version: 66.06
glider: 143
mission: 10
dive: 10
start: 10 21 109 23 40 56
data:
$ID,143
$MISSION,10
$DIVE,10
$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,-23147.576
$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,20
$R_STBD_OVSHOOT,18
$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
$GPS1,233436,6700.576,-5654.107,36,1.3,36,-37.5
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-64.6
$GPS2,234038,6700.524,-5654.160,12,1.3,12,-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,36.6,6388,-16.9,-9.167
$D_GRID,632
$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,-0.98,-146.0,0.0,0.0,0,103,0.00,0.00,-85.38,0.000,2,0.000,0.000,129,2238,3236,0,0,0,0,0,0
$GC,106,-0.98,-146.0,3.7,-6.6,16,128,9.60,2.75,-4.15,0.000,4,0.308,0.097,2097,3835,3399,0,0,0,0,0,0
$GC,275,-0.74,-146.0,34.2,-14.3,46,281,0.35,2.58,0.00,0.000,6,0.206,0.061,2184,2242,3401,0,0,0,0,0,0
$GC,620,-0.84,-146.0,70.4,-9.8,107,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2242,3402,0,0,0,0,0,0
$GC,963,-0.95,-146.0,100.1,-8.2,168,968,0.20,2.65,0.00,0.000,4,0.096,0.085,2102,3838,3401,0,0,0,0,0,0
$GC,1182,-0.79,-146.0,126.2,-12.3,187,1188,0.28,2.53,0.00,0.000,6,0.203,0.062,2170,2250,3401,0,0,0,0,0,0
$GC,1507,-0.88,-146.0,157.2,-9.4,217,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2250,3401,0,0,0,0,0,0
$GC,1827,-0.97,-146.0,185.2,-8.2,247,1832,0.17,2.65,0.00,0.000,4,0.104,0.085,2099,3846,3401,0,0,0,0,0,0
$GC,1939,-0.81,-146.0,198.3,-12.1,256,1945,0.28,2.53,0.00,0.000,6,0.205,0.061,2167,2253,3400,0,0,0,0,0,0
$GC,2263,-0.91,-146.0,224.1,-7.3,287,2265,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2253,3400,0,0,0,0,0,0
$GC,2583,-1.01,-146.0,247.6,-7.8,317,2589,0.20,2.60,0.00,0.000,4,0.103,0.084,2087,3838,3400,0,0,0,0,0,0
$GC,2758,-0.85,-146.0,266.8,-11.6,332,2763,0.25,2.50,0.00,0.000,6,0.208,0.062,2149,2258,3399,0,0,0,0,0,0
$GC,3082,-0.85,-146.0,291.8,-7.4,362,3083,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2258,3400,0,0,0,0,0,0
$GC,3402,-0.90,-146.0,316.4,-7.2,392,3406,0.00,2.60,0.00,0.000,4,0.000,0.086,2149,3846,3399,0,0,0,0,0,0
$GC,3576,-0.96,-146.0,330.2,-8.1,407,3580,0.00,2.50,0.00,0.000,6,0.000,0.061,2149,2256,3399,0,0,0,0,0,0
$GC,3900,-1.01,-146.0,356.6,-8.5,437,3902,0.15,0.00,0.00,0.000,6,0.109,0.000,2098,2255,3399,0,0,0,0,0,0
$GC,4219,-0.90,-146.0,389.3,-10.3,467,4224,0.17,2.60,0.00,0.000,4,0.206,0.084,2139,3838,3400,0,0,0,0,0,0
$GC,4471,-0.90,-146.0,411.4,-9.0,489,4476,0.00,2.45,0.00,0.000,6,0.000,0.060,2139,2271,3399,0,0,0,0,0,0
$GC,4796,-0.90,-146.0,436.3,-7.1,519,4800,0.00,2.55,0.00,0.000,4,0.000,0.084,2139,3838,3400,0,0,0,0,0,0
$GC,4996,-0.90,-146.0,451.5,-8.0,536,5003,0.00,2.45,0.00,0.000,6,0.000,0.059,2139,2266,3400,0,0,0,0,0,0
