version: 66.06
glider: 143
mission: 10
dive: 20
start: 10 23 109 6 48 18
data:
$ID,143
$MISSION,10
$DIVE,20
$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,-23329.676
$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,23
$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,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
$GPS1,064001,6708.882,-5657.711,40,1.2,40,-37.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-65.5
$GPS2,064758,6708.936,-5657.671,13,1.1,15,-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,274.0,32700,-16.9,-9.167
$D_GRID,449
$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,-146.0,0.0,0.0,0,106,0.00,0.00,-88.00,0.000,2,0.000,0.000,129,2250,3256,0,0,0,0,0,0
$GC,108,-0.98,-146.0,3.8,-7.6,17,131,9.62,2.67,-3.58,0.000,4,0.308,0.092,2104,664,3400,0,0,0,0,0,0
$GC,176,-0.78,-146.0,18.9,-15.8,29,182,0.28,2.60,0.00,0.000,6,0.209,0.069,2173,2259,3402,0,0,0,0,0,0
$GC,520,-0.78,-146.0,56.5,-10.2,90,525,0.00,2.62,0.00,0.000,4,0.000,0.087,2173,3837,3402,0,0,0,0,0,0
$GC,781,-0.84,-146.0,83.0,-10.7,136,786,0.00,2.53,0.00,0.000,6,0.000,0.061,2173,2259,3402,0,0,0,0,0,0
$GC,1115,-0.90,-146.0,115.3,-9.1,182,1120,0.00,2.60,0.00,0.000,4,0.000,0.084,2173,3836,3402,0,0,0,0,0,0
$GC,1373,-0.98,-146.0,136.5,-7.5,204,1379,0.17,2.50,0.00,0.000,6,0.104,0.060,2114,2253,3401,0,0,0,0,0,0
$GC,1698,-0.87,-146.0,169.3,-10.0,235,1703,0.15,2.62,0.00,0.000,4,0.208,0.084,2140,3844,3401,0,0,0,0,0,0
$GC,1955,-0.87,-146.0,195.0,-10.6,257,1961,0.00,2.40,0.00,0.000,6,0.000,0.059,2140,2343,3401,0,0,0,0,0,0
$GC,2280,-0.87,-146.0,226.5,-9.8,288,2285,0.00,2.45,0.00,0.000,4,0.000,0.085,2140,3838,3401,0,0,0,0,0,0
$GC,2537,-0.87,-146.0,252.9,-10.3,310,2544,0.00,2.38,0.00,0.000,6,0.000,0.060,2140,2347,3400,0,0,0,0,0,0
$GC,2863,-0.87,-146.0,281.6,-8.2,341,2867,0.00,2.45,0.00,0.000,4,0.000,0.084,2140,3846,3400,0,0,0,0,0,0
$GC,3120,-0.87,-146.0,303.3,-8.4,363,3127,0.00,2.35,0.00,0.000,6,0.000,0.059,2140,2344,3399,0,0,0,0,0,0
$GC,3445,-0.87,-146.0,331.6,-8.7,394,3449,0.00,2.45,0.00,0.000,4,0.000,0.084,2140,3845,3400,0,0,0,0,0,0
$GC,3701,-0.87,-146.0,353.6,-8.2,416,3707,0.00,2.35,0.00,0.000,6,0.000,0.058,2140,2343,3400,0,0,0,0,0,0
$GC,4027,-0.87,-146.0,379.7,-7.9,447,4031,0.00,2.45,0.00,0.000,4,0.000,0.083,2140,3848,3400,0,0,0,0,0,0
$GC,4283,-0.87,-146.0,402.0,-8.8,469,4289,0.00,2.33,0.00,0.000,6,0.000,0.058,2140,2352,3400,0,0,0,0,0,0
$GC,4609,-1.36,-146.0,425.6,0.1,500,4614,0.38,2.42,0.00,0.000,4,0.081,0.077,1992,3849,3402,0,0,0,0,0,0
$STATE,4731,end dive,NO_VERTICAL_VELOCITY
$STATE,4731,begin apogee
$GC,4738,-0.24,0.0,425.7,0.0,510,4858,1.10,0.00,115.80,1.006,6,0.133,0.000,2347,2188,2800,0,0,0,0,0,0
$STATE,4859,end apogee,CONTROL_FINISHED_OK
$STATE,4860,begin climb
$GC,4862,0.98,146.0,425.5,0.0,522,4990,1.27,2.75,118.40,0.957,4,0.124,0.079,2748,620,2203,0,0,0,0,0,0
$GC,5242,0.57,146.0,364.7,18.3,556,5249,0.52,2.60,0.00,0.000,6,0.204,0.063,2617,2208,2194,0,0,0,0,0,0
