version: 66.06
glider: 143
mission: 10
dive: 30
start: 10 24 109 12 0 19
data:
$ID,143
$MISSION,10
$DIVE,30
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,200
$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,-23503.887
$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,21
$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
$GPS1,115407,6712.762,-5713.894,35,1.5,35,-37.9
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-64.6
$GPS2,120001,6712.812,-5713.966,10,1.8,15,-37.9
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6702.664,-5723.436
$TGT_RADIUS,1852.000
$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,237.9,20000,-16.9,-9.167
$D_GRID,545
$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,-146.0,0.0,0.0,0,98,0.00,0.00,-80.45,0.000,2,0.000,0.000,122,2513,3099,0,0,0,0,0,0
$GC,101,-0.98,-146.0,3.3,-6.4,16,127,9.70,2.42,-8.15,0.000,4,0.309,0.104,2103,3905,3398,0,0,0,0,0,0
$GC,196,-0.76,-146.0,20.9,-15.6,33,202,0.30,2.25,0.00,0.000,6,0.204,0.059,2179,2506,3400,0,0,0,0,0,0
$GC,539,-0.76,-146.0,60.1,-10.2,94,544,0.00,2.58,0.00,0.000,4,0.000,0.079,2179,915,3401,0,0,0,0,0,0
$GC,550,-0.76,-146.0,61.3,-10.4,96,555,0.00,2.70,0.00,0.000,6,0.000,0.072,2179,2574,3401,0,0,0,0,0,0
$GC,896,-0.83,-146.0,93.3,-9.4,157,902,0.00,2.70,0.00,0.000,4,0.000,0.079,2179,912,3400,0,0,0,0,0,0
$GC,969,-0.83,-146.0,101.4,-10.4,169,975,0.00,2.65,0.00,0.000,6,0.000,0.072,2179,2556,3401,0,0,0,0,0,0
$GC,1294,-0.91,-146.0,129.7,-8.8,200,1299,0.15,2.67,0.00,0.000,4,0.104,0.080,2128,915,3399,0,0,0,0,0,0
$GC,1551,-0.81,-146.0,158.9,-11.0,222,1558,0.15,2.62,0.00,0.000,6,0.226,0.073,2162,2549,3399,0,0,0,0,0,0
$GC,1876,-0.86,-146.0,188.4,-9.2,253,1880,0.00,2.25,0.00,0.000,4,0.000,0.091,2162,3920,3398,0,0,0,0,0,0
$GC,2134,-0.91,-146.0,211.9,-9.6,275,2140,0.00,2.15,0.00,0.000,6,0.000,0.060,2162,2547,3397,0,0,0,0,0,0
$GC,2459,-0.97,-146.0,242.4,-9.6,306,2464,0.15,2.25,0.00,0.000,4,0.107,0.086,2098,3911,3398,0,0,0,0,0,0
$GC,2488,-0.86,-146.0,245.6,-12.2,308,2493,0.22,2.15,0.00,0.000,6,0.215,0.059,2151,2539,3398,0,0,0,0,0,0
$GC,2812,-0.90,-146.0,277.4,-9.4,338,2817,0.00,2.22,0.00,0.000,4,0.000,0.087,2152,3908,3398,0,0,0,0,0,0
$GC,2839,-0.90,-146.0,280.1,-9.7,340,2845,0.00,2.17,0.00,0.000,6,0.000,0.058,2152,2541,3398,0,0,0,0,0,0
$GC,3164,-0.90,-146.0,306.5,-7.6,371,3169,0.00,2.58,0.00,0.000,4,0.000,0.077,2152,914,3397,0,0,0,0,0,0
$GC,3174,-0.90,-146.0,307.3,-7.4,371,3180,0.00,2.60,0.00,0.000,6,0.000,0.070,2152,2549,3397,0,0,0,0,0,0
$GC,3500,-0.95,-146.0,329.7,-6.3,402,3504,0.00,2.62,0.00,0.000,4,0.000,0.077,2152,904,3398,0,0,0,0,0,0
$GC,3509,-0.95,-146.0,330.3,-6.3,402,3515,0.00,2.62,0.00,0.000,6,0.000,0.070,2152,2553,3398,0,0,0,0,0,0
