version: 66.06
glider: 143
mission: 10
dive: 150
start: 11 17 109 18 25 35
data:
$ID,143
$MISSION,10
$DIVE,150
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$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,325
$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,-30310.391
$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,31
$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,2460
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$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,1
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$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
$GPS1,181936,6700.553,-5723.896,35,1.7,40,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-68.8
$GPS2,182516,6700.550,-5723.850,14,2.1,33,-37.6
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,92.9,26284,-16.9,-9.167
$D_GRID,792
$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,14,-0.73,-146.0,0.0,0.0,0,130,0.00,0.00,-112.40,0.000,2,0.000,0.000,124,2479,3162,0,0,0,0,0,0
$GC,133,-0.73,-146.0,3.7,-6.8,22,156,10.15,2.67,-6.05,0.000,4,0.313,0.092,2149,864,3398,0,0,0,0,0,0
$GC,243,-0.73,-146.0,37.5,-30.9,41,249,0.00,2.60,0.00,0.000,6,0.000,0.074,2140,2457,3400,0,0,0,0,0,0
$GC,578,-0.73,-146.0,136.2,-27.4,90,582,0.00,2.50,0.00,0.000,4,0.000,0.090,2140,3917,3400,0,0,0,0,0,0
$GC,835,-0.73,-146.0,205.8,-24.7,112,841,0.00,2.45,0.00,0.000,6,0.000,0.067,2140,2463,3400,0,0,0,0,0,0
$GC,1160,-0.73,-146.0,281.3,-22.9,143,1164,0.00,2.50,0.00,0.000,4,0.000,0.091,2140,3921,3400,0,0,0,0,0,0
$GC,1394,-0.73,-146.0,335.7,-21.8,163,1401,0.00,2.42,0.00,0.000,6,0.000,0.067,2140,2472,3399,0,0,0,0,0,0
$GC,1721,-0.73,-146.0,404.7,-21.2,194,1725,0.00,2.47,0.00,0.000,4,0.000,0.089,2140,3922,3400,0,0,0,0,0,0
$GC,1793,-0.73,-146.0,421.2,-22.5,200,1798,0.00,2.38,0.00,0.000,6,0.000,0.067,2140,2475,3399,0,0,0,0,0,0
$GC,2117,-0.73,-146.0,490.6,-22.4,230,2122,0.00,2.45,0.00,0.000,4,0.000,0.091,2140,3911,3400,0,0,0,0,0,0
$GC,2168,-0.73,-146.0,502.6,-24.0,234,2172,0.00,2.35,0.00,0.000,6,0.000,0.067,2140,2480,3399,0,0,0,0,0,0
$GC,2492,-0.73,-146.0,574.8,-21.6,264,2497,0.00,2.45,0.00,0.000,4,0.000,0.091,2140,3915,3399,0,0,0,0,0,0
$GC,2633,-0.73,-146.0,606.7,-23.0,275,2637,0.00,2.35,0.00,0.000,6,0.000,0.067,2140,2484,3399,0,0,0,0,0,0
$GC,2955,-0.73,-146.0,672.6,-20.0,286,2960,0.00,2.45,0.00,0.000,4,0.000,0.091,2140,3922,3399,0,0,0,0,0,0
$GC,3023,-0.73,-146.0,686.8,-21.5,288,3027,0.00,2.35,0.00,0.000,6,0.000,0.067,2140,2488,3399,0,0,0,0,0,0
$GC,3351,-0.73,-146.0,753.4,-20.4,299,3355,0.00,2.42,0.00,0.000,4,0.000,0.091,2140,3912,3399,0,0,0,0,0,0
$GC,3481,-0.73,-146.0,781.0,-22.7,303,3485,0.00,2.33,0.00,0.000,6,0.000,0.067,2140,2496,3399,0,0,0,0,0,0
$STATE,3538,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3538,begin apogee
