version: 66.06
glider: 143
mission: 10
dive: 32
start: 10 24 109 18 42 33
data:
$ID,143
$MISSION,10
$DIVE,32
$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,-23538.545
$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,25
$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
$GPS1,183631,6714.072,-5719.660,46,1.8,46,-37.9
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-66.1
$GPS2,184216,6714.132,-5719.696,14,1.6,14,-37.9
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6703.985,-5729.175
$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,570
$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,-146.0,0.0,0.0,0,98,0.00,0.00,-80.10,0.000,2,0.000,0.000,130,2513,3129,0,0,0,0,0,0
$GC,100,-0.98,-146.0,3.8,-7.8,16,122,9.73,2.45,-6.88,0.000,4,0.311,0.102,2105,3917,3399,0,0,0,0,0,0
$GC,319,-0.77,-146.0,40.0,-15.3,55,326,0.28,2.28,0.00,0.000,6,0.210,0.059,2173,2498,3401,0,0,0,0,0,0
$GC,663,-0.77,-146.0,76.7,-10.0,116,668,0.00,2.38,0.00,0.000,4,0.000,0.088,2173,3915,3400,0,0,0,0,0,0
$GC,764,-0.83,-146.0,86.5,-9.7,134,770,0.00,2.25,0.00,0.000,6,0.000,0.060,2174,2503,3400,0,0,0,0,0,0
$GC,1099,-0.88,-146.0,113.4,-7.9,179,1103,0.00,2.35,0.00,0.000,4,0.000,0.089,2174,3915,3400,0,0,0,0,0,0
$GC,1116,-0.94,-146.0,114.8,-7.9,180,1121,0.15,2.25,0.00,0.000,6,0.112,0.060,2123,2497,3400,0,0,0,0,0,0
$GC,1440,-0.84,-146.0,149.2,-11.3,210,1445,0.12,2.55,0.00,0.000,4,0.212,0.081,2161,916,3399,0,0,0,0,0,0
$GC,1450,-0.76,-146.0,150.4,-11.5,210,1456,0.00,2.55,0.00,0.000,6,0.000,0.073,2161,2498,3399,0,0,0,0,0,0
$GC,1776,-0.81,-146.0,179.8,-8.3,241,1780,0.00,2.58,0.00,0.000,4,0.000,0.080,2161,908,3398,0,0,0,0,0,0
$GC,1785,-0.81,-146.0,180.7,-8.7,241,1791,0.00,2.55,0.00,0.000,6,0.000,0.072,2162,2501,3398,0,0,0,0,0,0
$GC,2110,-0.81,-146.0,211.0,-9.5,272,2114,0.00,2.33,0.00,0.000,4,0.000,0.091,2161,3917,3398,0,0,0,0,0,0
$GC,2119,-0.81,-146.0,211.8,-9.4,272,2125,0.00,2.38,0.00,0.000,6,0.000,0.060,2161,2431,3398,0,0,0,0,0,0
$GC,2445,-0.88,-146.0,241.7,-9.0,303,2449,0.00,2.45,0.00,0.000,4,0.000,0.088,2161,3917,3398,0,0,0,0,0,0
$GC,2455,-0.94,-146.0,242.7,-8.8,303,2461,0.00,2.35,0.00,0.000,6,0.000,0.060,2161,2434,3398,0,0,0,0,0,0
$GC,2779,-1.00,-146.0,270.9,-8.3,334,2784,0.17,2.42,0.00,0.000,4,0.103,0.078,2100,915,3398,0,0,0,0,0,0
$GC,3037,-0.85,-146.0,300.0,-11.1,356,3043,0.20,2.42,0.00,0.000,6,0.220,0.071,2149,2443,3398,0,0,0,0,0,0
$GC,3361,-0.85,-146.0,325.8,-7.6,387,3366,0.00,2.40,0.00,0.000,4,0.000,0.087,2148,3921,3399,0,0,0,0,0,0
$GC,3619,-0.85,-146.0,346.3,-7.5,409,3625,0.00,2.33,0.00,0.000,6,0.000,0.059,2149,2434,3398,0,0,0,0,0,0
