version: 66.06
glider: 143
mission: 10
dive: 4
start: 10 21 109 0 57 59
data:
$ID,143
$MISSION,10
$DIVE,4
$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,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,-23051.42
$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,1850
$C_ROLL_CLIMB,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$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
$GPS1,005236,6659.627,-5700.498,22,1.7,22,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-61.0
$GPS2,005738,6659.623,-5700.573,16,1.6,16,-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,47.9,11025,-18.3,-10.000
$D_GRID,693
$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,-146.0,0.0,0.0,0,132,0.00,0.00,-114.35,0.000,2,0.000,0.000,125,2086,3244,0,0,0,0,0,0
$GC,136,-1.05,-146.0,3.5,-8.4,22,158,9.45,3.03,-3.80,0.000,4,0.297,0.095,2136,300,3399,0,0,0,0,0,0
$GC,305,-1.00,-146.0,32.2,-13.2,52,310,0.00,2.50,0.00,0.000,6,0.000,0.067,2136,1850,3402,0,0,0,0,0,0
$GC,648,-1.00,-146.0,70.3,-9.9,113,653,0.00,2.60,0.00,0.000,4,0.000,0.087,2136,289,3402,0,0,0,0,0,0
$GC,906,-1.00,-146.0,102.4,-12.9,158,911,0.00,2.65,0.00,0.000,6,0.000,0.068,2136,1940,3402,0,0,0,0,0,0
$GC,1230,-1.00,-146.0,137.9,-10.2,188,1234,0.00,2.42,0.00,0.000,4,0.000,0.085,2136,3434,3401,0,0,0,0,0,0
$GC,1409,-1.05,-146.0,155.3,-9.5,203,1414,0.00,2.38,0.00,0.000,6,0.000,0.068,2136,1945,3400,0,0,0,0,0,0
$GC,1734,-1.10,-146.0,186.3,-9.6,234,1738,0.00,2.42,0.00,0.000,4,0.000,0.083,2136,3435,3400,0,0,0,0,0,0
$GC,1930,-1.16,-146.0,204.2,-8.7,251,1935,0.00,2.35,0.00,0.000,6,0.000,0.067,2137,1954,3400,0,0,0,0,0,0
$GC,2254,-1.22,-146.0,233.5,-9.4,282,2259,0.15,2.42,0.00,0.000,4,0.108,0.081,2074,3444,3400,0,0,0,0,0,0
$GC,2497,-1.09,-146.0,262.4,-12.0,303,2501,0.20,2.35,0.00,0.000,6,0.210,0.067,2123,1967,3400,0,0,0,0,0,0
$GC,2821,-1.09,-146.0,294.6,-9.9,333,2825,0.00,2.38,0.00,0.000,4,0.000,0.082,2123,3441,3400,0,0,0,0,0,0
$GC,3066,-1.09,-146.0,318.7,-9.7,354,3073,0.00,2.30,0.00,0.000,6,0.000,0.065,2123,1974,3400,0,0,0,0,0,0
$GC,3391,-1.09,-146.0,348.1,-8.7,385,3395,0.00,2.35,0.00,0.000,4,0.000,0.081,2123,3437,3400,0,0,0,0,0,0
$GC,3614,-1.09,-146.0,367.7,-8.8,404,3620,0.00,2.28,0.00,0.000,6,0.000,0.065,2123,1983,3400,0,0,0,0,0,0
$GC,3940,-1.14,-146.0,397.4,-9.4,435,3944,0.00,2.33,0.00,0.000,4,0.000,0.080,2123,3437,3400,0,0,0,0,0,0
$GC,4198,-1.14,-146.0,421.5,-8.5,457,4204,0.00,2.25,0.00,0.000,6,0.000,0.064,2123,1994,3400,0,0,0,0,0,0
$GC,4523,-1.18,-146.0,448.2,-7.8,488,4527,0.00,2.33,0.00,0.000,4,0.000,0.081,2123,3447,3400,0,0,0,0,0,0
$GC,4534,-1.18,-146.0,449.1,-7.9,488,4539,0.00,2.20,0.00,0.000,6,0.000,0.064,2123,2041,3400,0,0,0,0,0,0
$STATE,4548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4548,begin apogee
