version: 66.06
glider: 143
mission: 10
dive: 21
start: 10 23 109 9 25 43
data:
$ID,143
$MISSION,10
$DIVE,21
$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,-23351.588
$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,25
$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
$GPS1,092006,6709.242,-5658.999,35,1.2,40,-37.7
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-63.1
$GPS2,092525,6709.282,-5658.990,14,2.0,19,-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,286.7,32288,-16.9,-9.167
$D_GRID,458
$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,-0.98,-146.0,0.0,0.0,0,101,0.00,0.00,-83.45,0.000,2,0.000,0.000,130,2265,3176,0,0,0,0,0,0
$GC,104,-0.98,-146.0,3.2,-5.7,16,126,9.52,2.22,-5.78,0.000,4,0.304,0.091,2103,915,3398,0,0,0,0,0,0
$GC,207,-0.77,-146.0,23.0,-15.3,34,213,0.30,2.60,0.00,0.000,6,0.209,0.072,2177,2502,3400,0,0,0,0,0,0
$GC,550,-0.77,-146.0,58.5,-9.9,95,557,0.00,2.35,0.00,0.000,4,0.000,0.089,2178,3913,3400,0,0,0,0,0,0
$GC,811,-0.82,-146.0,82.6,-9.4,141,817,0.00,2.25,0.00,0.000,6,0.000,0.059,2178,2496,3400,0,0,0,0,0,0
$GC,1152,-0.92,-146.0,112.5,-8.3,189,1157,0.15,2.38,0.00,0.000,4,0.107,0.087,2127,3910,3400,0,0,0,0,0,0
$GC,1409,-0.84,-146.0,140.7,-11.0,211,1416,0.12,2.22,0.00,0.000,6,0.217,0.059,2153,2498,3399,0,0,0,0,0,0
$GC,1734,-0.84,-146.0,170.0,-9.4,242,1738,0.00,2.35,0.00,0.000,4,0.000,0.087,2153,3921,3399,0,0,0,0,0,0
$GC,1990,-0.84,-146.0,194.9,-9.3,264,1997,0.00,2.28,0.00,0.000,6,0.000,0.059,2153,2501,3398,0,0,0,0,0,0
$GC,2315,-0.84,-146.0,222.9,-8.9,295,2319,0.00,2.35,0.00,0.000,4,0.000,0.087,2153,3912,3399,0,0,0,0,0,0
$GC,2573,-0.89,-146.0,246.5,-9.3,317,2579,0.00,2.22,0.00,0.000,6,0.000,0.059,2153,2492,3398,0,0,0,0,0,0
$GC,2899,-0.95,-146.0,274.4,-8.3,348,2903,0.00,2.33,0.00,0.000,4,0.000,0.087,2153,3910,3398,0,0,0,0,0,0
$GC,3156,-1.00,-146.0,297.6,-9.2,370,3162,0.15,2.22,0.00,0.000,6,0.110,0.059,2102,2491,3397,0,0,0,0,0,0
$GC,3480,-0.89,-146.0,330.8,-10.1,401,3485,0.15,2.35,0.00,0.000,4,0.212,0.084,2127,3920,3397,0,0,0,0,0,0
$GC,3737,-0.89,-146.0,355.9,-10.1,423,3744,0.00,2.25,0.00,0.000,6,0.000,0.057,2127,2500,3397,0,0,0,0,0,0
$GC,4062,-0.89,-146.0,385.8,-9.3,454,4066,0.00,2.33,0.00,0.000,4,0.000,0.084,2127,3911,3397,0,0,0,0,0,0
$GC,4318,-0.89,-146.0,409.6,-10.1,476,4324,0.00,2.25,0.00,0.000,6,0.000,0.057,2127,2489,3398,0,0,0,0,0,0
$GC,4644,-1.42,-146.0,432.9,0.1,507,4649,0.40,2.33,0.00,0.000,4,0.087,0.079,1973,3922,3398,0,0,0,0,0,0
$STATE,4754,end dive,NO_VERTICAL_VELOCITY
$STATE,4754,begin apogee
$GC,4761,-0.24,0.0,432.8,0.0,516,4881,1.15,0.00,115.50,1.011,6,0.130,0.000,2346,2298,2800,0,0,0,0,0,0
$STATE,4882,end apogee,CONTROL_FINISHED_OK