$GC,3834,-1.01,-146.0,351.7,-6.6,433,3840,0.15,2.65,0.00,0.000,4,0.104,0.077,2108,906,3399,0,0,0,0,0,0
$GC,3857,-0.93,-146.0,353.6,-8.3,434,3862,0.00,2.62,0.00,0.000,6,0.000,0.071,2108,2555,3399,0,0,0,0,0,0
$GC,4181,-0.84,-146.0,381.1,-8.6,465,4187,0.20,2.65,0.00,0.000,4,0.222,0.077,2167,910,3399,0,0,0,0,0,0
$GC,4192,-0.78,-146.0,382.0,-8.2,465,4198,0.00,2.60,0.00,0.000,6,0.000,0.071,2167,2544,3399,0,0,0,0,0,0
$GC,4517,-0.89,-146.0,401.2,-6.1,496,4521,0.00,2.60,0.00,0.000,4,0.000,0.076,2166,913,3399,0,0,0,0,0,0
$GC,4527,-0.98,-146.0,401.9,-6.1,496,4533,0.17,2.60,0.00,0.000,6,0.100,0.071,2103,2552,3399,0,0,0,0,0,0
$GC,4851,-0.88,-146.0,432.8,-10.0,527,4856,0.17,2.62,0.00,0.000,4,0.206,0.077,2156,914,3400,0,0,0,0,0,0
$GC,4861,-0.80,-146.0,433.8,-9.5,527,4868,0.00,2.65,0.00,0.000,6,0.000,0.072,2156,2570,3399,0,0,0,0,0,0
$GC,5187,-0.88,-146.0,457.7,-7.3,558,5191,0.00,2.65,0.00,0.000,4,0.000,0.076,2156,903,3400,0,0,0,0,0,0
$GC,5208,-0.94,-146.0,459.5,-8.4,559,5214,0.00,2.67,0.00,0.000,6,0.000,0.071,2156,2593,3400,0,0,0,0,0,0
$GC,5534,-1.02,-146.0,484.3,-7.7,590,5539,0.17,2.70,0.00,0.000,4,0.097,0.076,2097,907,3400,0,0,0,0,0,0
$GC,5619,-0.88,-146.0,493.1,-10.7,597,5624,0.17,2.65,0.00,0.000,6,0.219,0.070,2140,2582,3400,0,0,0,0,0,0
$GC,5943,-0.88,-146.0,519.8,-7.8,627,5948,0.00,2.65,0.00,0.000,4,0.000,0.075,2140,912,3401,0,0,0,0,0,0
$GC,5953,-0.88,-146.0,520.6,-7.9,627,5959,0.00,2.67,0.00,0.000,6,0.000,0.070,2140,2598,3401,0,0,0,0,0,0
$STATE,6266,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6266,begin apogee
$GC,6271,-0.24,0.0,545.2,7.6,657,6392,0.70,0.00,117.22,1.079,6,0.181,0.000,2347,2291,2800,0,0,0,0,0,0
$STATE,6393,end apogee,CONTROL_FINISHED_OK
$STATE,6393,begin climb
$GC,6395,0.98,146.0,547.5,0.0,669,6528,1.25,2.83,120.10,1.032,4,0.110,0.078,2751,717,2201,0,0,0,0,0,0
$GC,6781,0.54,146.0,481.0,20.3,704,6788,0.55,2.60,0.00,0.000,6,0.202,0.064,2610,2303,2195,0,0,0,0,0,0
$GC,7106,0.47,146.0,442.1,11.6,735,7110,0.00,2.60,0.00,0.000,4,0.000,0.078,2620,722,2194,0,0,0,0,0,0
$GC,7363,0.41,146.0,412.0,11.8,757,7369,0.22,2.58,0.00,0.000,6,0.179,0.064,2562,2326,2193,0,0,0,0,0,0
$GC,7688,0.53,157.7,383.0,8.7,788,7703,0.12,2.65,9.27,0.858,4,0.117,0.078,2616,718,2155,0,0,0,0,0,0
$GC,7708,0.53,157.7,380.8,10.0,789,7714,0.00,2.58,0.00,0.000,6,0.000,0.066,2616,2316,2155,0,0,0,0,0,0
$GC,8033,0.46,157.7,343.0,12.1,820,8038,0.15,2.62,0.00,0.000,4,0.196,0.078,2591,714,2155,0,0,0,0,0,0
$GC,8290,0.51,157.7,316.1,10.2,842,8296,0.00,2.58,0.00,0.000,6,0.000,0.064,2591,2336,2154,0,0,0,0,0,0
$GC,8616,0.51,157.7,284.2,10.1,873,8621,0.00,2.60,0.00,0.000,4,0.000,0.078,2603,721,2154,0,0,0,0,0,0
