version: 66.06
glider: 143
mission: 10
dive: 100
start: 11 7 109 17 23 33
data:
$ID,143
$MISSION,10
$DIVE,100
$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,-2
$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,-26330.594
$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,2390
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,31
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,1
$ROLL_MIN,290
$ROLL_MAX,3915
$ROLL_DEG,45
$C_ROLL_DIVE,2460
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,15
$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,1
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$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
$GPS1,171619,6646.062,-6006.214,25,1.7,38,-38.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-69.8
$GPS2,172313,6646.112,-6006.114,12,1.0,12,-38.1
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_ADD2_EB
$TGT_LATLONG,6651.000,-5910.000
$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,160.6,41847,-16.9,-9.167
$D_GRID,615
$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,-0.73,-146.0,0.0,0.0,0,101,0.00,0.00,-82.32,0.000,2,0.000,0.000,128,2463,2855,0,0,0,0,0,0
$GC,103,-0.73,-146.0,3.4,-5.6,16,136,10.35,2.55,-15.73,0.000,4,0.321,0.117,2149,3911,3400,0,0,0,0,0,0
$GC,288,-0.73,-146.0,35.4,-15.0,49,294,0.00,2.45,0.00,0.000,6,0.000,0.075,2150,2452,3402,0,0,0,0,0,0
$GC,633,-0.73,-146.0,87.6,-15.9,110,639,0.00,2.55,0.00,0.000,4,0.000,0.101,2150,3920,3403,0,0,0,0,0,0
$GC,712,-0.73,-146.0,99.9,-15.3,124,718,0.00,2.42,0.00,0.000,6,0.000,0.076,2150,2461,3403,0,0,0,0,0,0
$GC,1037,-0.73,-146.0,143.7,-12.7,155,1041,0.00,2.53,0.00,0.000,4,0.000,0.103,2150,3921,3403,0,0,0,0,0,0
$GC,1102,-0.73,-146.0,151.9,-11.6,160,1110,0.00,2.45,0.00,0.000,6,0.000,0.075,2150,2468,3403,0,0,0,0,0,0
$GC,1427,-0.73,-146.0,189.8,-11.9,191,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2468,3403,0,0,0,0,0,0
$GC,1747,-0.73,-146.0,227.3,-11.2,221,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2467,3402,0,0,0,0,0,0
$GC,2066,-0.73,-146.0,262.9,-10.0,251,2070,0.00,2.65,0.00,0.000,4,0.000,0.097,2150,863,3402,0,0,0,0,0,0
$GC,2104,-0.73,-146.0,266.9,-10.5,254,2108,0.00,2.67,0.00,0.000,6,0.000,0.087,2150,2483,3403,0,0,0,0,0,0
$GC,2428,-0.73,-146.0,298.0,-9.7,284,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2483,3402,0,0,0,0,0,0
$GC,2748,-0.73,-146.0,328.3,-9.5,314,2752,0.00,2.70,0.00,0.000,4,0.000,0.097,2150,861,3402,0,0,0,0,0,0
$GC,2787,-0.73,-146.0,332.3,-9.9,317,2791,0.00,2.65,0.00,0.000,6,0.000,0.087,2150,2469,3402,0,0,0,0,0,0
$GC,3111,-0.73,-146.0,362.7,-9.3,347,3115,0.00,2.47,0.00,0.000,4,0.000,0.105,2150,3921,3402,0,0,0,0,0,0
$GC,3187,-0.73,-146.0,370.1,-9.5,353,3193,0.00,2.42,0.00,0.000,6,0.000,0.077,2150,2474,3401,0,0,0,0,0,0
$GC,3512,-0.73,-146.0,400.5,-9.4,384,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2474,3401,0,0,0,0,0,0
