version: 66.06
glider: 143
mission: 10
dive: 31
start: 10 24 109 15 23 20
data:
$ID,143
$MISSION,10
$DIVE,31
$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,-23521.029
$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,24
$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
$GPS1,151307,6713.146,-5715.930,26,1.7,26,-37.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-67.2
$GPS2,152302,6713.313,-5715.974,15,1.5,15,-37.9
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6703.166,-5725.447
$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,566
$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,-84.82,0.000,2,0.000,0.000,123,2514,3182,0,0,0,0,0,0
$GC,105,-0.98,-146.0,3.7,-7.6,17,126,9.70,0.00,-5.47,0.000,6,0.308,0.000,2107,2514,3398,0,0,0,0,0,0
$GC,465,-0.80,-146.0,62.2,-13.4,81,471,0.25,2.33,0.00,0.000,4,0.220,0.084,2164,3910,3400,0,0,0,0,0,0
$GC,595,-0.80,-146.0,76.3,-10.1,104,601,0.00,2.25,0.00,0.000,6,0.000,0.060,2164,2498,3400,0,0,0,0,0,0
$GC,932,-0.80,-146.0,109.6,-10.0,156,937,0.00,2.55,0.00,0.000,4,0.000,0.079,2164,915,3400,0,0,0,0,0,0
$GC,942,-0.80,-146.0,110.6,-9.7,156,948,0.00,2.65,0.00,0.000,6,0.000,0.072,2164,2551,3399,0,0,0,0,0,0
$GC,1266,-0.80,-146.0,142.1,-9.6,187,1270,0.00,2.25,0.00,0.000,4,0.000,0.090,2164,3915,3399,0,0,0,0,0,0
$GC,1277,-0.80,-146.0,143.1,-9.5,188,1281,0.00,2.17,0.00,0.000,6,0.000,0.060,2163,2542,3398,0,0,0,0,0,0
$GC,1601,-0.80,-146.0,173.3,-9.0,218,1606,0.00,2.62,0.00,0.000,4,0.000,0.079,2164,907,3398,0,0,0,0,0,0
$GC,1611,-0.80,-146.0,174.4,-9.0,218,1618,0.00,2.62,0.00,0.000,6,0.000,0.072,2164,2543,3399,0,0,0,0,0,0
$GC,1937,-0.85,-146.0,202.3,-8.4,249,1941,0.00,2.62,0.00,0.000,4,0.000,0.080,2164,915,3398,0,0,0,0,0,0
$GC,1946,-0.85,-146.0,203.3,-8.4,249,1952,0.00,2.70,0.00,0.000,6,0.000,0.073,2163,2600,3398,0,0,0,0,0,0
$GC,2273,-0.91,-146.0,231.0,-8.3,280,2278,0.00,2.72,0.00,0.000,4,0.000,0.079,2163,908,3398,0,0,0,0,0,0
$GC,2300,-0.91,-146.0,233.7,-9.5,282,2305,0.00,2.80,0.00,0.000,6,0.000,0.073,2164,2650,3397,0,0,0,0,0,0
$GC,2625,-0.99,-146.0,262.0,-8.6,312,2630,0.15,2.83,0.00,0.000,4,0.100,0.079,2111,906,3398,0,0,0,0,0,0
$GC,2647,-0.92,-146.0,264.3,-10.1,313,2653,0.00,2.80,0.00,0.000,6,0.000,0.074,2111,2649,3398,0,0,0,0,0,0
$GC,2973,-0.82,-146.0,297.1,-10.5,344,2978,0.20,2.80,0.00,0.000,4,0.219,0.077,2167,911,3398,0,0,0,0,0,0
$GC,2990,-0.82,-146.0,298.9,-9.9,345,2994,0.00,2.78,0.00,0.000,6,0.000,0.073,2167,2642,3398,0,0,0,0,0,0
$GC,3314,-0.92,-146.0,325.1,-8.5,375,3319,0.00,2.78,0.00,0.000,4,0.000,0.077,2167,911,3398,0,0,0,0,0,0