$GC,3944,-0.85,-146.0,370.9,-7.2,440,3948,0.00,2.42,0.00,0.000,4,0.000,0.085,2149,3918,3398,0,0,0,0,0,0
$GC,4102,-0.85,-146.0,383.0,-7.8,453,4108,0.00,2.33,0.00,0.000,6,0.000,0.058,2149,2430,3399,0,0,0,0,0,0
$GC,4426,-0.85,-146.0,407.1,-7.4,484,4430,0.00,2.42,0.00,0.000,4,0.000,0.084,2149,3910,3399,0,0,0,0,0,0
$GC,4454,-0.85,-146.0,409.2,-7.5,486,4459,0.00,2.30,0.00,0.000,6,0.000,0.058,2149,2427,3399,0,0,0,0,0,0
$GC,4779,-0.90,-146.0,433.7,-7.8,517,4782,0.00,2.42,0.00,0.000,4,0.000,0.084,2149,3910,3399,0,0,0,0,0,0
$GC,4812,-0.90,-146.0,436.4,-8.2,520,4817,0.00,2.30,0.00,0.000,6,0.000,0.058,2149,2433,3400,0,0,0,0,0,0
$GC,5137,-0.95,-146.0,461.4,-7.5,550,5141,0.00,2.40,0.00,0.000,4,0.000,0.084,2149,3910,3400,0,0,0,0,0,0
$GC,5147,-1.00,-146.0,462.2,-7.5,550,5153,0.12,2.30,0.00,0.000,6,0.117,0.058,2106,2433,3400,0,0,0,0,0,0
$GC,5472,-0.90,-146.0,491.5,-8.9,581,5477,0.12,2.42,0.00,0.000,4,0.211,0.082,2127,3915,3400,0,0,0,0,0,0
$GC,5483,-0.82,-146.0,492.6,-8.9,581,5489,0.15,2.25,0.00,0.000,6,0.207,0.057,2161,2472,3400,0,0,0,0,0,0
$GC,5807,-0.91,-146.0,515.4,-7.1,612,5812,0.00,2.35,0.00,0.000,4,0.000,0.084,2161,3921,3401,0,0,0,0,0,0
$GC,6065,-1.01,-146.0,534.6,-7.4,634,6072,0.17,2.22,0.00,0.000,6,0.102,0.056,2100,2476,3401,0,0,0,0,0,0
$GC,6390,-0.91,-146.0,564.3,-10.5,665,6395,0.15,2.35,0.00,0.000,4,0.201,0.081,2127,3921,3401,0,0,0,0,0,0
$GC,6433,-0.91,-146.0,568.7,-9.2,668,6439,0.00,2.28,0.00,0.000,6,0.000,0.056,2127,2481,3401,0,0,0,0,0,0
$STATE,6448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6448,begin apogee
$GC,6453,-0.24,0.0,570.2,9.6,670,6575,0.77,0.00,117.85,1.092,6,0.185,0.000,2346,2287,2800,0,0,0,0,0,0
$STATE,6576,end apogee,CONTROL_FINISHED_OK
$STATE,6576,begin climb
$GC,6578,0.98,146.0,574.0,0.0,682,6712,1.25,2.78,120.70,1.050,4,0.112,0.076,2749,728,2201,0,0,0,0,0,0
$GC,6964,0.54,146.0,510.5,19.6,717,6971,0.57,2.58,0.00,0.000,6,0.202,0.061,2605,2301,2195,0,0,0,0,0,0
$GC,7289,0.54,146.0,473.5,11.3,748,7293,0.00,2.60,0.00,0.000,4,0.000,0.077,2614,718,2194,0,0,0,0,0,0
$GC,7546,0.49,146.0,444.6,11.3,770,7552,0.00,2.53,0.00,0.000,6,0.000,0.063,2613,2302,2193,0,0,0,0,0,0
$GC,7871,0.42,146.0,407.6,11.2,801,7876,0.20,2.58,0.00,0.000,4,0.186,0.076,2573,718,2193,0,0,0,0,0,0
$GC,8128,0.50,151.1,383.9,9.0,823,8138,0.00,2.47,3.62,0.594,6,0.000,0.062,2573,2286,2183,0,0,0,0,0,0
$GC,8463,0.61,168.5,354.4,8.4,855,8485,0.15,2.58,15.62,0.903,4,0.100,0.077,2640,718,2114,0,0,0,0,0,0
$GC,8737,0.51,168.5,320.3,12.7,879,8744,0.17,2.50,0.00,0.000,6,0.186,0.064,2597,2289,2111,0,0,0,0,0,0
$GC,9062,0.51,168.5,286.9,10.4,910,9066,0.00,2.53,0.00,0.000,4,0.000,0.077,2607,721,2111,0,0,0,0,0,0
