version: 66.06
glider: 143
mission: 10
dive: 18
start: 10 23 109 1 20 55
data:
$ID,143
$MISSION,10
$DIVE,18
$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,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,-23294.631
$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,2250
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,23
$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
$GPS1,011458,6707.179,-5655.979,12,99.0,31,-37.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-63.5
$GPS2,012037,6707.230,-5655.893,39,0.9,39,-37.7
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_ADD4_WB
$TGT_LATLONG,6659.000,-5735.000
$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,298.5,32161,-16.9,-9.167
$D_GRID,470
$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,-0.98,-146.0,0.0,0.0,0,107,0.00,0.00,-88.68,0.000,2,0.000,0.000,128,2267,3273,0,0,0,0,0,0
$GC,109,-0.98,-146.0,3.7,-7.4,17,132,9.70,2.72,-3.12,0.000,4,0.310,0.091,2106,659,3400,0,0,0,0,0,0
$GC,195,-0.76,-146.0,19.8,-13.0,32,201,0.30,2.60,0.00,0.000,6,0.213,0.068,2180,2256,3402,0,0,0,0,0,0
$GC,539,-0.76,-146.0,56.7,-10.5,93,545,0.00,2.62,0.00,0.000,4,0.000,0.087,2180,3838,3402,0,0,0,0,0,0
$GC,799,-0.84,-146.0,76.3,-7.2,139,804,0.00,2.53,0.00,0.000,6,0.000,0.060,2181,2255,3401,0,0,0,0,0,0
$GC,1145,-0.94,-146.0,105.1,-9.1,196,1150,0.17,2.62,0.00,0.000,4,0.103,0.083,2109,3838,3401,0,0,0,0,0,0
$GC,1403,-0.83,-146.0,134.2,-11.4,218,1409,0.22,2.50,0.00,0.000,6,0.209,0.059,2163,2254,3401,0,0,0,0,0,0
$GC,1728,-0.87,-146.0,162.9,-8.6,249,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2254,3401,0,0,0,0,0,0
$GC,2048,-0.92,-146.0,189.4,-7.8,279,2052,0.00,2.60,0.00,0.000,4,0.000,0.085,2163,3838,3401,0,0,0,0,0,0
$GC,2305,-1.00,-146.0,208.7,-7.1,301,2312,0.17,2.60,0.00,0.000,6,0.106,0.061,2103,2193,3400,0,0,0,0,0,0
$GC,2629,-0.88,-146.0,239.0,-9.3,332,2631,0.17,0.00,0.00,0.000,6,0.205,0.000,2145,2192,3400,0,0,0,0,0,0
$GC,2948,-0.88,-146.0,266.4,-8.6,362,2953,0.00,2.70,0.00,0.000,4,0.000,0.084,2145,3841,3399,0,0,0,0,0,0
$GC,3205,-0.88,-146.0,288.4,-7.9,384,3211,0.00,2.47,0.00,0.000,6,0.000,0.059,2145,2261,3399,0,0,0,0,0,0
$GC,3530,-0.88,-146.0,314.1,-7.8,415,3531,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2260,3399,0,0,0,0,0,0
$GC,3850,-0.88,-146.0,340.6,-8.9,445,3854,0.00,2.58,0.00,0.000,4,0.000,0.083,2145,3844,3399,0,0,0,0,0,0
$GC,4107,-0.88,-146.0,364.7,-9.0,467,4113,0.00,2.58,0.00,0.000,6,0.000,0.058,2145,2200,3400,0,0,0,0,0,0
$GC,4432,-0.88,-146.0,391.6,-8.2,498,4433,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2200,3400,0,0,0,0,0,0
$GC,4752,-0.88,-146.0,415.5,-7.3,528,4756,0.00,2.67,0.00,0.000,4,0.000,0.083,2145,3843,3400,0,0,0,0,0,0
$GC,5009,-0.93,-146.0,435.1,-6.3,550,5015,0.00,2.67,0.00,0.000,6,0.000,0.058,2146,2135,3400,0,0,0,0,0,0
