,6,0.000,0.061,2113,2410,3402,0,0,0,0,0,0
$GC,6183,-0.83,-146.0,635.9,-8.9,614,6187,0.00,2.47,0.00,0.000,4,0.000,0.089,2113,3917,3403,0,0,0,0,0,0
$GC,6231,-0.83,-146.0,640.5,-9.4,615,6236,0.00,2.38,0.00,0.000,6,0.000,0.062,2113,2405,3403,0,0,0,0,0,0
$GC,6672,-0.83,-146.0,679.8,-8.9,630,6676,0.00,2.47,0.00,0.000,4,0.000,0.090,2113,3912,3403,0,0,0,0,0,0
$GC,6704,-0.83,-146.0,682.9,-9.5,631,6708,0.00,2.38,0.00,0.000,6,0.000,0.061,2113,2420,3403,0,0,0,0,0,0
$GC,7162,-0.83,-146.0,722.3,-8.6,646,7166,0.00,2.45,0.00,0.000,4,0.000,0.090,2113,3912,3403,0,0,0,0,0,0
$GC,7199,-0.83,-146.0,725.8,-9.0,647,7204,0.00,2.38,0.00,0.000,6,0.000,0.062,2113,2401,3403,0,0,0,0,0,0
$GC,7651,-0.83,-146.0,766.2,-8.9,662,7655,0.00,2.50,0.00,0.000,4,0.000,0.090,2113,3921,3403,0,0,0,0,0,0
$GC,7689,-0.83,-146.0,769.7,-9.1,663,7693,0.00,2.38,0.00,0.000,6,0.000,0.062,2113,2406,3403,0,0,0,0,0,0
$GC,8141,-0.83,-146.0,809.1,-8.9,678,8145,0.00,2.47,0.00,0.000,4,0.000,0.090,2113,3911,3403,0,0,0,0,0,0
$GC,8151,-0.83,-146.0,810.2,-9.2,678,8156,0.00,2.35,0.00,0.000,6,0.000,0.062,2113,2414,3403,0,0,0,0,0,0
$GC,8591,-0.83,-146.0,848.2,-8.7,693,8595,0.00,2.47,0.00,0.000,4,0.000,0.091,2113,3917,3404,0,0,0,0,0,0
$STATE,8644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8644,begin apogee
$GC,8653,-0.19,0.0,853.3,9.0,694,8779,0.73,0.00,123.25,1.295,6,0.196,0.000,2319,1595,2800,0,0,0,0,0,0
$STATE,8780,end apogee,CONTROL_FINISHED_OK
$STATE,8780,begin climb
$GC,8782,0.83,146.0,856.5,0.0,699,8918,1.10,2.45,126.88,1.247,4,0.132,0.089,2656,297,2203,0,0,0,0,0,0
$GC,9254,0.83,146.0,799.3,13.5,713,9258,0.00,2.20,0.00,0.000,6,0.000,0.064,2656,1600,2195,0,0,0,0,0,0
$GC,9700,0.83,146.0,740.0,13.5,728,9704,0.00,2.20,0.00,0.000,4,0.000,0.092,2666,297,2193,0,0,0,0,0,0
$GC,10042,0.83,146.0,690.4,15.0,738,10046,0.00,2.15,0.00,0.000,6,0.000,0.067,2666,1603,2191,0,0,0,0,0,0
$GC,10494,0.83,146.0,626.2,13.9,753,10498,0.00,2.17,0.00,0.000,4,0.000,0.093,2676,296,2191,0,0,0,0,0,0
$GC,10836,0.83,146.0,573.8,15.1,772,10840,0.00,2.10,0.00,0.000,6,0.000,0.067,2676,1608,2191,0,0,0,0,0,0
$GC,11293,0.83,146.0,502.5,16.0,815,11297,0.00,2.17,0.00,0.000,4,0.000,0.093,2685,296,2189,0,0,0,0,0,0
$GC,11635,0.83,146.0,445.5,17.0,845,11639,0.00,2.08,0.00,0.000,6,0.000,0.066,2686,1612,2189,0,0,0,0,0,0
$GC,12093,0.83,146.0,374.8,15.0,888,12097,0.00,2.17,0.00,0.000,4,0.000,0.091,2696,294,2189,0,0,0,0,0,0
$GC,12434,0.83,146.0,318.9,16.2,918,12441,0.12,2.10,0.00,0.000,6,0.206,0.065,2663,1600,2189,0,0,0,0,0,0