$GC,3544,-0.16,0.0,793.3,20.7,305,3670,0.80,0.00,121.72,1.282,6,0.244,0.000,2333,1944,2800,0,0,0,0,0,0
$STATE,3671,end apogee,CONTROL_FINISHED_OK
$STATE,3671,begin climb
$GC,3673,0.73,146.0,806.1,0.0,309,3807,1.12,0.00,127.53,1.226,6,0.214,0.000,2609,1944,2203,0,0,0,0,0,0
$GC,4102,0.81,212.7,781.7,6.4,323,4167,0.12,2.97,57.70,1.202,4,0.176,0.082,2641,3538,1931,0,0,0,0,0,0
$GC,4319,0.84,236.5,763.6,8.2,329,4346,0.00,2.67,21.33,1.150,6,0.000,0.069,2641,1988,1834,0,0,0,0,0,0
$GC,4665,0.87,263.4,735.4,8.0,341,4698,0.00,2.80,24.33,1.165,4,0.000,0.091,2641,357,1726,0,0,0,0,0,0
$GC,4704,0.92,302.0,732.2,7.5,342,4749,0.15,2.83,35.92,1.166,6,0.167,0.067,2681,2067,1567,0,0,0,0,0,0
$GC,5067,0.92,302.0,693.6,11.2,354,5072,0.00,2.88,0.00,0.000,4,0.000,0.091,2681,361,1559,0,0,0,0,0,0
$GC,5116,0.92,302.0,688.2,10.0,355,5121,0.00,2.78,0.00,0.000,6,0.000,0.067,2681,2081,1558,0,0,0,0,0,0
$GC,5429,0.92,302.0,655.9,11.1,365,5433,0.00,2.47,0.00,0.000,4,0.000,0.087,2681,3541,1558,0,0,0,0,0,0
$GC,5681,0.92,302.0,629.0,11.0,372,5685,0.00,2.45,0.00,0.000,6,0.000,0.071,2681,2068,1557,0,0,0,0,0,0
$GC,5994,0.92,302.0,594.3,11.9,384,5998,0.00,2.50,0.00,0.000,4,0.000,0.085,2681,3547,1557,0,0,0,0,0,0
$GC,6044,0.92,302.0,588.5,11.1,388,6048,0.00,2.45,0.00,0.000,6,0.000,0.071,2681,2078,1556,0,0,0,0,0,0
$GC,6368,0.92,302.0,551.4,10.9,418,6372,0.00,2.47,0.00,0.000,4,0.000,0.086,2681,3544,1556,0,0,0,0,0,0
$GC,6440,0.92,302.0,544.3,9.6,424,6444,0.00,2.40,0.00,0.000,6,0.000,0.071,2681,2092,1556,0,0,0,0,0,0
$GC,6764,0.92,302.0,509.1,11.4,454,6765,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2093,1556,0,0,0,0,0,0
$GC,7084,0.92,302.0,473.1,11.5,484,7088,0.00,2.45,0.00,0.000,4,0.000,0.087,2681,3547,1556,0,0,0,0,0,0
$GC,7226,0.92,302.0,457.2,11.4,496,7230,0.00,2.40,0.00,0.000,6,0.000,0.071,2681,2091,1556,0,0,0,0,0,0
$GC,7551,0.92,302.0,418.7,12.2,526,7556,0.00,2.45,0.00,0.000,4,0.000,0.087,2681,3546,1556,0,0,0,0,0,0
$GC,7628,0.92,302.0,409.0,12.1,532,7635,0.00,2.40,0.00,0.000,6,0.000,0.071,2681,2109,1556,0,0,0,0,0,0
$GC,7955,0.92,302.0,369.3,12.1,563,7959,0.00,2.40,0.00,0.000,4,0.000,0.086,2681,3539,1556,0,0,0,0,0,0
$GC,8015,0.92,302.0,361.8,11.9,568,8019,0.00,2.33,0.00,0.000,6,0.000,0.071,2681,2116,1556,0,0,0,0,0,0
$GC,8348,0.92,302.0,323.1,12.1,599,8352,0.00,2.40,0.00,0.000,4,0.000,0.086,2681,3546,1556,0,0,0,0,0,0
$GC,8431,0.92,302.0,313.8,10.5,606,8435,0.00,2.35,0.00,0.000,6,0.000,0.071,2681,2115,1556,0,0,0,0,0,0
$GC,8756,0.92,302.0,278.0,11.0,636,8760,0.00,2.40,0.00,0.000,4,0.000,0.087,2681,3546,1555,0,0,0,0,0,0
$GC,8811,0.92,302.0,272.1,9.7,640,8817,0.00,2.35,0.00,0.000,6,0.000,0.070,2681,2136,1556,0,0,0,0,0,0
$GC,9137,0.92,302.0,237.2,11.2,671,9142,0.00,2.88,0.00,0.000,4,0.000,0.093,2681,359,1555,0,0,0,0,0,0
$GC,9302,0.92,305.8,222.3,9.0,685,9309,0.00,2.80,0.00,0.000,6,0.000,0.067,2681,2152,1554,0,0,0,0,0,0
