version: 66.06
glider: 143
mission: 10
dive: 22
start: 10 23 109 12 3 23
data:
$ID,143
$MISSION,10
$DIVE,22
$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,-23387.16
$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,2500
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,21
$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
$GPS1,115622,6709.662,-5700.429,16,99.0,35,-37.7
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,1
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-62.9
$GPS2,120304,6709.737,-5700.424,12,2.8,31,-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,281.2,31973,-16.9,-9.167
$D_GRID,455
$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,12,begin dive
$GC,14,-0.98,-146.0,0.0,0.0,0,105,0.00,0.00,-87.93,0.000,2,0.000,0.000,122,2505,3268,0,0,0,0,0,0
$GC,108,-0.98,-146.0,3.8,-7.5,17,130,9.68,2.70,-3.15,0.000,4,0.308,0.087,2107,906,3399,0,0,0,0,0,0
$GC,158,-0.67,-146.0,17.2,-18.2,26,166,0.40,2.62,0.00,0.000,6,0.216,0.071,2206,2504,3401,0,0,0,0,0,0
$GC,504,-0.79,-146.0,49.1,-9.2,87,509,0.00,2.35,0.00,0.000,4,0.000,0.088,2206,3915,3401,0,0,0,0,0,0
$GC,763,-0.97,-146.0,69.8,-6.9,133,769,0.28,2.25,0.00,0.000,6,0.088,0.059,2111,2499,3400,0,0,0,0,0,0
$GC,1102,-0.82,-146.0,109.2,-11.3,187,1107,0.22,2.35,0.00,0.000,4,0.209,0.083,2156,3915,3400,0,0,0,0,0,0
$GC,1359,-0.82,-146.0,134.6,-9.9,209,1365,0.00,2.28,0.00,0.000,6,0.000,0.058,2156,2500,3400,0,0,0,0,0,0
$GC,1684,-0.82,-146.0,166.7,-9.5,240,1688,0.00,2.35,0.00,0.000,4,0.000,0.087,2156,3910,3400,0,0,0,0,0,0
$GC,1942,-0.82,-146.0,189.6,-8.6,262,1948,0.00,2.22,0.00,0.000,6,0.000,0.059,2156,2495,3400,0,0,0,0,0,0
$GC,2269,-0.82,-146.0,214.9,-7.8,293,2273,0.00,2.33,0.00,0.000,4,0.000,0.087,2156,3911,3400,0,0,0,0,0,0
$GC,2527,-0.82,-146.0,236.5,-8.4,315,2533,0.00,2.22,0.00,0.000,6,0.000,0.059,2156,2491,3399,0,0,0,0,0,0
$GC,2852,-0.87,-146.0,261.3,-7.8,346,2856,0.00,2.33,0.00,0.000,4,0.000,0.085,2156,3912,3399,0,0,0,0,0,0
$GC,3109,-0.91,-146.0,283.9,-9.5,368,3115,0.00,2.22,0.00,0.000,6,0.000,0.058,2156,2490,3398,0,0,0,0,0,0
$GC,3435,-0.97,-146.0,309.9,-8.1,399,3439,0.12,2.35,0.00,0.000,4,0.113,0.084,2099,3921,3399,0,0,0,0,0,0
$GC,3692,-0.83,-146.0,337.6,-10.6,421,3698,0.22,2.22,0.00,0.000,6,0.206,0.058,2154,2491,3399,0,0,0,0,0,0
$GC,4017,-0.89,-146.0,365.1,-8.1,452,4021,0.00,2.33,0.00,0.000,4,0.000,0.084,2154,3919,3400,0,0,0,0,0,0
$GC,4274,-0.95,-146.0,386.9,-8.3,474,4281,0.00,2.22,0.00,0.000,6,0.000,0.056,2155,2484,3400,0,0,0,0,0,0
$GC,4599,-1.03,-146.0,414.2,-7.8,505,4604,0.17,2.33,0.00,0.000,4,0.099,0.080,2081,3913,3400,0,0,0,0,0,0
$GC,4857,-1.55,-146.0,430.4,-0.0,527,4863,0.43,2.20,0.00,0.000,6,0.083,0.055,1925,2495,3400,0,0,0,0,0,0
$STATE,4882,end dive,NO_VERTICAL_VELOCITY
$STATE,4882,begin apogee
$GC,4887,-0.24,0.0,430.5,0.0,530,5007,1.35,0.00,115.75,1.009,6,0.138,0.000,2351,2298,2799,0,0,0,0,0,0
$STATE,5008,end apogee,CONTROL_FINISHED_OK
$STATE,5008,begin climb
$GC,5010,0.98,146.0,430.4,0.0,542,5138,1.25,2.75,118.62,0.963,4,0.112,0.078,2755,723,2203,0,0,0,0,0,0