$GC,12886,0.83,146.0,258.8,12.5,961,12890,0.00,2.12,0.00,0.000,4,0.000,0.091,2670,294,2189,0,0,0,0,0,0
$GC,13228,0.83,146.0,215.2,13.4,991,13234,0.00,2.10,0.00,0.000,6,0.000,0.064,2670,1606,2190,0,0,0,0,0,0
$GC,13680,0.83,146.0,158.8,11.7,1034,13684,0.00,2.15,0.00,0.000,4,0.000,0.090,2680,288,2190,0,0,0,0,0,0
$GC,14022,0.83,146.0,118.9,11.3,1064,14026,0.00,2.08,0.00,0.000,6,0.000,0.065,2680,1613,2190,0,0,0,0,0,0
$GC,14490,0.83,146.0,68.2,11.1,1131,14496,0.00,2.17,0.00,0.000,4,0.000,0.093,2690,288,2191,0,0,0,0,0,0
$GC,14833,0.83,146.0,34.7,9.4,1192,14839,0.12,2.08,0.00,0.000,6,0.203,0.067,2662,1609,2190,0,0,0,0,0,0
$GC,15008,0.86,166.9,20.2,8.3,1223,15030,0.00,2.17,15.60,0.767,4,0.000,0.091,2670,295,2119,0,0,0,0,0,0
$STATE,15214,end climb,SURFACE_DEPTH_REACHED
$STATE,15214,begin surface coast
$FINISH,0.3,1.026030
$STATE,15237,end surface coast,CONTROL_FINISHED_OK
$STATE,15237,begin surface
$SM_CCo,15256,69.82,0.762,0,0,1676,275.23
$SM_GC,1.43,0.00,0.00,69.82,0.000,0.000,0.762,122,2394,1676,-7.09,-0.17,275.23
$RAFOS_CLK,980
$RAFOS,6,1256647745,12.833333,12.818055,120,66,64,0,0,0,649,166,213,0,0,0
$RAFOS,5,1256647261,12.700000,12.683611,98,62,62,0,0,0,652,189,132,0,0,0
$RAFOS,4,1256646788,12.566667,12.552222,66,58,57,0,0,0,736,224,209,0,0,0
$RAFOS,3,1256646305,12.433333,12.418056,58,57,57,0,0,0,182,200,948,0,0,0
$RAFOS,2,1256645829,12.300000,12.285833,64,63,59,0,0,0,212,941,164,0,0,0
$RAFOS,1,1256645343,12.166667,12.150833,57,54,52,0,0,0,162,140,175,0,0,0
$RAFOS,0,1256644867,12.033333,12.018611,59,58,56,0,0,0,208,193,122,0,0,0
$RAFOS_FIX,6713.403320,-5758.194336,271009,121244,3,95,1.04
$IRIDIUM_FIX,6647.44,-5757.32,210199,070737
$TT8_MAMPS,0.026845
$HUMID,48.18
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,16.90
$XPDR_PINGS,1
$24V_AH,22.9,20.520
$10V_AH,10.2,9.796
$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,19.150,124.950,265.725,69.825,0.000,28.416,30.185,174.492,0.250,0.000,33.145,2199.448,10156.470,472.026,2461.315,408.367,0.000,1682.130,0.000,2404.686,2520.000,0.531,0.000
$DEVICE_MAMPS,309.101,95.875,1294.696,761.631,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,928.077,879.943,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150548
$DATA_FILE_SIZE,50432,1264
$CAP_FILE_SIZE,145317,0
$CFSIZE,260165632,247287808
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.0
$GPS,271009,154000,6715.512,-5757.332,35,1.2,41,-38.1