$GC,3832,-0.73,-146.0,431.8,-10.1,414,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2474,3401,0,0,0,0,0,0
$GC,4153,-0.73,-146.0,462.1,-9.1,444,4157,0.00,2.65,0.00,0.000,4,0.000,0.095,2150,860,3400,0,0,0,0,0,0
$GC,4218,-0.73,-146.0,468.4,-8.8,449,4224,0.00,2.62,0.00,0.000,6,0.000,0.085,2150,2468,3401,0,0,0,0,0,0
$GC,4543,-0.73,-146.0,495.3,-8.5,480,4548,0.00,2.65,0.00,0.000,4,0.000,0.094,2150,861,3401,0,0,0,0,0,0
$GC,4594,-0.73,-146.0,499.8,-8.9,484,4598,0.00,2.62,0.00,0.000,6,0.000,0.084,2150,2468,3401,0,0,0,0,0,0
$GC,4918,-0.73,-146.0,526.2,-7.9,514,4922,0.00,2.45,0.00,0.000,4,0.000,0.100,2150,3921,3402,0,0,0,0,0,0
$GC,4972,-0.73,-146.0,530.8,-8.2,518,4979,0.00,2.40,0.00,0.000,6,0.000,0.074,2150,2445,3402,0,0,0,0,0,0
$GC,5298,-0.73,-146.0,555.9,-7.7,549,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2445,3402,0,0,0,0,0,0
$GC,5617,-0.73,-146.0,580.4,-7.8,579,5621,0.00,2.50,0.00,0.000,4,0.000,0.100,2150,3910,3402,0,0,0,0,0,0
$GC,5728,-0.73,-146.0,589.8,-8.6,588,5734,0.00,2.35,0.00,0.000,6,0.000,0.073,2150,2461,3403,0,0,0,0,0,0
$STATE,6043,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6043,begin apogee
$GC,6049,-0.16,0.0,615.4,7.9,607,6173,0.65,0.00,120.68,1.181,6,0.197,0.000,2330,1942,2800,0,0,0,0,0,0
$STATE,6174,end apogee,CONTROL_FINISHED_OK
$STATE,6174,begin climb
$GC,6176,0.73,146.0,618.2,0.0,611,6305,0.98,0.00,125.38,1.127,6,0.146,0.000,2611,1942,2203,0,0,0,0,0,0
$GC,6611,0.73,146.0,577.7,10.3,637,6615,0.00,2.83,0.00,0.000,4,0.000,0.091,2611,3541,2193,0,0,0,0,0,0
$GC,6649,0.73,146.0,573.4,11.2,640,6654,0.00,2.72,0.00,0.000,6,0.000,0.076,2623,1956,2193,0,0,0,0,0,0
$GC,6973,0.73,146.0,538.2,10.2,670,6978,0.00,2.72,0.00,0.000,4,0.000,0.090,2623,3541,2192,0,0,0,0,0,0
$GC,7023,0.73,146.0,532.6,11.0,674,7027,0.00,2.67,0.00,0.000,6,0.000,0.077,2635,1954,2191,0,0,0,0,0,0
$GC,7347,0.73,146.0,497.5,10.5,704,7351,0.00,2.70,0.00,0.000,4,0.000,0.092,2635,3539,2191,0,0,0,0,0,0
$GC,7385,0.73,146.0,493.1,11.5,707,7390,0.00,2.65,0.00,0.000,6,0.000,0.077,2647,1951,2190,0,0,0,0,0,0
$GC,7711,0.73,146.0,458.3,10.4,737,7715,0.00,2.65,0.00,0.000,4,0.000,0.097,2659,363,2190,0,0,0,0,0,0
$GC,7795,0.73,146.0,448.3,12.5,744,7800,0.15,2.60,0.00,0.000,6,0.204,0.074,2626,1965,2190,0,0,0,0,0,0
$GC,8119,0.73,146.0,415.2,10.4,774,8123,0.00,2.67,0.00,0.000,4,0.000,0.097,2635,363,2190,0,0,0,0,0,0
$GC,8162,0.73,146.0,410.5,11.1,777,8168,0.00,2.58,0.00,0.000,6,0.000,0.074,2635,1960,2190,0,0,0,0,0,0
$GC,8486,0.73,146.0,374.7,11.7,808,8491,0.00,2.62,0.00,0.000,4,0.000,0.091,2635,3539,2190,0,0,0,0,0,0
$GC,8571,0.73,146.0,364.2,12.7,815,8575,0.00,2.60,0.00,0.000,6,0.000,0.078,2647,1962,2190,0,0,0,0,0,0
$GC,8896,0.73,146.0,328.9,10.2,845,8898,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1963,2190,0,0,0,0,0,0
$GC,9214,0.73,146.0,298.1,9.7,875,9219,0.00,2.65,0.00,0.000,4,0.000,0.099,2659,357,2190,0,0,0,0,0,0
$GC,9242,0.73,146.0,295.3,10.3,877,9247,0.15,2.60,0.00,0.000,6,0.199,0.076,2625,1972,2190,0,0,0,0,0,0
