version: 66.06
glider: 143
mission: 10
dive: 102
start: 11 8 109 0 49 28
data:
$ID,143
$MISSION,10
$DIVE,102
$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,-26361.973
$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,17
$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
$GPS1,004256,6643.153,-5958.251,33,99.0,52,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-62.6
$GPS2,004908,6643.059,-5958.045,11,1.0,11,-38.0
$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,60.2,37947,-16.9,-9.167
$D_GRID,671
$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,-146.0,0.0,0.0,0,111,0.00,0.00,-93.12,0.000,2,0.000,0.000,130,2469,2865,0,0,0,0,0,0
$GC,114,-0.73,-146.0,3.7,-7.3,18,146,10.40,2.55,-14.50,0.000,4,0.325,0.117,2144,3913,3399,0,0,0,0,0,0
$GC,400,-0.73,-146.0,57.2,-16.2,69,406,0.00,2.42,0.00,0.000,6,0.000,0.075,2144,2459,3402,0,0,0,0,0,0
$GC,746,-0.73,-146.0,106.7,-12.4,126,750,0.00,2.53,0.00,0.000,4,0.000,0.103,2144,3914,3403,0,0,0,0,0,0
$GC,852,-0.73,-146.0,120.0,-12.3,135,856,0.00,2.45,0.00,0.000,6,0.000,0.076,2144,2437,3402,0,0,0,0,0,0
$GC,1176,-0.73,-146.0,159.0,-11.3,165,1177,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2437,3403,0,0,0,0,0,0
$GC,1495,-0.73,-146.0,198.8,-12.6,195,1499,0.00,2.55,0.00,0.000,4,0.000,0.104,2144,3915,3403,0,0,0,0,0,0
$GC,1550,-0.73,-146.0,205.6,-12.3,199,1556,0.00,2.40,0.00,0.000,6,0.000,0.076,2144,2454,3403,0,0,0,0,0,0
$GC,1874,-0.73,-146.0,240.7,-10.2,230,1879,0.00,2.62,0.00,0.000,4,0.000,0.095,2144,864,3403,0,0,0,0,0,0
$GC,2020,-0.73,-146.0,257.2,-11.5,242,2026,0.00,2.60,0.00,0.000,6,0.000,0.087,2144,2434,3403,0,0,0,0,0,0
$GC,2345,-0.73,-146.0,292.7,-10.4,273,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2434,3403,0,0,0,0,0,0
$GC,2664,-0.73,-146.0,324.2,-9.6,303,2668,0.00,2.53,0.00,0.000,4,0.000,0.105,2144,3916,3403,0,0,0,0,0,0
$GC,2702,-0.73,-146.0,327.9,-9.3,306,2707,0.00,2.45,0.00,0.000,6,0.000,0.077,2144,2425,3402,0,0,0,0,0,0
$GC,3027,-0.73,-146.0,357.6,-8.8,336,3031,0.00,2.55,0.00,0.000,4,0.000,0.104,2144,3912,3402,0,0,0,0,0,0
$GC,3070,-0.73,-146.0,361.8,-9.6,339,3076,0.00,2.47,0.00,0.000,6,0.000,0.077,2144,2434,3402,0,0,0,0,0,0
$GC,3395,-0.73,-146.0,390.5,-8.8,370,3396,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2434,3402,0,0,0,0,0,0
$GC,3714,-0.73,-146.0,420.3,-9.7,400,3718,0.00,2.58,0.00,0.000,4,0.000,0.096,2145,867,3402,0,0,0,0,0,0
$GC,3768,-0.73,-146.0,426.0,-10.6,404,3775,0.00,2.58,0.00,0.000,6,0.000,0.085,2144,2435,3402,0,0,0,0,0,0
$GC,4093,-0.73,-146.0,456.0,-9.1,435,4098,0.00,2.60,0.00,0.000,4,0.000,0.094,2144,864,3402,0,0,0,0,0,0
$GC,4126,-0.73,-146.0,459.1,-9.7,437,4132,0.00,2.58,0.00,0.000,6,0.000,0.084,2144,2440,3402,0,0,0,0,0,0
$GC,4451,-0.73,-146.0,486.3,-8.1,468,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2440,3402,0,0,0,0,0,0
$GC,4770,-0.73,-146.0,510.9,-7.2,498,4775,0.00,2.47,0.00,0.000,4,0.000,0.100,2144,3912,3402,0,0,0,0,0,0