$GC,9629,0.92,305.8,191.3,10.0,716,9633,0.00,2.30,0.00,0.000,4,0.000,0.085,2681,3540,1554,0,0,0,0,0,0
$GC,9671,0.92,305.8,186.9,9.3,719,9678,0.00,2.33,0.00,0.000,6,0.000,0.071,2681,2143,1554,0,0,0,0,0,0
$GC,9997,0.92,305.8,153.9,11.8,750,10002,0.00,2.88,0.00,0.000,4,0.000,0.091,2681,360,1554,0,0,0,0,0,0
$GC,10073,0.92,305.8,144.5,12.5,756,10080,0.00,2.78,0.00,0.000,6,0.000,0.065,2681,2143,1554,0,0,0,0,0,0
$GC,10398,0.92,305.8,107.9,11.3,787,10402,0.00,2.30,0.00,0.000,4,0.000,0.083,2681,3540,1554,0,0,0,0,0,0
$GC,10436,0.92,305.8,103.6,11.1,790,10442,0.00,2.28,0.00,0.000,6,0.000,0.068,2681,2170,1554,0,0,0,0,0,0
$GC,10780,0.94,319.1,73.9,8.6,847,10803,0.00,3.00,13.62,0.777,4,0.000,0.090,2681,362,1497,0,0,0,0,0,0
$GC,10896,0.94,319.1,63.0,10.5,867,10903,0.00,2.65,0.00,0.000,6,0.000,0.064,2681,2056,1495,0,0,0,0,0,0
$GC,11239,0.94,319.1,30.2,9.8,928,11245,0.00,2.78,0.00,0.000,4,0.000,0.089,2681,350,1495,0,0,0,0,0,0
$GC,11312,0.97,343.6,24.2,8.1,941,11342,0.00,2.47,21.08,0.763,6,0.000,0.064,2680,1944,1399,0,0,0,0,0,0
$STATE,11546,end climb,SURFACE_DEPTH_REACHED
$STATE,11546,begin surface coast
$FINISH,0.5,1.008358
$STATE,11570,end surface coast,CONTROL_FINISHED_OK
$STATE,11571,begin surface
$SM_CCo,11647,0.00,0.000,0,0,1392,345.38
$SM_GC,1.35,7.32,0.00,0.00,0.075,0.000,0.000,124,2461,1392,-7.04,0.03,345.38
$RAFOS_CLK,743
$RAFOS,6,1258490950,20.833334,20.819445,67,60,57,0,0,0,742,187,222,0,0,0
$RAFOS,5,1258490466,20.700001,20.684999,122,62,60,0,0,0,567,201,146,0,0,0
$RAFOS,4,1258489989,20.566668,20.552500,91,66,62,0,0,0,774,188,208,0,0,0
$RAFOS,3,1258489506,20.433332,20.418333,123,68,56,0,0,0,912,185,121,0,0,0
$RAFOS,2,1258489023,20.299999,20.284166,123,70,60,0,0,0,997,187,157,0,0,0
$RAFOS,1,1258488541,20.166666,20.150278,75,59,58,0,0,0,988,190,212,0,0,0
$RAFOS,0,1258488080,20.033333,20.022223,60,56,55,0,0,0,220,1012,172,0,0,0
$RAFOS_FIX,6656.385742,-5728.493164,171109,202017,6,100,1.11
$IRIDIUM_FIX,6631.12,-5725.81,110299,151506
$TT8_MAMPS,0.026845
$HUMID,49.17
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,17.60
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.9,19.4
$24V_AH,22.8,37.005
$10V_AH,10.1,18.931
$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,19.675,127.925,423.225,0.000,0.000,30.742,35.580,136.451,1.750,0.000,35.493,1950.746,7201.347,552.787,1916.823,379.742,0.000,1562.701,0.000,1861.022,2520.000,2.621,0.000
$DEVICE_MAMPS,312.936,92.807,1282.424,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,705.871,708.265,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188032
$DATA_FILE_SIZE,40999,987
$CAP_FILE_SIZE,125866,0
$CFSIZE,260165632,238264320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.3
$CURRENT,0.837,218.7,1
$GPS,171109,214125,6700.063,-5720.707,38,1.3,38,-37.6