$STATE,5290,end dive,NO_VERTICAL_VELOCITY
$STATE,5290,begin apogee
$GC,5295,-0.24,0.0,444.2,0.0,577,5414,0.65,0.00,115.80,1.018,6,0.144,0.000,2352,2208,2800,0,0,0,0,0,0
$STATE,5415,end apogee,CONTROL_FINISHED_OK
$STATE,5415,begin climb
$GC,5417,0.98,146.0,443.8,0.0,589,5545,1.23,2.80,118.55,0.969,4,0.110,0.078,2749,616,2203,0,0,0,0,0,0
$GC,5798,0.55,146.0,379.5,19.2,624,5804,0.55,2.60,0.00,0.000,6,0.207,0.063,2614,2195,2195,0,0,0,0,0,0
$GC,6123,0.55,146.0,341.1,11.6,654,6127,0.00,2.60,0.00,0.000,4,0.000,0.079,2622,617,2194,0,0,0,0,0,0
$GC,6380,0.50,146.0,310.1,12.2,676,6386,0.12,2.55,0.00,0.000,6,0.191,0.063,2595,2208,2194,0,0,0,0,0,0
$GC,6704,0.50,146.0,275.6,10.7,707,6709,0.00,2.60,0.00,0.000,4,0.000,0.080,2604,609,2193,0,0,0,0,0,0
$GC,6961,0.50,146.0,245.8,12.0,729,6969,0.00,2.58,0.00,0.000,6,0.000,0.063,2605,2208,2193,0,0,0,0,0,0
$GC,7286,0.50,146.0,211.3,10.7,760,7291,0.00,2.58,0.00,0.000,4,0.000,0.079,2616,612,2193,0,0,0,0,0,0
$GC,7543,0.50,146.0,183.5,10.5,782,7549,0.00,2.53,0.00,0.000,6,0.000,0.064,2616,2193,2193,0,0,0,0,0,0
$GC,7868,0.50,146.0,150.9,9.4,813,7872,0.00,2.55,0.00,0.000,4,0.000,0.081,2628,608,2193,0,0,0,0,0,0
$GC,8125,0.51,153.7,127.3,8.8,835,8137,0.12,2.50,5.90,0.687,6,0.192,0.064,2600,2199,2172,0,0,0,0,0,0
$GC,8455,0.57,153.7,100.0,9.3,866,8461,0.00,2.55,0.00,0.000,4,0.000,0.081,2609,614,2171,0,0,0,0,0,0
$GC,8714,0.60,177.5,77.2,8.2,912,8740,0.00,2.50,20.02,0.784,6,0.000,0.064,2609,2202,2076,0,0,0,0,0,0
$GC,9079,0.71,196.1,45.7,8.4,977,9102,0.15,2.62,16.23,0.761,4,0.102,0.081,2675,610,1998,0,0,0,0,0,0
$GC,9356,0.65,196.1,15.4,11.2,1026,9362,0.12,2.53,0.00,0.000,6,0.195,0.065,2647,2192,1995,0,0,0,0,0,0
$STATE,9497,end climb,SURFACE_DEPTH_REACHED
$STATE,9497,begin surface coast
$FINISH,0.3,1.015950
$STATE,9519,end surface coast,CONTROL_FINISHED_OK
$STATE,9519,begin surface
$SM_CCo,9534,48.47,0.747,0,0,1677,275.23
$SM_GC,1.27,0.00,0.00,48.47,0.000,0.000,0.747,128,2262,1677,-7.20,0.34,275.23
$RAFOS_CLK,592
$RAFOS_FIX,6628.172363,-5636.778809,231009,000009,3,88,9.97
$IRIDIUM_FIX,6636.54,-5652.31,160199,222223
$TT8_MAMPS,0.026845
$HUMID,46.65
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,17.40
$XPDR_PINGS,4
$24V_AH,23.7,16.971
$10V_AH,10.3,7.571
$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,20.900,72.775,276.500,48.475,0.000,29.088,38.537,136.680,1.000,0.000,40.874,1905.668,5340.457,422.543,1911.020,338.373,0.000,1361.577,0.000,1856.778,0.000,0.533,0.000
$DEVICE_MAMPS,309.868,121.186,1017.809,747.058,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,766.455,718.886,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150212
$DATA_FILE_SIZE,40983,1055
$CAP_FILE_SIZE,109570,0
$CFSIZE,260165632,249491456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.9
$CURRENT,0.057, 79.8,1
$GPS,231009,040200,6707.987,-5656.496,38,1.6,38,-37.7