$STATE,4882,begin climb
$GC,4884,0.98,146.0,432.6,0.0,528,5012,1.30,2.75,118.65,0.963,4,0.125,0.078,2753,721,2202,0,0,0,0,0,0
$GC,5264,0.55,146.0,369.5,19.0,562,5271,0.57,2.60,0.00,0.000,6,0.207,0.064,2611,2301,2194,0,0,0,0,0,0
$GC,5589,0.55,146.0,333.2,10.2,593,5593,0.00,2.60,0.00,0.000,4,0.000,0.078,2620,718,2194,0,0,0,0,0,0
$GC,5846,0.49,146.0,304.2,11.4,615,5853,0.00,2.53,0.00,0.000,6,0.000,0.064,2620,2296,2193,0,0,0,0,0,0
$GC,6172,0.44,146.0,268.5,10.5,646,6177,0.20,2.58,0.00,0.000,4,0.186,0.077,2580,714,2193,0,0,0,0,0,0
$GC,6430,0.53,161.9,246.8,8.5,668,6449,0.00,2.50,12.52,0.823,6,0.000,0.063,2580,2287,2139,0,0,0,0,0,0
$GC,6775,0.62,161.9,213.8,10.4,701,6780,0.15,2.58,0.00,0.000,4,0.098,0.078,2647,713,2137,0,0,0,0,0,0
$GC,7032,0.54,161.9,178.3,14.1,723,7039,0.17,2.50,0.00,0.000,6,0.189,0.064,2605,2286,2136,0,0,0,0,0,0
$GC,7357,0.54,161.9,143.0,10.5,754,7361,0.00,2.53,0.00,0.000,4,0.000,0.079,2614,718,2136,0,0,0,0,0,0
$GC,7613,0.54,161.9,116.2,9.8,776,7619,0.00,2.50,0.00,0.000,6,0.000,0.064,2614,2271,2137,0,0,0,0,0,0
$GC,7947,0.55,165.0,85.1,9.0,821,7958,0.00,2.55,3.80,0.558,4,0.000,0.081,2625,725,2127,0,0,0,0,0,0
$GC,8212,0.59,196.8,61.0,7.8,868,8248,0.00,2.45,26.83,0.783,6,0.000,0.066,2625,2279,1995,0,0,0,0,0,0
$GC,8585,0.69,214.8,28.5,8.4,935,8607,0.00,2.60,15.02,0.749,4,0.000,0.081,2636,709,1922,0,0,0,0,0,0
$GC,8860,0.80,222.4,4.6,8.9,984,8877,0.15,2.50,6.75,0.667,6,0.114,0.065,2687,2269,1892,0,0,0,0,0,0
$STATE,8886,end climb,SURFACE_DEPTH_REACHED
$STATE,8886,begin surface coast
$FINISH,0.2,1.025494
$STATE,8905,end surface coast,CONTROL_FINISHED_OK
$STATE,8905,begin surface
$SM_CCo,8921,37.20,0.742,0,0,1678,275.23
$SM_GC,1.38,0.00,0.00,37.20,0.000,0.000,0.742,124,2505,1678,-7.21,0.14,275.23
$RAFOS_CLK,548
$RAFOS_FIX,6708.535156,-5700.541016,231009,080822,3,85,0.32
$IRIDIUM_FIX,6641.98,-5701.58,170199,060616
$TT8_MAMPS,0.029146
$HUMID,46.37
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,17.30
$XPDR_PINGS,3
$24V_AH,23.7,17.274
$10V_AH,10.3,7.754
$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,21.875,77.975,299.075,37.200,0.000,23.384,31.732,153.161,0.750,0.000,21.284,1777.348,4867.487,437.287,1853.980,339.524,0.000,1365.836,0.000,1816.876,0.000,0.534,0.000
$DEVICE_MAMPS,304.499,90.506,1010.906,741.689,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,718.624,673.959,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150200
$DATA_FILE_SIZE,37886,992
$CAP_FILE_SIZE,107897,0
$CFSIZE,260165632,249319424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.1
$CURRENT,0.121,205.7,1
$GPS,231009,115622,6709.662,-5700.429,16,99.0,35,-37.7