version: 66.06
glider: 143
mission: 10
dive: 47
start: 10 26 109 22 25 13
data:
$ID,143
$MISSION,10
$DIVE,47
$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,300
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,200
$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,-23803.115
$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,2390
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,1
$ROLL_MIN,290
$ROLL_MAX,3915
$ROLL_DEG,45
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$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
$GPS1,221155,6715.707,-5754.280,37,1.0,37,-38.1
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-66.2
$GPS2,222456,6715.636,-5754.404,14,1.0,14,-38.1
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6705.488,-5803.893
$TGT_RADIUS,1852.000
$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,238.1,20000,-16.9,-9.167
$D_GRID,853
$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,-0.88,-146.0,0.0,0.0,0,103,0.00,0.00,-84.78,0.000,2,0.000,0.000,124,1900,3081,0,0,0,0,0,0
$GC,105,-0.88,-146.0,3.2,-6.3,17,132,9.75,2.70,-9.02,0.000,4,0.312,0.104,2095,317,3398,0,0,0,0,0,0
$GC,137,-0.88,-146.0,10.8,-21.8,23,143,0.00,2.62,0.00,0.000,6,0.000,0.073,2095,1903,3399,0,0,0,0,0,0
$GC,481,-0.88,-146.0,62.6,-13.0,84,486,0.00,2.65,0.00,0.000,4,0.000,0.091,2095,3487,3401,0,0,0,0,0,0
$GC,822,-0.88,-146.0,108.9,-14.9,139,829,0.00,2.58,0.00,0.000,6,0.000,0.073,2095,1906,3401,0,0,0,0,0,0
$GC,1275,-0.88,-146.0,172.1,-13.2,182,1279,0.00,2.62,0.00,0.000,4,0.000,0.091,2096,3486,3401,0,0,0,0,0,0
$GC,1617,-0.88,-146.0,213.8,-11.1,212,1621,0.00,2.53,0.00,0.000,6,0.000,0.074,2095,1924,3400,0,0,0,0,0,0
$GC,2068,-0.88,-146.0,265.9,-11.7,254,2072,0.00,2.58,0.00,0.000,4,0.000,0.091,2096,3485,3399,0,0,0,0,0,0
$GC,2410,-0.88,-146.0,304.5,-10.9,284,2415,0.00,2.50,0.00,0.000,6,0.000,0.073,2096,1929,3399,0,0,0,0,0,0
$GC,2862,-0.88,-146.0,350.4,-9.5,326,2866,0.00,2.55,0.00,0.000,4,0.000,0.089,2096,3486,3399,0,0,0,0,0,0
$GC,3204,-0.88,-146.0,382.7,-9.7,356,3208,0.00,2.47,0.00,0.000,6,0.000,0.072,2096,1938,3399,0,0,0,0,0,0
$GC,3655,-0.88,-146.0,427.8,-10.7,398,3660,0.00,2.55,0.00,0.000,4,0.000,0.087,2096,3495,3400,0,0,0,0,0,0
$GC,3998,-0.88,-146.0,463.8,-10.4,428,4002,0.00,2.45,0.00,0.000,6,0.000,0.069,2096,1954,3400,0,0,0,0,0,0
$GC,4449,-0.88,-146.0,510.5,-10.3,470,4453,0.00,2.50,0.00,0.000,4,0.000,0.086,2096,3488,3401,0,0,0,0,0,0
$GC,4790,-0.88,-146.0,544.2,-10.3,500,4795,0.00,2.42,0.00,0.000,6,0.000,0.068,2096,1957,3401,0,0,0,0,0,0
$GC,5242,-0.88,-146.0,588.3,-9.5,542,5246,0.00,2.47,0.00,0.000,4,0.000,0.084,2095,3487,3402,0,0,0,0,0,0
$GC,5583,-0.88,-146.0,621.0,-9.5,559,5588,0.00,2.42,0.00,0.000,6,0.000,0.067,2096,1977,3402,0,0,0,0,0,0
$GC,6035,-0.88,-146.0,663.9,-9.3,574,6039,0.00,2.45,0.00,0.000,4,0.000,0.085,2096,3489,3403,0,0,0,0,0,0
$GC,6376,-0.88,-146.0,696.5,-9.9,584,6380,0.00,2.38,0.00,0.000,6,0.000,0.067,2096,1985,3403,0,0,0,0,0,0
$GC,6821,-0.88,-146.0,738.9,-9.2,599,6826,0.00,2.42,0.00,0.000,4,0.000,0.084,2096,3487,3403,0,0,0,0,0,0
$GC,7163,-0.88,-146.0,772.4,-9.6,609,7167,0.00,2.40,0.00,0.000,6,0.000,0.067,2096,1986,3403,0,0,0,0,0,0
$GC,7615,-0.88,-146.0,812.1,-8.5,624,7620,0.00,2.42,0.00,0.000,4,0.000,0.086,2096,3487,3404,0,0,0,0,0,0
$GC,7957,-0.88,-146.0,844.9,-9.6,634,7961,0.00,2.38,0.00,0.000,6,0.000,0.068,2096,1983,3404,0,0,0,0,0,0
$STATE,8070,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8070,begin apogee
