version: 66.06
glider: 143
mission: 8
dive: 4
start: 10 10 109 19 18 15
data:
$ID,143
$MISSION,8
$DIVE,4
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$D_ABORT,400
$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,100
$T_MISSION,150
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,-7
$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
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$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,-18731.857
$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,2480
$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,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2102
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$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,-23.246302
$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,400
$ALTIM_PING_DELTA,25
$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
$GPS1,191407,6643.855,-6009.474,7,1.7,12,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-63.3
$GPS2,191756,6643.825,-6009.603,13,1.7,13,-38.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,2000.000
$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,300.1,24698,-18.3,-10.000
$D_GRID,568
$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,-1.05,-146.0,0.0,0.0,0,133,0.00,0.00,-115.70,0.000,2,0.000,0.000,123,2302,2894,0,0,0,0,0,0
$GC,137,-1.05,-146.0,3.4,-7.7,22,169,9.93,2.50,-12.88,0.000,4,0.316,0.118,2127,3710,3398,0,0,0,0,0,0
$GC,423,-0.80,-146.0,63.6,-17.6,73,429,0.38,2.33,0.00,0.000,6,0.210,0.081,2219,2299,3400,0,0,0,0,0,0
$GC,770,-0.86,-146.0,105.5,-12.5,131,774,0.00,2.42,0.00,0.000,4,0.000,0.106,2219,3710,3401,0,0,0,0,0,0
$GC,1026,-0.98,-146.0,136.6,-12.3,153,1033,0.17,2.30,0.00,0.000,6,0.107,0.081,2160,2305,3401,0,0,0,0,0,0
$GC,1351,-0.90,-146.0,182.7,-13.3,184,1356,0.12,2.42,0.00,0.000,4,0.229,0.104,2176,3716,3401,0,0,0,0,0,0
$GC,1608,-0.90,-146.0,212.9,-10.8,206,1615,0.00,2.35,0.00,0.000,6,0.000,0.082,2176,2304,3401,0,0,0,0,0,0
$GC,1934,-0.90,-146.0,249.5,-12.2,237,1938,0.00,2.40,0.00,0.000,4,0.000,0.107,2177,3709,3401,0,0,0,0,0,0
$GC,2190,-0.90,-146.0,281.9,-12.4,259,2196,0.00,2.35,0.00,0.000,6,0.000,0.083,2177,2300,3400,0,0,0,0,0,0
$STATE,2343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2343,begin apogee
$GC,2348,-0.24,0.0,300.7,12.3,274,2468,0.80,0.00,115.43,1.018,6,0.192,0.000,2399,2107,2799,0,0,0,0,0,0
$STATE,2468,end apogee,CONTROL_FINISHED_OK
$STATE,2469,begin climb
$GC,2470,1.05,146.0,306.1,0.0,286,2599,1.38,2.62,118.53,0.973,4,0.133,0.104,2817,698,2203,0,0,0,0,0,0
$GC,2852,0.63,146.0,267.0,14.1,321,2858,0.50,2.42,0.00,0.000,6,0.232,0.089,2689,2107,2192,0,0,0,0,0,0
$GC,3177,0.66,165.4,237.4,9.1,351,3199,0.00,2.47,14.73,0.894,4,0.000,0.101,2698,687,2124,0,0,0,0,0,0
$GC,3451,0.67,174.7,210.2,9.6,375,3468,0.00,2.40,9.02,0.852,6,0.000,0.090,2698,2106,2085,0,0,0,0,0,0
$GC,3786,0.73,221.2,180.2,7.9,407,3831,0.00,2.58,37.53,0.902,4,0.000,0.104,2709,691,1897,0,0,0,0,0,0
$GC,4084,0.79,221.2,149.2,11.3,434,4088,0.00,2.45,0.00,0.000,6,0.000,0.093,2709,2131,1890,0,0,0,0,0,0
$GC,4408,0.87,221.2,113.9,10.3,464,4413,0.15,2.47,0.00,0.000,4,0.127,0.106,2767,686,1888,0,0,0,0,0,0
$GC,4666,0.77,221.2,83.1,11.0,499,4672,0.15,2.42,0.00,0.000,6,0.216,0.096,2735,2129,1888,0,0,0,0,0,0
$GC,5010,0.80,241.9,50.4,9.0,560,5032,0.00,2.50,16.55,0.849,4,0.000,0.104,2743,685,1812,0,0,0,0,0,0
$GC,5285,0.81,255.7,24.5,9.4,609,5307,0.00,2.42,12.07,0.821,6,0.000,0.093,2744,2127,1755,0,0,0,0,0,0
$STATE,5546,end climb,SURFACE_DEPTH_REACHED
$STATE,5546,begin surface coast
$FINISH,0.8,1.025084
$STATE,5564,end surface coast,CONTROL_FINISHED_OK
$STATE,5564,begin surface
$SM_CCo,5580,73.68,0.798,0,0,1169,400.08
$SM_GC,1.73,0.00,0.00,73.68,0.000,0.000,0.798,128,2315,1169,-7.35,0.42,400.08
$RAFOS_CLK,439
$RAFOS,4,1255207443,20.750000,20.734167,51,47,43,0,0,0,1542,180,1845,0,0,0
$RAFOS,3,1255206842,20.583334,20.567223,45,43,42,0,0,0,1219,474,539,0,0,0
$RAFOS,2,1255206242,20.416666,20.400555,40,39,38,0,0,0,1156,277,1736,0,0,0
$RAFOS,1,1255205644,20.250000,20.234444,45,42,41,0,0,0,1370,943,381,0,0,0
$RAFOS,0,1255205044,20.083334,20.067778,46,42,40,0,0,0,214,1006,1386,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6015.98,040199,191916
$TT8_MAMPS,0.026845
$HUMID,61.69
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,16.40
$XPDR_PINGS,3
$24V_AH,23.7,4.396
$10V_AH,10.3,1.374
$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,21.200,44.500,323.850,73.675,0.000,0.000,0.000,0.000,0.750,0.000,15.111,1140.895,2834.401,483.727,1209.190,64.340,0.000,1122.950,0.000,1187.292,1800.000,0.987,0.000
$DEVICE_MAMPS,316.004,118.118,1017.809,797.680,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,479.715,447.060,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151492
$DATA_FILE_SIZE,25317,659
$CAP_FILE_SIZE,89182,0
$CFSIZE,260165632,250576896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.0
$CURRENT,0.316,202.7,1
$GPS,101009,205325,6643.602,-6010.864,5,1.2,10,-38.0