version: 66.06
glider: 143
mission: 10
dive: 17
start: 10 22 109 22 28 14
data:
$ID,143
$MISSION,10
$DIVE,17
$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,-23253.127
$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,27
$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
$GPS1,222255,6706.501,-5656.162,40,0.9,40,-37.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-64.3
$GPS2,222755,6706.539,-5656.102,11,1.2,11,-37.6
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_ADD4_WB
$TGT_LATLONG,6659.000,-5735.000
$TGT_RADIUS,10000.000
$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,308.0,31438,-16.9,-9.167
$D_GRID,480
$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,-0.98,-146.0,0.0,0.0,0,105,0.00,0.00,-87.50,0.000,2,0.000,0.000,128,2256,3233,0,0,0,0,0,0
$GC,108,-0.98,-146.0,3.3,-5.8,17,130,9.70,2.67,-4.32,0.000,4,0.311,0.090,2103,666,3399,0,0,0,0,0,0
$GC,248,-0.77,-146.0,28.9,-15.1,42,254,0.30,2.58,0.00,0.000,6,0.212,0.069,2178,2257,3402,0,0,0,0,0,0
$GC,592,-0.77,-146.0,62.7,-8.3,103,598,0.00,2.62,0.00,0.000,4,0.000,0.087,2178,3837,3401,0,0,0,0,0,0
$GC,851,-0.85,-146.0,84.8,-9.7,149,857,0.00,2.53,0.00,0.000,6,0.000,0.060,2178,2254,3401,0,0,0,0,0,0
$GC,1185,-0.94,-146.0,117.3,-10.6,194,1190,0.15,2.62,0.00,0.000,4,0.109,0.084,2127,3836,3401,0,0,0,0,0,0
$GC,1442,-0.85,-146.0,148.2,-11.8,216,1448,0.00,2.50,0.00,0.000,6,0.000,0.061,2127,2258,3400,0,0,0,0,0,0
$GC,1767,-0.78,-146.0,184.9,-10.8,247,1772,0.20,2.55,0.00,0.000,4,0.210,0.081,2179,668,3400,0,0,0,0,0,0
$GC,1830,-0.88,-146.0,191.1,-9.6,252,1834,0.00,2.67,0.00,0.000,6,0.000,0.070,2180,2346,3400,0,0,0,0,0,0
$GC,2154,-1.00,-146.0,215.6,-6.7,282,2159,0.22,2.42,0.00,0.000,4,0.094,0.083,2089,3837,3400,0,0,0,0,0,0
$GC,2411,-0.84,-146.0,242.4,-10.8,304,2418,0.28,2.35,0.00,0.000,6,0.209,0.061,2157,2341,3399,0,0,0,0,0,0
$GC,2737,-0.90,-146.0,263.6,-7.0,335,2741,0.00,2.45,0.00,0.000,4,0.000,0.084,2157,3838,3399,0,0,0,0,0,0
$GC,2994,-0.97,-146.0,284.8,-8.3,357,3000,0.12,2.35,0.00,0.000,6,0.118,0.060,2116,2338,3399,0,0,0,0,0,0
$GC,3319,-0.89,-146.0,315.5,-9.6,388,3323,0.00,2.45,0.00,0.000,4,0.000,0.085,2116,3837,3398,0,0,0,0,0,0
$GC,3576,-0.83,-146.0,341.0,-9.3,410,3582,0.17,2.35,0.00,0.000,6,0.208,0.059,2157,2334,3398,0,0,0,0,0,0
$GC,3901,-0.91,-146.0,366.2,-7.9,441,3905,0.00,2.45,0.00,0.000,4,0.000,0.084,2157,3838,3398,0,0,0,0,0,0
$GC,4159,-0.99,-146.0,386.0,-7.5,463,4166,0.15,2.33,0.00,0.000,6,0.107,0.058,2106,2345,3398,0,0,0,0,0,0
$GC,4484,-0.89,-146.0,415.2,-9.2,494,4489,0.15,2.45,0.00,0.000,4,0.210,0.083,2139,3842,3399,0,0,0,0,0,0
$GC,4741,-0.89,-146.0,435.8,-8.1,516,4747,0.00,2.33,0.00,0.000,6,0.000,0.058,2139,2344,3399,0,0,0,0,0,0
$GC,5066,-0.89,-146.0,460.1,-7.8,547,5067,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2344,3400,0,0,0,0,0,0
$STATE,5340,end dive,NO_VERTICAL_VELOCITY
$STATE,5340,begin apogee
$GC,5345,-0.24,0.0,468.9,0.0,573,5465,0.68,0.00,116.03,1.033,6,0.127,0.000,2356,2198,2800,0,0,0,0,0,0
$STATE,5466,end apogee,CONTROL_FINISHED_OK
$STATE,5466,begin climb
$GC,5468,0.98,146.0,468.7,0.0,585,5596,1.23,2.75,118.93,0.984,4,0.111,0.078,2751,615,2203,0,0,0,0,0,0