$GC,8075,-0.21,0.0,855.6,9.5,638,8202,0.80,0.00,123.50,1.296,6,0.196,0.000,2319,1596,2800,0,0,0,0,0,0
$STATE,8203,end apogee,CONTROL_FINISHED_OK
$STATE,8203,begin climb
$GC,8205,0.88,146.0,858.7,0.0,642,8340,1.17,2.45,127.00,1.246,4,0.134,0.091,2676,300,2203,0,0,0,0,0,0
$GC,8677,0.88,146.0,795.6,15.6,656,8682,0.00,2.17,0.00,0.000,6,0.000,0.064,2676,1610,2195,0,0,0,0,0,0
$GC,9117,0.88,146.0,729.1,15.5,671,9121,0.00,2.22,0.00,0.000,4,0.000,0.093,2686,297,2192,0,0,0,0,0,0
$GC,9459,0.88,146.0,671.2,16.7,681,9463,0.00,2.15,0.00,0.000,6,0.000,0.067,2686,1602,2191,0,0,0,0,0,0
$GC,9911,0.88,146.0,598.5,15.7,696,9915,0.00,2.17,0.00,0.000,4,0.000,0.093,2697,297,2191,0,0,0,0,0,0
$GC,10253,0.88,146.0,540.2,17.4,726,10259,0.00,2.10,0.00,0.000,6,0.000,0.067,2696,1588,2190,0,0,0,0,0,0
$GC,10707,0.88,146.0,466.7,15.4,769,10711,0.00,2.12,0.00,0.000,4,0.000,0.092,2706,298,2189,0,0,0,0,0,0
$GC,11049,0.88,146.0,408.6,17.1,799,11055,0.12,2.05,0.00,0.000,6,0.222,0.067,2680,1593,2190,0,0,0,0,0,0
$GC,11501,0.88,146.0,341.7,15.2,842,11504,0.00,2.12,0.00,0.000,4,0.000,0.091,2687,297,2190,0,0,0,0,0,0
$GC,11842,0.88,146.0,286.5,15.2,872,11848,0.00,2.08,0.00,0.000,6,0.000,0.064,2680,1595,2189,0,0,0,0,0,0
$GC,12296,0.88,146.0,221.9,13.9,915,12300,0.00,2.12,0.00,0.000,4,0.000,0.090,2688,297,2190,0,0,0,0,0,0
$GC,12638,0.88,146.0,173.6,13.0,945,12644,0.00,2.08,0.00,0.000,6,0.000,0.064,2688,1598,2190,0,0,0,0,0,0
$GC,13091,0.88,146.0,123.4,10.5,988,13094,0.00,2.12,0.00,0.000,4,0.000,0.091,2698,296,2190,0,0,0,0,0,0
$GC,13433,0.88,146.0,82.7,12.1,1031,13439,0.00,2.05,0.00,0.000,6,0.000,0.066,2698,1601,2191,0,0,0,0,0,0
$GC,13777,0.88,146.0,45.5,10.1,1092,13782,0.00,2.15,0.00,0.000,4,0.000,0.093,2708,288,2191,0,0,0,0,0,0
$GC,14121,0.90,156.8,10.5,8.7,1153,14137,0.00,2.05,7.90,0.721,6,0.000,0.067,2708,1592,2159,0,0,0,0,0,0
$STATE,14214,end climb,SURFACE_DEPTH_REACHED
$STATE,14214,begin surface coast
$FINISH,0.3,1.026046
$STATE,14238,end surface coast,CONTROL_FINISHED_OK
$STATE,14238,begin surface
$SM_CCo,14254,70.60,0.757,0,0,1678,275.23
$SM_GC,1.11,0.00,0.00,70.60,0.000,0.000,0.757,125,1909,1678,-7.08,0.25,275.23
$RAFOS_CLK,933
$RAFOS,6,1256604544,0.833333,0.817778,67,65,60,0,0,0,663,198,148,0,0,0
$RAFOS,5,1256604074,0.700000,0.687222,60,55,55,0,0,0,191,178,209,0,0,0
$RAFOS,4,1256603582,0.566667,0.550556,64,59,58,0,0,0,166,202,216,0,0,0
$RAFOS,3,1256603128,0.433333,0.424444,67,65,59,0,0,0,188,162,140,0,0,0
$RAFOS,2,1256602641,0.300000,0.289167,57,55,53,0,0,0,215,185,197,0,0,0
$RAFOS,1,1256602142,0.166667,0.150556,61,59,59,0,0,0,219,198,146,0,0,0
$RAFOS,0,1256601670,0.033333,0.019444,68,56,56,0,0,0,205,161,127,0,0,0
$RAFOS_FIX,6714.351562,-5757.301270,261009,202044,3,88,0.62
$IRIDIUM_FIX,6647.44,-5752.61,200199,222248
$TT8_MAMPS,0.027612
$HUMID,47.67
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,16.80
$XPDR_PINGS,1
$24V_AH,22.9,20.149
$10V_AH,10.2,9.557
$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,19.025,90.425,258.400,70.600,0.000,73.377,97.040,356.846,0.250,0.000,15.766,2113.381,9211.959,440.219,2626.832,707.169,0.000,1697.073,0.000,2572.404,2520.000,0.532,0.000
$DEVICE_MAMPS,312.169,104.312,1296.230,757.029,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,853.999,815.832,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150652
$DATA_FILE_SIZE,47269,1174
$CAP_FILE_SIZE,144579,0
$CFSIZE,260165632,247517184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.3
$GPS,271009,022525,6716.349,-5756.241,42,1.3,42,-38.2