$GC,5391,0.55,146.0,370.7,19.7,577,5397,0.55,2.60,0.00,0.000,6,0.209,0.064,2608,2303,2195,0,0,0,0,0,0
$GC,5716,0.50,146.0,333.3,11.2,607,5721,0.00,2.60,0.00,0.000,4,0.000,0.077,2618,722,2194,0,0,0,0,0,0
$GC,5973,0.50,146.0,302.1,11.8,629,5979,0.00,2.55,0.00,0.000,6,0.000,0.063,2618,2290,2194,0,0,0,0,0,0
$GC,6298,0.45,146.0,263.6,12.3,660,6303,0.17,2.55,0.00,0.000,4,0.193,0.078,2585,718,2193,0,0,0,0,0,0
$GC,6556,0.52,146.0,236.4,9.8,682,6563,0.00,2.53,0.00,0.000,6,0.000,0.064,2585,2311,2193,0,0,0,0,0,0
$GC,6881,0.59,161.4,206.0,8.5,713,6903,0.10,2.67,11.82,0.800,4,0.128,0.079,2633,715,2141,0,0,0,0,0,0
$GC,7155,0.59,161.4,180.0,9.7,737,7161,0.00,2.58,0.00,0.000,6,0.000,0.065,2633,2305,2140,0,0,0,0,0,0
$GC,7480,0.59,161.4,149.0,10.6,768,7484,0.00,2.55,0.00,0.000,4,0.000,0.079,2644,721,2140,0,0,0,0,0,0
$GC,7736,0.54,161.4,121.1,10.3,790,7744,0.15,2.50,0.00,0.000,6,0.192,0.066,2609,2297,2140,0,0,0,0,0,0
$GC,8066,0.62,174.5,92.7,8.6,828,8083,0.00,2.62,12.05,0.759,4,0.000,0.079,2618,721,2087,0,0,0,0,0,0
$GC,8336,0.68,174.5,65.5,9.8,876,8342,0.00,2.50,0.00,0.000,6,0.000,0.065,2618,2296,2084,0,0,0,0,0,0
$GC,8680,0.78,190.8,34.7,8.5,937,8702,0.17,2.62,14.05,0.750,4,0.099,0.081,2692,723,2021,0,0,0,0,0,0
$GC,8955,0.67,190.8,3.0,12.0,986,8962,0.17,2.50,0.00,0.000,6,0.205,0.067,2652,2292,2017,0,0,0,0,0,0
$STATE,8965,end climb,SURFACE_DEPTH_REACHED
$STATE,8966,begin surface coast
$FINISH,0.3,1.026007
$STATE,8985,end surface coast,CONTROL_FINISHED_OK
$STATE,8985,begin surface
$SM_CCo,9000,52.58,0.748,0,0,1678,275.23
$SM_GC,1.18,0.00,0.00,52.58,0.000,0.000,0.748,128,2508,1678,-7.20,0.23,275.23
$RAFOS_CLK,555
$RAFOS,6,1256302146,12.833333,12.818334,59,56,56,0,0,0,795,204,220,0,0,0
$RAFOS,5,1256301667,12.700000,12.685278,73,65,61,0,0,0,626,194,212,0,0,0
$RAFOS,4,1256301186,12.566667,12.551666,75,69,64,0,0,0,858,190,213,0,0,0
$RAFOS,3,1256300705,12.433333,12.418056,67,65,60,0,0,0,1008,212,183,0,0,0
$RAFOS,2,1256300221,12.300000,12.283611,59,59,59,0,0,0,156,211,1088,0,0,0
$RAFOS,1,1256299741,12.166667,12.150278,63,58,57,0,0,0,193,157,142,0,0,0
$RAFOS_FIX,6708.273926,-5702.601074,231009,121212,3,72,1.62
$IRIDIUM_FIX,6636.54,-5704.59,170199,090924
$TT8_MAMPS,0.026845
$HUMID,46.22
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,17.40
$XPDR_PINGS,2
$24V_AH,23.7,17.376
$10V_AH,10.3,7.816
$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,22.600,78.650,272.300,52.575,0.000,27.862,32.114,212.369,0.500,0.000,34.944,1798.517,4933.446,435.973,1882.074,413.800,0.000,1370.405,0.000,1833.147,2160.000,0.534,0.000
$DEVICE_MAMPS,307.567,88.205,1008.605,747.825,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,719.643,673.915,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150208
$DATA_FILE_SIZE,37882,991
$CAP_FILE_SIZE,112713,0
$CFSIZE,260165632,249257984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.6
$CURRENT,0.168,269.3,1
$GPS,231009,143536,6710.545,-5703.537,25,1.6,25,-37.8