version: 66.06
glider: 143
mission: 10
dive: 23
start: 10 23 109 14 41 9
data:
$ID,143
$MISSION,10
$DIVE,23
$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,-23398.471
$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,2500
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,23
$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
$GPS1,143536,6710.545,-5703.537,25,1.6,25,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-64.2
$GPS2,144050,6710.624,-5703.519,9,1.9,9,-37.8
$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,237.7,31355,-16.9,-9.167
$D_GRID,468
$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,-146.0,0.0,0.0,0,100,0.00,0.00,-82.22,0.000,2,0.000,0.000,127,2510,3134,0,0,0,0,0,0
$GC,102,-0.98,-146.0,3.2,-5.8,16,125,9.60,2.65,-7.25,0.000,4,0.306,0.088,2105,912,3398,0,0,0,0,0,0
$GC,378,-0.78,-146.0,47.1,-15.2,65,386,0.28,2.58,0.00,0.000,6,0.213,0.071,2173,2497,3401,0,0,0,0,0,0
$GC,724,-0.83,-146.0,85.6,-9.2,126,729,0.00,2.35,0.00,0.000,4,0.000,0.089,2172,3915,3400,0,0,0,0,0,0
$GC,983,-0.88,-146.0,108.1,-8.9,164,987,0.00,2.25,0.00,0.000,6,0.000,0.059,2173,2496,3399,0,0,0,0,0,0
$GC,1308,-0.96,-146.0,136.5,-8.5,194,1313,0.17,2.35,0.00,0.000,4,0.103,0.085,2101,3910,3400,0,0,0,0,0,0
$GC,1340,-0.78,-146.0,140.0,-10.7,196,1347,0.30,2.22,0.00,0.000,6,0.209,0.058,2175,2498,3400,0,0,0,0,0,0
$GC,1666,-0.86,-146.0,165.2,-7.8,227,1670,0.00,2.53,0.00,0.000,4,0.000,0.078,2175,913,3399,0,0,0,0,0,0
$GC,1676,-0.94,-146.0,166.0,-7.5,227,1682,0.15,2.55,0.00,0.000,6,0.106,0.072,2123,2507,3399,0,0,0,0,0,0
$GC,2001,-0.86,-146.0,197.4,-9.4,258,2006,0.12,2.60,0.00,0.000,4,0.209,0.078,2161,908,3399,0,0,0,0,0,0
$GC,2011,-0.79,-146.0,198.5,-9.2,258,2017,0.00,2.55,0.00,0.000,6,0.000,0.072,2161,2502,3399,0,0,0,0,0,0
$GC,2336,-0.85,-146.0,226.0,-8.6,289,2340,0.00,2.30,0.00,0.000,4,0.000,0.090,2161,3910,3399,0,0,0,0,0,0
$GC,2380,-0.91,-146.0,229.8,-8.6,292,2385,0.00,2.20,0.00,0.000,6,0.000,0.059,2161,2499,3397,0,0,0,0,0,0
$GC,2705,-0.98,-146.0,255.5,-7.6,323,2710,0.15,2.55,0.00,0.000,4,0.107,0.079,2111,908,3398,0,0,0,0,0,0
$GC,2715,-0.98,-146.0,256.6,-7.7,323,2721,0.00,2.65,0.00,0.000,6,0.000,0.072,2111,2555,3398,0,0,0,0,0,0
$GC,3040,-0.89,-146.0,288.9,-10.0,354,3045,0.12,2.65,0.00,0.000,4,0.232,0.078,2140,912,3398,0,0,0,0,0,0
$GC,3051,-0.81,-146.0,289.9,-9.7,354,3056,0.00,2.62,0.00,0.000,6,0.000,0.071,2140,2558,3398,0,0,0,0,0,0
$GC,3375,-0.81,-146.0,316.8,-8.4,385,3380,0.00,2.65,0.00,0.000,4,0.000,0.077,2140,911,3398,0,0,0,0,0,0
$GC,3385,-0.81,-146.0,317.6,-8.0,385,3392,0.00,2.62,0.00,0.000,6,0.000,0.071,2140,2553,3398,0,0,0,0,0,0
$GC,3710,-0.81,-146.0,344.2,-8.1,416,3715,0.00,2.62,0.00,0.000,4,0.000,0.077,2140,907,3398,0,0,0,0,0,0
$GC,3750,-0.81,-146.0,347.7,-8.9,419,3754,0.00,2.62,0.00,0.000,6,0.000,0.071,2140,2554,3398,0,0,0,0,0,0
$GC,4074,-0.81,-146.0,374.2,-8.1,449,4079,0.00,2.62,0.00,0.000,4,0.000,0.077,2140,907,3399,0,0,0,0,0,0
$GC,4091,-0.81,-146.0,375.6,-7.9,450,4096,0.00,2.60,0.00,0.000,6,0.000,0.071,2140,2542,3399,0,0,0,0,0,0
$GC,4415,-0.81,-146.0,401.4,-8.0,480,4420,0.00,2.60,0.00,0.000,4,0.000,0.076,2140,909,3399,0,0,0,0,0,0
$GC,4438,-0.81,-146.0,403.4,-8.9,481,4444,0.00,2.60,0.00,0.000,6,0.000,0.071,2140,2542,3399,0,0,0,0,0,0
$GC,4761,-0.81,-146.0,432.1,-9.9,512,4766,0.00,2.60,0.00,0.000,4,0.000,0.076,2140,911,3399,0,0,0,0,0,0
$GC,5018,-1.27,-146.0,454.3,0.0,534,5024,0.35,2.67,0.00,0.000,6,0.072,0.067,2006,2605,3400,0,0,0,0,0,0
$STATE,5139,end dive,NO_VERTICAL_VELOCITY
$STATE,5139,begin apogee
