version: 66.06
glider: 143
mission: 10
dive: 5
start: 10 21 109 3 22 22
data:
$ID,143
$MISSION,10
$DIVE,5
$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,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,-23071.482
$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,2430
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,290
$ROLL_MAX,3915
$ROLL_DEG,45
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,20
$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
$GPS1,031700,6700.265,-5700.473,39,1.9,44,-37.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-65.9
$GPS2,032204,6700.299,-5700.591,15,1.9,17,-37.5
$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,83.6,10378,-16.9,-9.167
$D_GRID,690
$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,-0.98,-146.0,0.0,0.0,0,100,0.00,0.00,-82.62,0.000,2,0.000,0.000,122,1850,3173,0,0,0,0,0,0
$GC,102,-0.98,-146.0,3.4,-6.1,16,125,9.57,1.98,-6.10,0.000,4,0.306,0.100,2105,654,3399,0,0,0,0,0,0
$GC,316,-0.78,-146.0,38.2,-13.8,54,323,0.28,2.60,0.00,0.000,6,0.212,0.072,2173,2256,3401,0,0,0,0,0,0
$GC,660,-0.84,-146.0,73.7,-9.7,115,666,0.00,2.60,0.00,0.000,4,0.000,0.082,2173,660,3401,0,0,0,0,0,0
$GC,920,-0.84,-146.0,98.8,-9.0,161,925,0.00,2.50,0.00,0.000,6,0.000,0.071,2173,2255,3402,0,0,0,0,0,0
$GC,1246,-0.92,-146.0,125.7,-8.4,193,1251,0.12,2.60,0.00,0.000,4,0.115,0.082,2135,660,3401,0,0,0,0,0,0
$GC,1346,-0.86,-146.0,136.7,-11.3,201,1352,0.00,2.55,0.00,0.000,6,0.000,0.071,2135,2260,3401,0,0,0,0,0,0
$GC,1671,-0.86,-146.0,167.2,-9.1,232,1675,0.00,2.60,0.00,0.000,4,0.000,0.081,2135,649,3399,0,0,0,0,0,0
$GC,1928,-0.80,-146.0,193.8,-10.3,254,1934,0.12,2.67,0.00,0.000,6,0.227,0.071,2163,2331,3400,0,0,0,0,0,0
$GC,2253,-0.88,-146.0,221.8,-8.7,285,2258,0.00,2.70,0.00,0.000,4,0.000,0.081,2163,654,3399,0,0,0,0,0,0
$GC,2472,-0.93,-146.0,243.2,-9.4,304,2476,0.00,2.67,0.00,0.000,6,0.000,0.070,2163,2337,3399,0,0,0,0,0,0
$GC,2797,-1.01,-146.0,268.5,-7.1,334,2802,0.17,2.70,0.00,0.000,4,0.101,0.081,2108,654,3399,0,0,0,0,0,0
$GC,3056,-0.89,-146.0,294.5,-9.5,357,3062,0.15,2.58,0.00,0.000,6,0.218,0.071,2143,2278,3399,0,0,0,0,0,0
$GC,3381,-0.89,-146.0,318.9,-7.7,387,3385,0.00,2.60,0.00,0.000,4,0.000,0.081,2144,653,3399,0,0,0,0,0,0
$GC,3577,-0.89,-146.0,335.3,-8.2,404,3581,0.00,2.58,0.00,0.000,6,0.000,0.069,2144,2284,3399,0,0,0,0,0,0
$GC,3901,-0.89,-146.0,360.7,-7.9,434,3905,0.00,2.60,0.00,0.000,4,0.000,0.081,2143,655,3400,0,0,0,0,0,0
$GC,4157,-0.89,-146.0,383.4,-9.2,456,4164,0.00,2.50,0.00,0.000,6,0.000,0.068,2144,2219,3400,0,0,0,0,0,0
$GC,4482,-0.94,-146.0,409.0,-7.8,487,4487,0.00,2.50,0.00,0.000,4,0.000,0.080,2144,651,3400,0,0,0,0,0,0