$GC,3399,-0.98,-146.0,332.6,-8.8,382,3404,0.17,2.78,0.00,0.000,6,0.097,0.072,2102,2647,3398,0,0,0,0,0,0
$GC,3723,-0.88,-146.0,367.3,-10.9,412,3729,0.17,2.80,0.00,0.000,4,0.206,0.077,2155,910,3398,0,0,0,0,0,0
$GC,3762,-0.88,-146.0,371.1,-9.0,415,3767,0.00,2.78,0.00,0.000,6,0.000,0.073,2155,2646,3399,0,0,0,0,0,0
$GC,4088,-0.95,-146.0,397.9,-8.3,445,4093,0.00,2.78,0.00,0.000,4,0.000,0.076,2155,907,3399,0,0,0,0,0,0
$GC,4116,-0.95,-146.0,400.3,-8.6,447,4120,0.00,2.78,0.00,0.000,6,0.000,0.071,2155,2647,3399,0,0,0,0,0,0
$GC,4440,-1.02,-146.0,425.5,-7.7,477,4446,0.15,2.80,0.00,0.000,4,0.102,0.076,2106,906,3399,0,0,0,0,0,0
$GC,4555,-0.90,-146.0,436.7,-10.6,486,4562,0.12,2.75,0.00,0.000,6,0.235,0.071,2134,2634,3399,0,0,0,0,0,0
$GC,4880,-0.90,-146.0,463.5,-8.3,517,4884,0.00,2.75,0.00,0.000,4,0.000,0.076,2134,907,3400,0,0,0,0,0,0
$GC,4911,-0.90,-146.0,466.4,-9.2,519,4917,0.00,2.75,0.00,0.000,6,0.000,0.070,2134,2639,3400,0,0,0,0,0,0
$GC,5237,-0.90,-146.0,492.4,-7.5,550,5241,0.00,2.75,0.00,0.000,4,0.000,0.074,2134,913,3400,0,0,0,0,0,0
$GC,5287,-0.90,-146.0,496.7,-8.5,554,5291,0.00,2.72,0.00,0.000,6,0.000,0.070,2134,2631,3400,0,0,0,0,0,0
$GC,5611,-0.90,-146.0,521.8,-8.1,584,5615,0.00,2.75,0.00,0.000,4,0.000,0.075,2134,902,3400,0,0,0,0,0,0
$GC,5620,-0.90,-146.0,522.9,-8.3,584,5626,0.00,2.75,0.00,0.000,6,0.000,0.070,2134,2635,3401,0,0,0,0,0,0
$GC,5945,-0.90,-146.0,549.1,-8.8,615,5950,0.00,2.75,0.00,0.000,4,0.000,0.075,2134,907,3401,0,0,0,0,0,0
$GC,5961,-0.90,-146.0,550.2,-7.4,616,5966,0.00,2.75,0.00,0.000,6,0.000,0.071,2134,2636,3401,0,0,0,0,0,0
$STATE,6167,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6167,begin apogee
$GC,6172,-0.24,0.0,566.5,9.3,635,6293,0.75,0.00,117.57,1.091,6,0.187,0.000,2348,2286,2799,0,0,0,0,0,0
$STATE,6294,end apogee,CONTROL_FINISHED_OK
$STATE,6294,begin climb
$GC,6296,0.98,146.0,567.9,0.0,647,6430,1.27,2.83,120.47,1.046,4,0.123,0.076,2748,713,2201,0,0,0,0,0,0
$GC,6682,0.53,146.0,500.3,18.8,682,6689,0.57,2.62,0.00,0.000,6,0.203,0.064,2605,2308,2195,0,0,0,0,0,0
$GC,7007,0.48,146.0,462.0,11.7,713,7011,0.00,2.62,0.00,0.000,4,0.000,0.077,2614,714,2194,0,0,0,0,0,0
$GC,7264,0.41,146.0,430.8,11.7,735,7270,0.20,2.55,0.00,0.000,6,0.183,0.064,2565,2301,2194,0,0,0,0,0,0
$GC,7589,0.50,146.0,399.4,9.4,766,7593,0.00,2.58,0.00,0.000,4,0.000,0.077,2574,712,2193,0,0,0,0,0,0
$GC,7846,0.57,146.0,374.7,9.6,788,7852,0.12,2.58,0.00,0.000,6,0.120,0.063,2617,2333,2193,0,0,0,0,0,0
$GC,8171,0.51,146.0,336.7,12.1,819,8175,0.00,2.62,0.00,0.000,4,0.000,0.078,2629,705,2193,0,0,0,0,0,0
$GC,8428,0.42,146.0,306.2,12.2,841,8434,0.25,2.55,0.00,0.000,6,0.183,0.065,2564,2324,2193,0,0,0,0,0,0