$GC,5321,-0.90,-146.0,474.8,-7.0,567,5326,0.00,2.55,0.00,0.000,4,0.000,0.084,2139,3838,3401,0,0,0,0,0,0
$GC,5511,-0.94,-146.0,489.5,-8.1,583,5517,0.00,2.42,0.00,0.000,6,0.000,0.059,2139,2281,3401,0,0,0,0,0,0
$GC,5836,-0.94,-146.0,514.6,-7.9,614,5841,0.00,2.53,0.00,0.000,4,0.000,0.084,2139,3838,3401,0,0,0,0,0,0
$GC,6022,-0.94,-146.0,530.1,-8.5,630,6026,0.00,2.42,0.00,0.000,6,0.000,0.059,2139,2284,3401,0,0,0,0,0,0
$GC,6346,-0.94,-146.0,554.9,-7.1,660,6351,0.00,2.53,0.00,0.000,4,0.000,0.084,2139,3838,3401,0,0,0,0,0,0
$GC,6493,-0.94,-146.0,565.9,-7.8,672,6498,0.00,2.40,0.00,0.000,6,0.000,0.058,2139,2297,3402,0,0,0,0,0,0
$GC,6817,-0.94,-146.0,589.0,-7.1,703,6818,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2297,3402,0,0,0,0,0,0
$GC,7129,-0.94,-146.0,611.6,-7.2,723,7134,0.00,2.50,0.00,0.000,4,0.000,0.084,2139,3838,3402,0,0,0,0,0,0
$GC,7227,-1.44,-146.0,614.3,0.3,726,7232,0.47,2.40,0.00,0.000,6,0.074,0.059,1961,2298,3402,0,0,0,0,0,0
$STATE,7314,end dive,NO_VERTICAL_VELOCITY
$STATE,7314,begin apogee
$GC,7319,-0.24,0.0,614.4,0.0,729,7442,1.27,0.00,118.75,1.124,6,0.156,0.000,2350,2198,2800,0,0,0,0,0,0
$STATE,7443,end apogee,CONTROL_FINISHED_OK
$STATE,7443,begin climb
$GC,7445,0.98,146.0,614.0,0.0,733,7579,1.25,2.90,121.10,1.077,4,0.115,0.080,2738,3780,2202,0,0,0,0,0,0
$GC,7652,0.48,146.0,580.9,22.6,744,7659,0.68,2.67,0.00,0.000,6,0.218,0.064,2590,2203,2197,0,0,0,0,0,0
$GC,7976,0.48,146.0,542.5,11.0,775,7981,0.00,2.62,0.00,0.000,4,0.000,0.081,2600,611,2193,0,0,0,0,0,0
$GC,8019,0.48,146.0,537.5,11.5,778,8026,0.00,2.62,0.00,0.000,6,0.000,0.067,2600,2214,2193,0,0,0,0,0,0
$GC,8344,0.48,146.0,500.6,11.9,809,8349,0.00,2.65,0.00,0.000,4,0.000,0.082,2611,606,2193,0,0,0,0,0,0
$GC,8421,0.43,146.0,491.2,11.9,815,8428,0.17,2.58,0.00,0.000,6,0.182,0.069,2569,2201,2193,0,0,0,0,0,0
$GC,8747,0.50,146.0,458.6,9.5,846,8751,0.00,2.60,0.00,0.000,4,0.000,0.082,2578,608,2192,0,0,0,0,0,0
$GC,8812,0.56,146.0,452.1,9.5,851,8818,0.00,2.55,0.00,0.000,6,0.000,0.068,2578,2200,2192,0,0,0,0,0,0
$GC,9139,0.61,146.0,420.7,10.0,882,9144,0.15,2.62,0.00,0.000,4,0.108,0.084,2642,601,2192,0,0,0,0,0,0
$GC,9216,0.46,146.0,410.6,13.8,888,9223,0.22,2.55,0.00,0.000,6,0.193,0.070,2587,2199,2191,0,0,0,0,0,0
$GC,9541,0.46,146.0,375.7,10.5,919,9545,0.00,2.58,0.00,0.000,4,0.000,0.081,2596,604,2191,0,0,0,0,0,0
$GC,9625,0.46,146.0,366.4,10.9,926,9629,0.00,2.53,0.00,0.000,6,0.000,0.067,2596,2197,2191,0,0,0,0,0,0
$GC,9948,0.46,146.0,331.7,11.1,956,9953,0.00,2.58,0.00,0.000,4,0.000,0.083,2608,601,2191,0,0,0,0,0,0
$GC,9957,0.46,146.0,330.5,11.1,956,9964,0.00,2.55,0.00,0.000,6,0.000,0.068,2607,2189,2191,0,0,0,0,0,0
$GC,10283,0.42,146.0,295.5,10.3,987,10288,0.17,2.60,0.00,0.000,4,0.188,0.083,2558,3791,2191,0,0,0,0,0,0
$GC,10507,0.47,146.0,274.5,9.5,1006,10513,0.00,2.53,0.00,0.000,6,0.000,0.064,2568,2196,2189,0,0,0,0,0,0