$GC,4736,-0.94,-146.0,432.0,-8.8,509,4740,0.00,2.47,0.00,0.000,6,0.000,0.068,2144,2230,3400,0,0,0,0,0,0
$GC,5060,-1.00,-146.0,458.7,-8.0,539,5065,0.12,2.53,0.00,0.000,4,0.110,0.080,2101,656,3400,0,0,0,0,0,0
$GC,5318,-0.88,-146.0,486.2,-10.8,561,5324,0.17,2.38,0.00,0.000,6,0.210,0.067,2144,2173,3400,0,0,0,0,0,0
$GC,5644,-0.94,-146.0,513.4,-8.2,592,5648,0.00,2.40,0.00,0.000,4,0.000,0.080,2145,660,3401,0,0,0,0,0,0
$GC,5786,-0.94,-146.0,525.8,-8.8,604,5790,0.00,2.38,0.00,0.000,6,0.000,0.067,2145,2175,3401,0,0,0,0,0,0
$GC,6110,-1.00,-146.0,551.2,-7.6,634,6115,0.12,2.42,0.00,0.000,4,0.111,0.080,2101,659,3401,0,0,0,0,0,0
$GC,6368,-0.89,-146.0,577.8,-10.2,656,6375,0.15,2.38,0.00,0.000,6,0.212,0.067,2137,2180,3401,0,0,0,0,0,0
$GC,6692,-0.94,-146.0,602.3,-7.2,685,6696,0.00,2.42,0.00,0.000,4,0.000,0.080,2138,652,3401,0,0,0,0,0,0
$GC,6838,-0.94,-146.0,613.5,-7.5,689,6842,0.00,2.40,0.00,0.000,6,0.000,0.068,2138,2184,3401,0,0,0,0,0,0
$GC,7161,-0.99,-146.0,636.0,-7.2,700,7165,0.00,2.42,0.00,0.000,4,0.000,0.080,2138,655,3402,0,0,0,0,0,0
$GC,7419,-0.99,-146.0,657.3,-7.5,707,7425,0.00,2.30,0.00,0.000,6,0.000,0.067,2138,2131,3402,0,0,0,0,0,0
$GC,7732,-1.05,-146.0,679.0,-7.2,718,7737,0.15,2.35,0.00,0.000,4,0.105,0.080,2085,659,3402,0,0,0,0,0,0
$STATE,7841,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7841,begin apogee
$GC,7849,-0.24,0.0,690.3,10.3,721,7972,0.90,0.00,119.75,1.175,6,0.186,0.000,2346,2205,2800,0,0,0,0,0,0
$STATE,7973,end apogee,CONTROL_FINISHED_OK
$STATE,7973,begin climb
$GC,7975,0.98,146.0,692.2,0.0,725,8107,1.25,2.88,121.93,1.127,4,0.107,0.082,2739,3781,2203,0,0,0,0,0,0
$GC,8359,0.48,146.0,622.4,22.7,736,8367,0.65,2.62,0.00,0.000,6,0.219,0.064,2593,2200,2193,0,0,0,0,0,0
$GC,8675,0.48,146.0,587.9,10.6,753,8680,0.00,2.67,0.00,0.000,4,0.000,0.084,2593,3789,2193,0,0,0,0,0,0
$GC,8933,0.42,146.0,558.7,11.7,775,8940,0.15,2.60,0.00,0.000,6,0.189,0.064,2568,2189,2193,0,0,0,0,0,0
$GC,9258,0.51,166.6,530.5,8.3,806,9280,0.00,2.70,16.30,1.005,4,0.000,0.082,2568,3787,2119,0,0,0,0,0,0
$GC,9532,0.56,166.6,503.9,10.5,830,9538,0.00,2.60,0.00,0.000,6,0.000,0.064,2579,2182,2116,0,0,0,0,0,0
$GC,9857,0.62,166.6,473.1,9.4,861,9862,0.15,2.67,0.00,0.000,4,0.106,0.084,2631,3784,2116,0,0,0,0,0,0
$GC,10115,0.47,166.6,437.3,15.0,883,10122,0.22,2.58,0.00,0.000,6,0.196,0.064,2588,2179,2115,0,0,0,0,0,0
$GC,10439,0.47,166.6,402.8,10.1,914,10444,0.00,2.65,0.00,0.000,4,0.000,0.083,2588,3791,2116,0,0,0,0,0,0
$GC,10697,0.47,166.6,372.9,12.4,936,10704,0.00,2.58,0.00,0.000,6,0.000,0.064,2598,2174,2115,0,0,0,0,0,0
$GC,11021,0.47,166.6,337.6,11.0,967,11026,0.00,2.65,0.00,0.000,4,0.000,0.082,2598,3795,2115,0,0,0,0,0,0
$GC,11278,0.47,166.6,304.2,12.7,989,11285,0.00,2.60,0.00,0.000,6,0.000,0.064,2610,2153,2115,0,0,0,0,0,0
