version: 66.06
glider: 143
mission: 10
dive: 3
start: 10 20 109 22 24 35
data:
$ID,143
$MISSION,10
$DIVE,3
$D_SURF,2
$D_FLARE,3
$D_TGT,450
$D_ABORT,500
$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,150
$T_MISSION,200
$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,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,400
$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,-23032.725
$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,2480
$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,2102
$C_ROLL_CLIMB,2102
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,20
$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
$GPS1,221913,6659.629,-5702.925,26,1.7,34,-37.5
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-62.0
$GPS2,222414,6659.590,-5702.934,15,1.7,15,-37.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,52.1,12498,-18.3,-10.000
$D_GRID,707
$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,13,begin dive
$GC,15,-1.05,-146.0,0.0,0.0,0,133,0.00,0.00,-115.05,0.000,2,0.000,0.000,124,2100,3198,0,0,0,0,0,0
$GC,136,-1.05,-146.0,3.1,-7.2,22,159,9.45,2.62,-5.40,0.000,4,0.298,0.094,2138,507,3399,0,0,0,0,0,0
$GC,283,-0.98,-146.0,26.5,-12.9,48,288,0.00,2.58,0.00,0.000,6,0.000,0.067,2138,2106,3401,0,0,0,0,0,0
$GC,625,-0.98,-146.0,65.3,-11.0,109,631,0.00,2.60,0.00,0.000,4,0.000,0.084,2138,3693,3400,0,0,0,0,0,0
$GC,872,-0.98,-146.0,90.5,-10.0,153,878,0.00,2.53,0.00,0.000,6,0.000,0.062,2137,2105,3401,0,0,0,0,0,0
$GC,1202,-0.98,-146.0,124.7,-10.2,192,1206,0.00,2.60,0.00,0.000,4,0.000,0.083,2138,3694,3401,0,0,0,0,0,0
$GC,1443,-0.98,-146.0,149.0,-9.6,213,1447,0.00,2.50,0.00,0.000,6,0.000,0.063,2138,2116,3401,0,0,0,0,0,0
$GC,1769,-0.98,-146.0,177.6,-9.6,243,1773,0.00,2.58,0.00,0.000,4,0.000,0.082,2139,3698,3400,0,0,0,0,0,0
$GC,1921,-1.03,-146.0,192.9,-9.8,256,1925,0.00,2.50,0.00,0.000,6,0.000,0.063,2138,2117,3400,0,0,0,0,0,0
$GC,2247,-1.10,-146.0,221.5,-8.4,286,2252,0.00,2.55,0.00,0.000,4,0.000,0.082,2138,3688,3400,0,0,0,0,0,0
$GC,2371,-1.16,-146.0,232.5,-9.3,296,2377,0.00,2.45,0.00,0.000,6,0.000,0.063,2138,2130,3400,0,0,0,0,0,0
$GC,2696,-1.22,-146.0,259.3,-8.1,327,2701,0.15,2.55,0.00,0.000,4,0.107,0.079,2075,3700,3400,0,0,0,0,0,0
$GC,2874,-1.07,-146.0,279.7,-10.8,342,2882,0.22,2.45,0.00,0.000,6,0.203,0.062,2130,2135,3400,0,0,0,0,0,0
$GC,3200,-1.12,-146.0,306.2,-8.0,373,3204,0.00,2.53,0.00,0.000,4,0.000,0.081,2131,3699,3400,0,0,0,0,0,0
$GC,3367,-1.17,-146.0,320.8,-8.7,387,3373,0.00,2.42,0.00,0.000,6,0.000,0.061,2130,2144,3400,0,0,0,0,0,0
$GC,3692,-1.23,-146.0,348.0,-8.2,418,3697,0.15,2.50,0.00,0.000,4,0.108,0.080,2074,3689,3400,0,0,0,0,0,0
$GC,3911,-1.09,-146.0,371.7,-11.0,437,3916,0.20,2.40,0.00,0.000,6,0.201,0.061,2123,2156,3400,0,0,0,0,0,0
$GC,4237,-1.09,-146.0,399.4,-8.0,467,4241,0.00,2.47,0.00,0.000,4,0.000,0.081,2123,3692,3400,0,0,0,0,0,0
$GC,4424,-1.09,-146.0,415.1,-7.9,483,4428,0.00,2.40,0.00,0.000,6,0.000,0.061,2124,2155,3401,0,0,0,0,0,0
$GC,4748,-1.14,-146.0,440.7,-7.5,513,4753,0.00,2.47,0.00,0.000,4,0.000,0.081,2124,3692,3401,0,0,0,0,0,0
$STATE,4865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4865,begin apogee