$GC,5849,0.55,146.0,403.0,19.0,620,5855,0.57,2.62,0.00,0.000,6,0.209,0.063,2609,2209,2194,0,0,0,0,0,0
$GC,6173,0.55,146.0,364.6,11.2,650,6178,0.00,2.62,0.00,0.000,4,0.000,0.079,2619,619,2193,0,0,0,0,0,0
$GC,6429,0.49,146.0,334.4,11.7,672,6435,0.00,2.53,0.00,0.000,6,0.000,0.063,2618,2201,2193,0,0,0,0,0,0
$GC,6754,0.44,146.0,297.9,11.3,703,6759,0.17,2.58,0.00,0.000,4,0.193,0.080,2586,611,2192,0,0,0,0,0,0
$GC,7013,0.51,146.0,273.1,9.7,725,7018,0.00,2.53,0.00,0.000,6,0.000,0.063,2586,2204,2193,0,0,0,0,0,0
$GC,7338,0.56,146.0,240.2,10.9,756,7342,0.00,2.58,0.00,0.000,4,0.000,0.080,2597,610,2193,0,0,0,0,0,0
$GC,7595,0.56,146.0,211.0,11.6,778,7601,0.00,2.47,0.00,0.000,6,0.000,0.063,2597,2188,2193,0,0,0,0,0,0
$GC,7919,0.56,146.0,175.6,10.6,809,7924,0.00,2.53,0.00,0.000,4,0.000,0.081,2609,617,2193,0,0,0,0,0,0
$GC,8176,0.56,146.0,149.3,10.0,831,8184,0.00,2.50,0.00,0.000,6,0.000,0.064,2609,2211,2193,0,0,0,0,0,0
$GC,8502,0.56,146.6,119.3,9.1,862,8506,0.00,2.55,0.00,0.000,4,0.000,0.081,2621,619,2193,0,0,0,0,0,0
$GC,8759,0.56,146.6,95.4,10.4,888,8765,0.00,2.50,0.00,0.000,6,0.000,0.065,2620,2209,2193,0,0,0,0,0,0
$GC,9102,0.57,156.3,67.9,8.8,949,9119,0.00,2.62,7.95,0.716,4,0.000,0.081,2632,619,2161,0,0,0,0,0,0
$GC,9372,0.57,156.3,35.4,11.1,997,9377,0.00,2.50,0.00,0.000,6,0.000,0.065,2632,2204,2160,0,0,0,0,0,0
$GC,9715,0.63,201.4,10.2,7.3,1058,9757,0.00,2.62,36.55,0.759,4,0.000,0.081,2643,620,1976,0,0,0,0,0,0
$GC,9798,0.69,201.4,2.4,10.9,1073,9804,0.00,2.55,0.00,0.000,6,0.000,0.066,2643,2201,1973,0,0,0,0,0,0
$STATE,9807,end climb,SURFACE_DEPTH_REACHED
$STATE,9808,begin surface coast
$FINISH,0.2,1.005501
$STATE,9826,end surface coast,CONTROL_FINISHED_OK
$STATE,9826,begin surface
$SM_CCo,9842,45.17,0.734,0,0,1678,275.23
$SM_GC,0.92,0.00,0.00,45.17,0.000,0.000,0.734,129,2265,1678,-7.19,0.42,275.23
$RAFOS_CLK,608
$RAFOS,6,1256258951,0.833333,0.819722,62,57,56,0,0,0,125,202,218,0,0,0
$RAFOS,5,1256258462,0.700000,0.683889,99,59,53,0,0,0,671,210,184,0,0,0
$RAFOS,4,1256257981,0.566667,0.550278,91,68,60,0,0,0,899,201,211,0,0,0
$RAFOS,3,1256257504,0.433333,0.417778,57,55,54,0,0,0,997,141,213,0,0,0
$RAFOS,2,1256257023,0.300000,0.284167,65,59,56,0,0,0,188,1086,204,0,0,0
$RAFOS,1,1256256548,0.166667,0.152222,75,60,59,0,0,0,1034,134,189,0,0,0
$RAFOS,0,1256256062,0.033333,0.017222,57,54,53,0,0,0,1192,189,126,0,0,0
$RAFOS_FIX,6628.172363,-5636.778809,231009,000009,3,88,9.97
$IRIDIUM_FIX,6641.98,-5656.94,160199,191900
$TT8_MAMPS,0.026845
$HUMID,46.33
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,17.50
$XPDR_PINGS,1
$24V_AH,23.7,16.874
$10V_AH,10.3,7.510
$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,21.425,86.050,279.450,45.175,0.000,29.765,33.152,132.641,0.250,0.000,12.987,1963.818,5506.196,430.915,1988.787,334.732,0.000,1425.778,0.000,1958.778,2520.000,0.534,0.000
$DEVICE_MAMPS,310.635,118.118,1033.149,734.019,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,785.068,733.997,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150264
$DATA_FILE_SIZE,40987,1078
$CAP_FILE_SIZE,117677,0
$CFSIZE,260165632,249544704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.0
$CURRENT,0.112,109.3,1
$GPS,231009,011458,6707.179,-5655.979,12,99.0,31,-37.7