$GC,9566,0.73,151.6,265.5,8.9,907,9567,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1972,2190,0,0,0,0,0,0
$GC,9886,0.76,176.6,239.0,8.1,937,9915,0.00,0.00,24.42,0.940,6,0.000,0.000,2625,1972,2077,0,0,0,0,0,0
$GC,10234,0.79,196.7,208.7,8.3,970,10258,0.00,2.75,17.05,0.917,4,0.000,0.094,2625,3541,1997,0,0,0,0,0,0
$GC,10304,0.80,204.1,202.6,8.9,976,10321,0.00,2.67,7.78,0.834,6,0.000,0.081,2634,1954,1966,0,0,0,0,0,0
$GC,10639,0.83,230.3,175.4,8.1,1008,10663,0.00,0.00,22.52,0.909,6,0.000,0.000,2634,1954,1860,0,0,0,0,0,0
$GC,10977,0.83,233.1,146.4,9.0,1040,10978,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1954,1854,0,0,0,0,0,0
$GC,11296,0.88,268.9,119.1,7.7,1070,11335,0.12,0.00,32.97,0.887,6,0.120,0.000,2681,1954,1701,0,0,0,0,0,0
$GC,11663,0.88,268.9,81.6,10.4,1119,11668,0.00,2.72,0.00,0.000,4,0.000,0.097,2681,3538,1694,0,0,0,0,0,0
$GC,11720,0.88,268.9,75.1,12.3,1129,11725,0.00,2.67,0.00,0.000,6,0.000,0.084,2694,1950,1693,0,0,0,0,0,0
$GC,12064,0.88,268.9,38.6,9.7,1190,12070,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1951,1691,0,0,0,0,0,0
$GC,12408,0.91,295.6,9.8,8.0,1251,12435,0.00,2.75,21.25,0.831,4,0.000,0.095,2693,3542,1594,0,0,0,0,0,0
$STATE,12490,end climb,SURFACE_DEPTH_REACHED
$STATE,12490,begin surface coast
$FINISH,0.9,1.025316
$STATE,12498,end surface coast,CONTROL_FINISHED_OK
$STATE,12498,begin surface
$SM_CCo,12576,0.00,0.000,0,0,1585,297.79
$SM_GC,1.56,7.62,0.00,0.00,0.091,0.000,0.000,127,2458,1585,-7.04,-0.06,297.79
$RAFOS_CLK,852
$RAFOS,5,1257626465,20.700001,20.684723,67,58,53,0,0,0,911,165,208,0,0,0
$RAFOS,4,1257625988,20.566668,20.552221,115,59,54,0,0,0,663,202,153,0,0,0
$RAFOS,3,1257625503,20.433332,20.417500,67,64,61,0,0,0,188,130,219,0,0,0
$RAFOS,2,1257625026,20.299999,20.285000,122,65,61,0,0,0,609,205,131,0,0,0
$RAFOS,1,1257624547,20.166666,20.151945,106,68,64,0,0,0,515,223,200,0,0,0
$RAFOS,0,1257624071,20.033333,20.019722,115,61,55,0,0,0,604,188,121,0,0,0
$RAFOS_FIX,6643.523926,-6002.758301,071109,202049,5,105,0.50
$IRIDIUM_FIX,6614.97,-5959.11,010299,131346
$TT8_MAMPS,0.029146
$HUMID,49.21
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,16.30
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.6,19.7
$24V_AH,22.8,28.031
$10V_AH,10.2,14.645
$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,20.025,104.325,372.050,0.000,0.000,28.011,39.274,232.031,2.000,0.000,13.998,2228.632,7785.782,516.184,1979.267,481.763,0.000,1531.908,0.000,1961.293,2520.000,2.617,0.000
$DEVICE_MAMPS,321.373,116.584,1181.180,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,946.013,875.995,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188496
$DATA_FILE_SIZE,47391,1267
$CAP_FILE_SIZE,132164,0
$CFSIZE,260165632,242176000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.1
$CURRENT,0.117,185.8,1
$GPS,071109,205437,6644.386,-6002.685,33,0.9,33,-38.0