$GC,10832,0.60,174.8,247.5,8.0,1037,10864,0.17,2.65,22.05,0.865,4,0.107,0.082,2641,606,2086,0,0,0,0,0,0
$GC,10869,0.50,174.8,243.5,10.7,1040,10876,0.17,2.53,0.00,0.000,6,0.183,0.067,2585,2191,2085,0,0,0,0,0,0
$GC,11194,0.58,174.8,213.2,9.5,1071,11195,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2192,2083,0,0,0,0,0,0
$GC,11514,0.69,189.8,184.3,8.5,1101,11536,0.20,2.67,13.12,0.808,4,0.097,0.083,2654,3785,2026,0,0,0,0,0,0
$GC,11743,0.53,189.8,151.1,14.3,1121,11751,0.25,2.55,0.00,0.000,6,0.194,0.064,2604,2198,2022,0,0,0,0,0,0
$GC,12068,0.58,189.8,116.8,10.1,1152,12072,0.00,2.55,0.00,0.000,4,0.000,0.083,2613,611,2021,0,0,0,0,0,0
$GC,12078,0.63,189.8,115.7,9.9,1152,12083,0.00,2.55,0.00,0.000,6,0.000,0.068,2613,2211,2021,0,0,0,0,0,0
$GC,12412,0.63,189.8,82.5,9.4,1199,12418,0.00,2.58,0.00,0.000,4,0.000,0.084,2613,3794,2020,0,0,0,0,0,0
$GC,12614,0.63,189.8,60.4,11.5,1235,12620,0.00,2.47,0.00,0.000,6,0.000,0.062,2625,2231,2020,0,0,0,0,0,0
$GC,12958,0.70,189.8,25.6,10.2,1296,12962,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2231,2020,0,0,0,0,0,0
$STATE,13208,end climb,SURFACE_DEPTH_REACHED
$STATE,13208,begin surface coast
$FINISH,0.4,1.014150
$STATE,13232,end surface coast,CONTROL_FINISHED_OK
$STATE,13232,begin surface
$SM_CCo,13246,49.90,0.743,0,0,1677,275.23
$SM_GC,1.23,0.00,0.00,49.90,0.000,0.000,0.743,123,2229,1677,-7.21,-0.59,275.23
$RAFOS_CLK,822
$RAFOS,6,1256172545,0.833333,0.818056,67,63,62,0,0,0,223,191,201,0,0,0
$RAFOS,5,1256172067,0.700000,0.685278,106,59,56,0,0,0,633,202,190,0,0,0
$RAFOS,4,1256171589,0.566667,0.552500,83,62,58,0,0,0,856,182,224,0,0,0
$RAFOS,3,1256171105,0.433333,0.418056,75,60,56,0,0,0,985,217,145,0,0,0
$RAFOS,2,1256170621,0.300000,0.283611,67,63,59,0,0,0,1085,209,165,0,0,0
$RAFOS,1,1256170141,0.166667,0.150278,99,60,55,0,0,0,1069,214,147,0,0,0
$RAFOS,0,1256169663,0.033333,0.017500,73,67,57,0,0,0,1188,197,118,0,0,0
$RAFOS_FIX,6655.731934,-5655.572266,221009,000010,6,84,3.42
$IRIDIUM_FIX,6631.12,-5656.72,150199,191927
$TT8_MAMPS,0.026845
$HUMID,45.43
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,17.60
$XPDR_PINGS,2
$24V_AH,23.6,16.157
$10V_AH,10.3,7.039
$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,23.775,118.100,275.025,49.900,0.000,24.583,41.995,179.054,0.500,0.000,14.434,2484.906,7932.823,478.246,2354.509,415.135,0.000,1657.509,0.000,2319.197,2520.000,0.534,0.000
$DEVICE_MAMPS,307.567,106.613,1124.422,743.223,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,983.047,921.146,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150212
$DATA_FILE_SIZE,50431,1345
$CAP_FILE_SIZE,151365,0
$CFSIZE,260165632,249974784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.4
$CURRENT,0.124,123.8,1
$GPS,221009,032406,6701.781,-5651.949,32,1.4,32,-37.5