$GC,4811,-0.73,-146.0,514.1,-8.4,501,4815,0.00,2.42,0.00,0.000,6,0.000,0.074,2144,2421,3402,0,0,0,0,0,0
$GC,5135,-0.73,-146.0,539.2,-8.0,531,5136,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2422,3402,0,0,0,0,0,0
$GC,5455,-0.73,-146.0,563.6,-7.6,561,5456,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2422,3403,0,0,0,0,0,0
$GC,5774,-0.73,-146.0,587.9,-7.7,591,5778,0.00,2.53,0.00,0.000,4,0.000,0.099,2144,3913,3404,0,0,0,0,0,0
$GC,5857,-0.73,-146.0,595.1,-8.6,598,5861,0.00,2.42,0.00,0.000,6,0.000,0.073,2144,2418,3404,0,0,0,0,0,0
$GC,6172,-0.73,-146.0,620.2,-9.0,612,6173,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2419,3405,0,0,0,0,0,0
$GC,6478,-0.73,-146.0,641.5,-6.1,622,6482,0.00,2.53,0.00,0.000,4,0.000,0.098,2144,3912,3405,0,0,0,0,0,0
$GC,6561,-0.73,-146.0,647.1,-6.3,624,6565,0.00,2.42,0.00,0.000,6,0.000,0.072,2144,2417,3405,0,0,0,0,0,0
$STATE,6883,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6883,begin apogee
$GC,6889,-0.16,0.0,672.7,7.4,635,7014,0.68,0.00,121.60,1.212,6,0.190,0.000,2333,1945,2800,0,0,0,0,0,0
$STATE,7015,end apogee,CONTROL_FINISHED_OK
$STATE,7015,begin climb
$GC,7016,0.73,146.0,673.7,0.0,639,7152,0.95,2.88,125.45,1.157,4,0.138,0.094,2624,368,2203,0,0,0,0,0,0
$GC,7265,0.73,146.0,651.0,10.4,646,7271,0.00,2.75,0.00,0.000,6,0.000,0.074,2624,1948,2198,0,0,0,0,0,0
$GC,7577,0.73,146.0,613.1,12.3,657,7578,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1948,2195,0,0,0,0,0,0
$GC,7890,0.73,146.0,575.3,11.2,679,7895,0.00,2.70,0.00,0.000,4,0.000,0.090,2624,3541,2194,0,0,0,0,0,0
$GC,7934,0.73,146.0,570.1,12.0,682,7940,0.00,2.67,0.00,0.000,6,0.000,0.077,2636,1945,2193,0,0,0,0,0,0
$GC,8260,0.73,146.0,531.6,11.9,713,8264,0.00,2.65,0.00,0.000,4,0.000,0.097,2647,362,2193,0,0,0,0,0,0
$GC,8280,0.73,146.0,529.0,11.4,714,8287,0.00,2.60,0.00,0.000,6,0.000,0.074,2647,1955,2193,0,0,0,0,0,0
$GC,8605,0.73,146.0,489.6,12.1,745,8607,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1955,2192,0,0,0,0,0,0
$GC,8925,0.73,146.0,451.0,12.4,775,8929,0.00,2.65,0.00,0.000,4,0.000,0.090,2647,3549,2192,0,0,0,0,0,0
$GC,8945,0.73,146.0,448.2,12.4,776,8953,0.15,2.62,0.00,0.000,6,0.209,0.077,2627,1953,2191,0,0,0,0,0,0
$GC,9270,0.73,146.0,411.1,11.7,807,9275,0.00,2.62,0.00,0.000,4,0.000,0.097,2636,361,2192,0,0,0,0,0,0
$GC,9291,0.73,146.0,408.5,11.9,808,9298,0.00,2.60,0.00,0.000,6,0.000,0.074,2636,1976,2191,0,0,0,0,0,0
$GC,9616,0.73,146.0,371.5,10.9,839,9621,0.00,2.70,0.00,0.000,4,0.000,0.097,2649,355,2192,0,0,0,0,0,0
$GC,9678,0.73,146.0,364.4,11.9,844,9682,0.00,2.58,0.00,0.000,6,0.000,0.074,2648,1955,2192,0,0,0,0,0,0
$GC,10002,0.73,146.0,328.5,10.7,874,10006,0.00,2.67,0.00,0.000,4,0.000,0.097,2660,355,2191,0,0,0,0,0,0
$GC,10029,0.73,146.0,325.3,11.0,876,10034,0.15,2.55,0.00,0.000,6,0.200,0.074,2626,1944,2191,0,0,0,0,0,0
$GC,10353,0.73,146.0,291.9,9.6,906,10357,0.00,2.62,0.00,0.000,4,0.000,0.091,2626,3538,2192,0,0,0,0,0,0
$GC,10374,0.73,146.0,289.7,10.3,907,10380,0.00,2.62,0.00,0.000,6,0.000,0.077,2636,1930,2191,0,0,0,0,0,0