$GC,5567,0.51,146.0,324.9,11.8,587,5571,0.00,2.62,0.00,0.000,4,0.000,0.079,2627,612,2194,0,0,0,0,0,0
$GC,5825,0.44,146.0,294.5,12.1,609,5831,0.20,2.53,0.00,0.000,6,0.179,0.063,2576,2197,2193,0,0,0,0,0,0
$GC,6150,0.51,151.3,264.7,8.9,640,6161,0.00,2.62,3.78,0.580,4,0.000,0.080,2586,619,2183,0,0,0,0,0,0
$GC,6413,0.58,151.3,239.4,9.5,663,6420,0.00,2.50,0.00,0.000,6,0.000,0.063,2585,2201,2183,0,0,0,0,0,0
$GC,6738,0.64,151.3,209.3,9.5,694,6743,0.15,2.58,0.00,0.000,4,0.099,0.079,2651,617,2183,0,0,0,0,0,0
$GC,6995,0.53,151.3,178.1,12.3,716,7001,0.20,2.50,0.00,0.000,6,0.188,0.064,2602,2198,2183,0,0,0,0,0,0
$GC,7319,0.53,151.3,147.6,9.6,747,7324,0.00,2.58,0.00,0.000,4,0.000,0.081,2611,605,2183,0,0,0,0,0,0
$GC,7576,0.53,151.3,122.6,9.5,769,7583,0.00,2.50,0.00,0.000,6,0.000,0.064,2611,2194,2183,0,0,0,0,0,0
$GC,7905,0.55,168.4,94.7,8.4,805,7926,0.00,2.58,15.60,0.782,4,0.000,0.081,2623,615,2111,0,0,0,0,0,0
$GC,8179,0.57,182.5,69.8,8.6,854,8200,0.00,2.50,12.43,0.762,6,0.000,0.065,2622,2193,2055,0,0,0,0,0,0
$GC,8538,0.69,215.3,41.0,7.8,918,8571,0.00,2.70,26.95,0.774,4,0.000,0.082,2634,610,1922,0,0,0,0,0,0
$GC,8825,0.80,222.9,14.7,8.8,969,8842,0.17,2.55,7.22,0.685,6,0.101,0.065,2694,2198,1891,0,0,0,0,0,0
$STATE,8938,end climb,SURFACE_DEPTH_REACHED
$STATE,8938,begin surface coast
$FINISH,0.4,1.026334
$STATE,8955,end surface coast,CONTROL_FINISHED_OK
$STATE,8955,begin surface
$SM_CCo,8970,40.55,0.749,0,0,1677,275.23
$SM_GC,1.09,0.00,0.00,40.55,0.000,0.000,0.749,130,2264,1677,-7.19,0.40,275.23
$RAFOS_CLK,562
$RAFOS,6,1256287742,8.833333,8.817223,99,69,59,0,0,0,820,151,190,0,0,0
$RAFOS,5,1256287262,8.700000,8.683888,89,62,61,0,0,0,669,185,208,0,0,0
$RAFOS,4,1256286786,8.566667,8.551666,67,61,58,0,0,0,867,115,175,0,0,0
$RAFOS,3,1256286304,8.433333,8.417778,71,58,56,0,0,0,195,151,212,0,0,0
$RAFOS,2,1256285829,8.300000,8.285833,66,63,62,0,0,0,205,195,219,0,0,0
$RAFOS,1,1256285350,8.166667,8.152778,60,59,58,0,0,0,224,91,198,0,0,0
$RAFOS,0,1256284870,8.033334,8.019444,63,62,57,0,0,0,162,199,144,0,0,0
$RAFOS_FIX,6708.535156,-5700.541016,231009,080822,3,85,0.32
$IRIDIUM_FIX,6636.54,-5655.33,170199,040424
$TT8_MAMPS,0.027612
$HUMID,46.49
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,17.30
$XPDR_PINGS,2
$24V_AH,23.7,17.175
$10V_AH,10.3,7.694
$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,21.600,81.025,300.175,40.550,0.000,59.166,112.385,137.108,0.500,0.000,17.130,1796.498,4967.330,443.069,1850.277,442.305,0.000,1373.108,0.000,1816.885,2520.000,0.534,0.000
$DEVICE_MAMPS,308.334,130.390,1006.304,749.359,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,718.185,674.262,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150260
$DATA_FILE_SIZE,37884,992
$CAP_FILE_SIZE,109578,0
$CFSIZE,260165632,249376768
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.2
$CURRENT,0.112,198.0,1
$GPS,231009,092006,6709.242,-5658.999,35,1.2,40,-37.7