$GC,5144,-0.24,0.0,454.3,0.0,546,5264,1.08,0.00,115.65,1.021,6,0.125,0.000,2355,2298,2800,0,0,0,0,0,0
$STATE,5265,end apogee,CONTROL_FINISHED_OK
$STATE,5265,begin climb
$GC,5268,0.98,146.0,454.1,0.0,558,5397,1.20,2.75,118.93,0.976,4,0.094,0.077,2757,722,2202,0,0,0,0,0,0
$GC,5649,0.52,146.0,394.0,18.7,592,5656,0.62,2.60,0.00,0.000,6,0.206,0.064,2601,2305,2194,0,0,0,0,0,0
$GC,5973,0.52,146.0,359.0,10.4,623,5978,0.00,2.62,0.00,0.000,4,0.000,0.078,2611,713,2194,0,0,0,0,0,0
$GC,6230,0.52,146.0,330.6,11.0,645,6239,0.00,2.58,0.00,0.000,6,0.000,0.064,2611,2291,2193,0,0,0,0,0,0
$GC,6556,0.48,146.0,294.5,11.4,676,6560,0.00,2.55,0.00,0.000,4,0.000,0.079,2622,719,2193,0,0,0,0,0,0
$GC,6812,0.48,146.0,263.3,12.4,698,6819,0.08,2.55,0.00,0.000,6,0.180,0.065,2589,2292,2193,0,0,0,0,0,0
$GC,7137,0.48,146.0,230.2,9.6,729,7141,0.00,2.55,0.00,0.000,4,0.000,0.079,2599,714,2193,0,0,0,0,0,0
$GC,7394,0.52,146.0,204.2,10.6,751,7400,0.00,2.53,0.00,0.000,6,0.000,0.064,2599,2309,2193,0,0,0,0,0,0
$GC,7719,0.57,146.0,171.6,9.9,782,7723,0.00,2.58,0.00,0.000,4,0.000,0.079,2610,709,2193,0,0,0,0,0,0
$GC,7975,0.57,146.0,144.8,10.8,804,7982,0.00,2.53,0.00,0.000,6,0.000,0.064,2610,2286,2193,0,0,0,0,0,0
$GC,8301,0.58,147.8,113.8,9.1,835,8305,0.00,2.53,0.00,0.000,4,0.000,0.081,2621,715,2193,0,0,0,0,0,0
$GC,8559,0.58,153.9,91.0,8.9,866,8570,0.00,2.50,5.97,0.685,6,0.000,0.067,2621,2299,2171,0,0,0,0,0,0
$GC,8909,0.66,176.4,61.9,8.2,928,8935,0.00,2.60,19.30,0.769,4,0.000,0.081,2632,714,2079,0,0,0,0,0,0
$GC,9190,0.73,193.3,38.4,8.5,978,9213,0.10,2.53,14.50,0.752,6,0.133,0.067,2666,2299,2011,0,0,0,0,0,0
$GC,9550,0.73,193.3,4.0,11.1,1042,9555,0.00,2.58,0.00,0.000,4,0.000,0.081,2678,719,2007,0,0,0,0,0,0
$GC,9561,0.73,193.3,2.6,11.3,1044,9567,0.00,2.55,0.00,0.000,6,0.000,0.069,2678,2306,2007,0,0,0,0,0,0
$STATE,9571,end climb,SURFACE_DEPTH_REACHED
$STATE,9571,begin surface coast
$FINISH,0.7,1.026337
$STATE,9589,end surface coast,CONTROL_FINISHED_OK
$STATE,9589,begin surface
$SM_CCo,9604,51.78,0.746,0,0,1677,275.23
$SM_GC,1.19,0.00,0.00,51.78,0.000,0.000,0.746,123,2510,1677,-7.21,0.28,275.23
$RAFOS_CLK,596
$RAFOS,6,1256316543,16.833334,16.817499,99,65,61,0,0,0,793,184,145,0,0,0
$RAFOS,5,1256316065,16.700001,16.684723,82,65,59,0,0,0,640,206,167,0,0,0
$RAFOS,4,1256315585,16.566668,16.551390,74,73,62,0,0,0,196,162,221,0,0,0
$RAFOS,3,1256315104,16.433332,16.417778,59,56,54,0,0,0,191,207,179,0,0,0
$RAFOS,2,1256314628,16.299999,16.285555,67,59,58,0,0,0,205,1030,164,0,0,0
$RAFOS,1,1256314141,16.166666,16.150278,59,57,55,0,0,0,197,208,144,0,0,0
$RAFOS,0,1256313661,16.033333,16.016945,60,55,55,0,0,0,219,201,191,0,0,0
$RAFOS_FIX,6710.319824,-5709.300293,231009,161656,2,90,0.55
$IRIDIUM_FIX,6641.98,-5656.94,170199,121244
$TT8_MAMPS,0.026845
$HUMID,46.06
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,17.40
$XPDR_PINGS,1
$24V_AH,23.7,17.474
$10V_AH,10.3,7.877
$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,21.650,107.750,274.350,51.775,0.000,29.100,49.618,131.683,0.250,0.000,10.684,1876.724,5481.433,448.133,1812.819,359.288,0.000,1386.589,0.000,1787.470,2520.000,0.534,0.000
$DEVICE_MAMPS,306.033,89.739,1020.877,745.524,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,764.230,713.825,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150260
$DATA_FILE_SIZE,40996,1049
$CAP_FILE_SIZE,119370,0
$CFSIZE,260165632,249184256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.8
$CURRENT,0.258,280.7,1
$GPS,231009,172336,6711.636,-5707.689,36,1.0,36,-37.8