$GC,10698,0.74,159.3,260.8,8.6,938,10711,0.00,0.00,10.45,0.899,6,0.000,0.000,2636,1930,2149,0,0,0,0,0,0
$GC,11028,0.74,159.3,230.8,9.3,969,11032,0.00,2.60,0.00,0.000,4,0.000,0.099,2647,361,2148,0,0,0,0,0,0
$GC,11133,0.74,159.3,220.5,9.8,978,11138,0.00,2.53,0.00,0.000,6,0.000,0.076,2647,1925,2148,0,0,0,0,0,0
$GC,11458,0.76,174.9,191.7,8.5,1008,11479,0.00,2.72,14.02,0.902,4,0.000,0.093,2647,3542,2086,0,0,0,0,0,0
$GC,11529,0.76,174.9,184.9,9.7,1014,11535,0.00,2.70,0.00,0.000,6,0.000,0.081,2660,1922,2084,0,0,0,0,0,0
$GC,11854,0.76,174.9,154.7,9.3,1045,11855,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1922,2083,0,0,0,0,0,0
$GC,12172,0.78,190.6,126.7,8.5,1075,12195,0.00,2.80,13.75,0.881,4,0.000,0.095,2659,3533,2022,0,0,0,0,0,0
$GC,12210,0.78,190.6,123.0,9.7,1078,12217,0.12,2.70,0.00,0.000,6,0.209,0.082,2645,1919,2022,0,0,0,0,0,0
$GC,12537,0.82,224.4,96.7,7.7,1112,12568,0.00,0.00,28.60,0.880,6,0.000,0.000,2645,1919,1884,0,0,0,0,0,0
$GC,12905,0.84,241.5,65.2,8.4,1178,12927,0.00,2.65,14.98,0.846,4,0.000,0.104,2654,366,1814,0,0,0,0,0,0
$GC,12950,0.85,244.7,61.3,9.0,1186,12961,0.00,2.58,4.30,0.640,6,0.000,0.078,2654,1916,1801,0,0,0,0,0,0
$GC,13300,0.88,275.4,31.5,7.9,1248,13332,0.00,0.00,26.58,0.835,6,0.000,0.000,2654,1916,1675,0,0,0,0,0,0
$GC,13669,0.89,276.5,2.5,9.1,1314,13674,0.00,2.78,0.00,0.000,4,0.000,0.097,2654,3547,1669,0,0,0,0,0,0
$STATE,13678,end climb,SURFACE_DEPTH_REACHED
$STATE,13678,begin surface coast
$FINISH,0.4,1.012142
$STATE,13708,end surface coast,CONTROL_FINISHED_OK
$STATE,13709,begin surface
$SM_CCo,13786,0.00,0.000,0,0,1663,278.91
$SM_GC,1.35,7.47,0.00,0.00,0.090,0.000,0.000,128,2460,1663,-7.04,0.00,278.91
$RAFOS_CLK,928
$RAFOS,3,1257654305,4.433333,4.418056,131,59,56,0,0,0,733,198,123,0,0,0
$RAFOS,2,1257653827,4.300000,4.285278,68,64,50,0,0,0,209,162,117,0,0,0
$RAFOS,1,1257653347,4.166667,4.151945,155,61,56,0,0,0,523,154,212,0,0,0
$RAFOS,0,1257652862,4.033333,4.017222,91,59,54,0,0,0,669,211,140,0,0,0
$RAFOS,6,1257641388,0.833333,0.830000,65,59,58,0,0,0,211,220,201,0,0,0
$RAFOS_FIX,6643.028809,-5959.346191,081109,040452,3,126,0.08
$IRIDIUM_FIX,6620.33,-6001.10,010299,212137
$TT8_MAMPS,0.028379
$HUMID,49.13
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,16.30
$XPDR_PINGS,8
$ALTIM_TOP_PING,19.6,19.8
$24V_AH,22.7,28.300
$10V_AH,10.2,14.792
$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,19.925,124.450,359.725,0.000,0.000,29.858,32.641,194.615,2.250,0.000,13.454,2361.291,8706.078,502.046,2140.255,453.617,0.000,1618.659,0.000,2113.833,2160.000,2.618,0.000
$DEVICE_MAMPS,325.208,117.351,1211.860,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,977.273,919.590,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188440
$DATA_FILE_SIZE,50461,1321
$CAP_FILE_SIZE,142467,0
$CFSIZE,260165632,242024448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.1
$CURRENT,0.020,216.9,1
$GPS,081109,044036,6644.561,-5956.355,27,1.4,27,-38.0