$GC,11603,0.47,166.6,269.1,10.6,1020,11608,0.00,2.65,0.00,0.000,4,0.000,0.082,2610,3785,2115,0,0,0,0,0,0
$GC,11861,0.40,166.6,238.3,11.8,1042,11868,0.22,2.50,0.00,0.000,6,0.189,0.064,2565,2203,2114,0,0,0,0,0,0
$GC,12187,0.57,178.4,210.1,8.7,1073,12203,0.15,2.60,10.43,0.807,4,0.103,0.081,2617,3788,2070,0,0,0,0,0,0
$GC,12455,0.51,178.4,176.0,12.9,1096,12463,0.15,2.53,0.00,0.000,6,0.192,0.064,2594,2196,2069,0,0,0,0,0,0
$GC,12781,0.59,178.8,144.1,9.2,1127,12785,0.00,2.60,0.00,0.000,4,0.000,0.083,2594,3789,2069,0,0,0,0,0,0
$GC,13037,0.59,178.8,116.5,10.7,1149,13043,0.00,2.53,0.00,0.000,6,0.000,0.064,2604,2196,2068,0,0,0,0,0,0
$GC,13371,0.71,199.1,86.7,8.3,1193,13398,0.15,2.70,17.65,0.783,4,0.107,0.083,2658,3788,1985,0,0,0,0,0,0
$GC,13652,0.63,199.1,53.9,11.1,1243,13658,0.15,2.55,0.00,0.000,6,0.192,0.065,2635,2195,1983,0,0,0,0,0,0
$GC,13997,0.69,205.4,24.2,8.9,1304,14009,0.00,2.62,5.93,0.666,4,0.000,0.082,2635,3785,1961,0,0,0,0,0,0
$STATE,14210,end climb,SURFACE_DEPTH_REACHED
$STATE,14210,begin surface coast
$FINISH,0.3,1.005731
$STATE,14228,end surface coast,CONTROL_FINISHED_OK
$STATE,14228,begin surface
$SM_CCo,14246,44.53,0.756,0,0,1677,275.23
$SM_GC,1.03,0.00,0.00,44.53,0.000,0.000,0.756,129,2246,1677,-7.19,-0.14,275.23
$RAFOS_CLK,879
$RAFOS,6,1256100546,4.833333,4.818333,74,65,53,0,0,0,805,208,133,0,0,0
$RAFOS,5,1256100064,4.700000,4.684444,99,59,57,0,0,0,630,210,154,0,0,0
$RAFOS,4,1256099588,4.566667,4.552222,67,63,60,0,0,0,833,215,192,0,0,0
$RAFOS,3,1256099103,4.433333,4.417500,62,59,58,0,0,0,222,204,175,0,0,0
$RAFOS,2,1256098626,4.300000,4.285000,59,58,57,0,0,0,158,177,186,0,0,0
$RAFOS,1,1256098143,4.166667,4.150833,59,56,54,0,0,0,1036,143,166,0,0,0
$RAFOS,0,1256097666,4.033333,4.018333,65,64,59,0,0,0,165,190,1153,0,0,0
$RAFOS_FIX,6702.315918,-5704.767090,211009,040444,3,80,0.98
$IRIDIUM_FIX,6631.12,-5701.34,150199,010101
$TT8_MAMPS,0.026845
$HUMID,45.15
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,17.40
$XPDR_PINGS,5
$24V_AH,23.5,15.599
$10V_AH,10.3,6.637
$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,22.400,132.450,291.975,44.525,0.000,28.849,32.439,133.755,1.250,0.000,19.436,2570.486,8457.743,484.481,2721.879,372.598,0.000,1817.528,0.000,2672.638,2520.000,0.534,0.000
$DEVICE_MAMPS,306.033,99.710,1175.044,756.262,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,983.599,919.864,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150256
$DATA_FILE_SIZE,50488,1345
$CAP_FILE_SIZE,161401,0
$CFSIZE,260165632,250368000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1468.6
$CURRENT,0.230,177.5,1
$GPS,211009,072207,6659.989,-5701.543,37,1.5,37,-37.5