$GC,8873,0.51,157.7,255.6,11.7,895,8879,0.00,2.58,0.00,0.000,6,0.000,0.064,2602,2325,2154,0,0,0,0,0,0
$GC,9198,0.51,157.7,221.3,10.5,926,9202,0.00,2.58,0.00,0.000,4,0.000,0.077,2614,718,2154,0,0,0,0,0,0
$GC,9454,0.51,157.7,193.9,10.4,948,9461,0.00,2.53,0.00,0.000,6,0.000,0.064,2614,2324,2154,0,0,0,0,0,0
$GC,9779,0.51,157.7,160.0,10.9,979,9784,0.00,2.58,0.00,0.000,4,0.000,0.078,2626,715,2154,0,0,0,0,0,0
$GC,10036,0.51,157.7,131.9,11.0,1001,10043,0.05,2.55,0.00,0.000,6,0.166,0.064,2599,2313,2154,0,0,0,0,0,0
$GC,10362,0.59,170.7,101.9,8.6,1032,10383,0.00,2.65,11.60,0.764,4,0.000,0.078,2609,714,2103,0,0,0,0,0,0
$GC,10637,0.70,193.9,78.1,8.2,1078,10663,0.15,2.58,19.85,0.778,6,0.113,0.064,2661,2343,2009,0,0,0,0,0,0
$GC,11001,0.70,193.9,41.6,9.4,1143,11006,0.00,2.62,0.00,0.000,4,0.000,0.080,2673,721,2005,0,0,0,0,0,0
$GC,11260,0.70,193.9,15.3,10.1,1189,11265,0.00,2.58,0.00,0.000,6,0.000,0.067,2673,2340,2003,0,0,0,0,0,0
$STATE,11387,end climb,SURFACE_DEPTH_REACHED
$STATE,11387,begin surface coast
$FINISH,0.3,1.016918
$STATE,11411,end surface coast,CONTROL_FINISHED_OK
$STATE,11411,begin surface
$SM_CCo,11427,50.47,0.751,0,0,1677,275.23
$SM_GC,1.07,0.00,0.00,50.47,0.000,0.000,0.751,124,2513,1677,-7.21,0.40,275.23
$RAFOS_CLK,711
$RAFOS,6,1256388547,12.833333,12.818611,83,66,65,0,0,0,752,211,190,0,0,0
$RAFOS,5,1256388065,12.700000,12.684722,146,67,61,0,0,0,630,169,202,0,0,0
$RAFOS,4,1256387583,12.566667,12.550834,67,59,56,0,0,0,222,850,171,0,0,0
$RAFOS,3,1256387102,12.433333,12.417222,64,60,56,0,0,0,1020,208,141,0,0,0
$RAFOS,2,1256386623,12.300000,12.284166,75,61,57,0,0,0,1051,166,193,0,0,0
$RAFOS,1,1256386145,12.166667,12.151389,75,61,59,0,0,0,1013,205,223,0,0,0
$RAFOS,0,1256385664,12.033333,12.017777,61,56,56,0,0,0,1138,214,198,0,0,0
$RAFOS_FIX,6711.049805,-5718.332520,241009,121240,6,84,2.83
$IRIDIUM_FIX,6647.44,-5712.55,180199,080855
$TT8_MAMPS,0.027612
$HUMID,46.57
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,17.20
$XPDR_PINGS,3
$24V_AH,23.6,18.193
$10V_AH,10.3,8.338
$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,22.150,128.850,278.050,50.475,0.000,29.760,33.091,179.533,0.750,0.000,17.163,2045.022,6810.634,471.613,2107.344,410.460,0.000,1548.815,0.000,2070.205,2520.000,0.535,0.000
$DEVICE_MAMPS,309.101,103.545,1079.169,750.893,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,891.695,828.001,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150592
$DATA_FILE_SIZE,47269,1216
$CAP_FILE_SIZE,139719,0
$CFSIZE,260165632,248684544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.9
$GPS,241009,151307,6713.146,-5715.930,26,1.7,26,-37.9