$GC,9318,0.51,168.5,260.5,9.9,932,9324,0.00,2.53,0.00,0.000,6,0.000,0.063,2607,2292,2111,0,0,0,0,0,0
$GC,9643,0.51,168.5,228.7,9.7,963,9647,0.00,2.53,0.00,0.000,4,0.000,0.077,2618,721,2111,0,0,0,0,0,0
$GC,9900,0.52,172.7,204.1,9.0,985,9910,0.00,2.47,5.03,0.672,6,0.000,0.064,2618,2295,2095,0,0,0,0,0,0
$GC,10235,0.52,172.7,170.5,9.7,1017,10239,0.00,2.53,0.00,0.000,4,0.000,0.078,2629,721,2095,0,0,0,0,0,0
$GC,10491,0.52,172.7,145.2,10.1,1039,10498,0.10,2.47,0.00,0.000,6,0.174,0.064,2601,2268,2094,0,0,0,0,0,0
$GC,10817,0.62,187.1,116.9,8.6,1070,10838,0.00,2.55,13.07,0.785,4,0.000,0.079,2610,728,2036,0,0,0,0,0,0
$GC,11092,0.72,187.1,90.1,10.1,1103,11098,0.15,2.45,0.00,0.000,6,0.112,0.065,2663,2275,2034,0,0,0,0,0,0
$GC,11437,0.67,187.1,51.1,11.0,1164,11442,0.00,2.50,0.00,0.000,4,0.000,0.081,2674,721,2034,0,0,0,0,0,0
$GC,11696,0.60,187.1,23.8,9.3,1210,11702,0.20,2.50,0.00,0.000,6,0.181,0.067,2623,2301,2034,0,0,0,0,0,0
$STATE,11965,end climb,SURFACE_DEPTH_REACHED
$STATE,11965,begin surface coast
$FINISH,0.5,1.026418
$STATE,11989,end surface coast,CONTROL_FINISHED_OK
$STATE,11989,begin surface
$SM_CCo,12004,62.30,0.763,0,0,1678,275.23
$SM_GC,1.28,0.00,0.00,62.30,0.000,0.000,0.763,128,2506,1678,-7.20,0.17,275.23
$RAFOS_CLK,745
$RAFOS,6,1256417345,20.833334,20.818056,58,53,51,0,0,0,206,170,140,0,0,0
$RAFOS,5,1256416870,20.700001,20.686111,79,57,56,0,0,0,609,209,192,0,0,0
$RAFOS,4,1256416386,20.566668,20.551666,66,57,55,0,0,0,226,199,158,0,0,0
$RAFOS,3,1256415907,20.433332,20.418612,72,67,59,0,0,0,978,194,184,0,0,0
$RAFOS,2,1256415430,20.299999,20.286112,64,59,57,0,0,0,203,995,178,0,0,0
$RAFOS,1,1256414946,20.166666,20.151667,59,57,53,0,0,0,201,220,184,0,0,0
$RAFOS,0,1256414465,20.033333,20.018055,58,52,51,0,0,0,225,153,196,0,0,0
$RAFOS_FIX,6714.129395,-5726.650879,241009,202012,2,76,0.74
$IRIDIUM_FIX,6641.98,-5723.22,180199,151506
$TT8_MAMPS,0.027612
$HUMID,47.44
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,17.10
$XPDR_PINGS,5
$24V_AH,23.6,18.421
$10V_AH,10.3,8.484
$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,22.025,122.300,275.900,62.300,0.000,20.496,29.147,183.819,1.250,0.000,16.888,2114.050,7148.821,470.460,2267.323,412.705,0.000,1614.822,0.000,2230.252,2520.000,0.531,0.000
$DEVICE_MAMPS,311.402,102.011,1092.208,763.165,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,927.596,860.307,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150592
$DATA_FILE_SIZE,50345,1262
$CAP_FILE_SIZE,146296,0
$CFSIZE,260165632,248537088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.9
$GPS,241009,220507,6714.428,-5722.952,33,1.2,33,-37.9