$GC,8753,0.56,170.1,280.8,8.2,872,8778,0.15,2.65,18.70,0.877,4,0.107,0.077,2628,707,2106,0,0,0,0,0,0
$GC,9031,0.51,170.1,246.6,12.4,897,9036,0.12,2.58,0.00,0.000,6,0.193,0.064,2600,2318,2104,0,0,0,0,0,0
$GC,9355,0.51,170.1,209.8,10.8,927,9359,0.00,2.58,0.00,0.000,4,0.000,0.077,2610,715,2103,0,0,0,0,0,0
$GC,9611,0.51,170.1,181.4,10.1,949,9618,0.00,2.55,0.00,0.000,6,0.000,0.064,2609,2304,2103,0,0,0,0,0,0
$GC,9936,0.51,170.1,151.3,9.9,980,9941,0.00,2.55,0.00,0.000,4,0.000,0.077,2621,714,2103,0,0,0,0,0,0
$GC,10193,0.51,170.1,125.7,9.5,1002,10200,0.00,2.60,0.00,0.000,6,0.000,0.065,2621,2337,2103,0,0,0,0,0,0
$GC,10521,0.51,170.1,94.1,9.6,1038,10527,0.00,2.60,0.00,0.000,4,0.000,0.078,2633,715,2103,0,0,0,0,0,0
$GC,10780,0.51,170.1,67.4,10.5,1084,10786,0.15,2.55,0.00,0.000,6,0.185,0.064,2596,2335,2103,0,0,0,0,0,0
$GC,11126,0.78,257.8,43.0,5.5,1145,11203,0.25,2.72,70.53,0.766,4,0.091,0.078,2704,718,1747,0,0,0,0,0,0
$STATE,11439,end climb,SURFACE_DEPTH_REACHED
$STATE,11439,begin surface coast
$FINISH,0.4,1.009510
$STATE,11451,end surface coast,CONTROL_FINISHED_OK
$STATE,11451,begin surface
$SM_CCo,11470,11.30,0.706,0,0,1678,275.23
$SM_GC,1.02,0.00,0.00,11.30,0.000,0.000,0.706,132,2511,1678,-7.18,0.31,275.23
$RAFOS_CLK,721
$RAFOS,6,1256402949,16.833334,16.819166,73,62,57,0,0,0,732,166,218,0,0,0
$RAFOS,5,1256402465,16.700001,16.684723,99,68,62,0,0,0,632,190,225,0,0,0
$RAFOS,4,1256401983,16.566668,16.550833,81,62,59,0,0,0,213,123,850,0,0,0
$RAFOS,3,1256401510,16.433332,16.419445,82,59,59,0,0,0,961,198,215,0,0,0
$RAFOS,2,1256401027,16.299999,16.285278,66,65,62,0,0,0,1026,222,193,0,0,0
$RAFOS,1,1256400546,16.166666,16.151667,66,63,59,0,0,0,204,219,160,0,0,0
$RAFOS,0,1256400069,16.033333,16.019167,74,62,58,0,0,0,194,173,206,0,0,0
$RAFOS_FIX,6712.094727,-5727.277832,241009,161612,4,80,1.95
$IRIDIUM_FIX,6647.44,-5712.55,180199,151536
$TT8_MAMPS,0.026845
$HUMID,46.53
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,17.20
$XPDR_PINGS,3
$24V_AH,23.6,18.311
$10V_AH,10.3,8.410
$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,22.325,133.550,327.275,11.300,0.000,56.595,74.345,281.357,0.750,0.000,16.513,2009.827,6938.979,462.083,2084.241,593.580,0.000,1538.384,0.000,2052.658,2520.000,0.534,0.000
$DEVICE_MAMPS,308.334,89.739,1090.674,705.640,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,885.572,819.705,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150636
$DATA_FILE_SIZE,47230,1204
$CAP_FILE_SIZE,142517,0
$CFSIZE,260165632,248614912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.3
$GPS,241009,183631,6714.072,-5719.660,46,1.8,46,-37.9