$GC,4872,-0.24,0.0,450.1,8.4,523,4992,0.90,0.00,115.90,1.024,6,0.166,0.000,2398,2094,2800,0,0,0,0,0,0
$STATE,4993,end apogee,CONTROL_FINISHED_OK
$STATE,4993,begin climb
$GC,4995,1.05,146.0,451.3,0.0,535,5121,1.25,0.00,118.30,0.978,6,0.081,0.000,2817,2094,2203,0,0,0,0,0,0
$GC,5439,0.48,146.0,360.4,23.0,578,5445,0.70,2.67,0.00,0.000,4,0.222,0.074,2628,3696,2195,0,0,0,0,0,0
$GC,5697,0.39,146.0,324.8,13.1,600,5703,0.00,2.58,0.00,0.000,6,0.000,0.062,2638,2101,2193,0,0,0,0,0,0
$GC,6023,0.34,146.0,283.7,13.0,631,6025,0.17,0.00,0.00,0.000,6,0.206,0.000,2597,2101,2193,0,0,0,0,0,0
$GC,6341,0.43,146.0,248.5,10.6,661,6345,0.00,2.60,0.00,0.000,4,0.000,0.078,2596,3690,2193,0,0,0,0,0,0
$GC,6597,0.43,146.0,219.3,11.4,683,6603,0.00,2.58,0.00,0.000,6,0.000,0.062,2606,2091,2192,0,0,0,0,0,0
$GC,6923,0.56,165.1,190.4,9.1,714,6944,0.15,0.00,14.70,0.820,6,0.110,0.000,2659,2091,2126,0,0,0,0,0,0
$GC,7262,0.50,165.1,147.7,12.7,746,7263,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2091,2123,0,0,0,0,0,0
$GC,7581,0.50,165.1,109.2,12.1,776,7586,0.00,2.62,0.00,0.000,4,0.000,0.079,2659,3697,2123,0,0,0,0,0,0
$GC,7591,0.45,165.1,107.7,12.2,776,7599,0.17,2.58,0.00,0.000,6,0.199,0.065,2630,2084,2122,0,0,0,0,0,0
$GC,7931,0.51,179.4,74.8,9.3,830,7952,0.00,2.70,12.32,0.757,4,0.000,0.079,2628,3691,2067,0,0,0,0,0,0
$GC,8206,0.60,190.5,45.7,9.5,879,8222,0.10,2.55,10.07,0.730,6,0.123,0.065,2672,2094,2022,0,0,0,0,0,0
$GC,8559,0.60,190.5,11.1,10.6,942,8566,0.00,2.62,0.00,0.000,4,0.000,0.081,2672,3696,2019,0,0,0,0,0,0
$GC,8572,0.63,221.3,10.1,8.6,944,8603,0.00,2.58,25.10,0.750,6,0.000,0.066,2685,2090,1896,0,0,0,0,0,0
$STATE,8646,end climb,SURFACE_DEPTH_REACHED
$STATE,8647,begin surface coast
$FINISH,0.3,1.021037
$STATE,8666,end surface coast,CONTROL_FINISHED_OK
$STATE,8666,begin surface
$SM_CCo,8681,93.68,0.719,0,0,1169,400.08
$SM_GC,0.88,0.00,0.00,93.68,0.000,0.000,0.719,126,2089,1169,-7.36,-0.37,400.08
$RAFOS_CLK,531
$RAFOS,5,1256085661,0.700000,0.683611,83,60,54,0,0,0,640,213,159,0,0,0
$RAFOS,4,1256085184,0.566667,0.551111,75,59,59,0,0,0,860,216,117,0,0,0
$RAFOS,3,1256084703,0.433333,0.417500,58,56,52,0,0,0,203,164,221,0,0,0
$RAFOS,2,1256084225,0.300000,0.284722,64,59,58,0,0,0,220,118,194,0,0,0
$RAFOS,1,1256083750,0.166667,0.152778,60,59,59,0,0,0,210,200,987,0,0,0
$RAFOS,0,1256083261,0.033333,0.016944,81,62,59,0,0,0,1171,195,185,0,0,0
$RAFOS_FIX,6702.522949,-5702.087402,211009,000044,3,80,0.74
$IRIDIUM_FIX,6631.12,-5653.72,140199,212157
$TT8_MAMPS,0.026845
$HUMID,43.46
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,17.50
$XPDR_PINGS,2
$24V_AH,23.9,15.390
$10V_AH,10.3,6.500
$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,20.975,76.325,296.400,93.675,0.000,31.115,36.064,131.145,0.500,0.000,17.350,1718.543,4900.265,523.823,1656.095,325.687,0.000,1364.102,0.000,1627.182,2160.000,0.534,0.000
$DEVICE_MAMPS,298.363,93.574,1023.945,719.446,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,697.589,652.271,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150276
$DATA_FILE_SIZE,37943,961
$CAP_FILE_SIZE,103554,0
$CFSIZE,260165632,250544128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.3
$CURRENT,0.269,143.7,1
$GPS,211009,005236,6659.627,-5700.498,22,1.7,22,-37.5