$GC,4554,-0.24,0.0,450.3,7.7,490,4674,0.93,0.00,115.97,1.023,6,0.176,0.000,2396,2800,2800,0,0,0,0,0,0
$STATE,4675,end apogee,CONTROL_FINISHED_OK
$STATE,4675,begin climb
$GC,4677,1.05,146.0,451.2,0.0,502,4803,1.25,2.00,117.97,0.976,4,0.080,0.083,2809,3906,2203,0,0,0,0,0,0
$GC,5038,0.42,146.0,373.3,25.7,535,5045,0.75,1.85,0.00,0.000,6,0.224,0.058,2617,2797,2194,0,0,0,0,0,0
$GC,5363,0.42,146.0,330.2,12.2,566,5367,0.00,1.88,0.00,0.000,4,0.000,0.084,2617,3922,2194,0,0,0,0,0,0
$GC,5547,0.36,146.0,306.1,12.9,582,5554,0.00,1.77,0.00,0.000,6,0.000,0.058,2623,2827,2193,0,0,0,0,0,0
$GC,5873,0.36,146.0,268.3,11.3,613,5877,0.00,1.80,0.00,0.000,4,0.000,0.085,2623,3917,2194,0,0,0,0,0,0
$GC,6114,0.27,146.0,238.4,12.1,634,6121,0.17,1.70,0.00,0.000,6,0.189,0.057,2571,2862,2193,0,0,0,0,0,0
$GC,6439,0.48,186.7,210.9,8.1,665,6476,0.20,1.77,31.58,0.848,4,0.102,0.084,2638,3914,2038,0,0,0,0,0,0
$GC,6627,0.42,186.7,186.3,14.0,681,6633,0.00,1.65,0.00,0.000,6,0.000,0.058,2646,2896,2033,0,0,0,0,0,0
$GC,6952,0.42,186.7,143.2,13.8,712,6955,0.00,1.67,0.00,0.000,4,0.000,0.085,2646,3911,2032,0,0,0,0,0,0
$GC,7110,0.36,186.7,119.8,14.7,726,7115,0.17,1.60,0.00,0.000,6,0.181,0.058,2605,2917,2031,0,0,0,0,0,0
$GC,7443,0.50,194.4,84.6,9.6,770,7455,0.12,1.73,6.57,0.690,4,0.114,0.086,2648,3919,2006,0,0,0,0,0,0
$GC,7607,0.50,194.4,65.3,12.0,799,7613,0.00,1.58,0.00,0.000,6,0.000,0.059,2655,2938,2005,0,0,0,0,0,0
$GC,7952,0.50,194.4,26.9,10.9,860,7957,0.00,1.62,0.00,0.000,4,0.000,0.088,2656,3929,2005,0,0,0,0,0,0
$GC,8121,0.50,194.4,7.3,11.8,890,8127,0.00,1.52,0.00,0.000,6,0.000,0.061,2663,2979,2003,0,0,0,0,0,0
$STATE,8171,end climb,SURFACE_DEPTH_REACHED
$STATE,8171,begin surface coast
$FINISH,0.3,1.014063
$STATE,8189,end surface coast,CONTROL_FINISHED_OK
$STATE,8189,begin surface
$SM_CCo,8206,46.83,0.746,0,0,1678,275.23
$SM_GC,1.07,0.00,0.00,46.83,0.000,0.000,0.746,123,1851,1678,-7.37,0.03,275.23
$RAFOS_CLK,503
$RAFOS_FIX,6702.522949,-5702.087402,211009,000044,3,80,0.74
$IRIDIUM_FIX,6631.12,-5708.95,140199,222230
$TT8_MAMPS,0.026845
$HUMID,44.72
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,17.40
$XPDR_PINGS,2
$24V_AH,23.8,15.486
$10V_AH,10.3,6.554
$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,20.625,70.750,272.100,46.825,0.000,27.375,43.158,124.442,0.500,0.000,18.069,1639.899,4518.526,442.667,1640.754,315.540,0.000,1279.309,0.000,1612.106,0.000,0.535,0.000
$DEVICE_MAMPS,296.829,95.108,1023.178,746.291,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,652.526,611.705,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150292
$DATA_FILE_SIZE,34773,902
$CAP_FILE_SIZE,99862,0
$CFSIZE,260165632,250499072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.8
$CURRENT,0.082,187.3,1
$GPS,211009,031700,6700.265,-5700.473,39,1.9,44,-37.5