version: 66.06
glider: 143
mission: 8
dive: 5
start: 10 10 109 21 1 36
data:
$ID,143
$MISSION,8
$DIVE,5
$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,-18746.551
$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,16
$R_STBD_OVSHOOT,19
$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
$GPS1,205325,6643.602,-6010.864,5,1.2,10,-38.0
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-64.6
$GPS2,210114,6643.578,-6011.046,12,1.5,12,-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,345.9,23590,-18.3,-10.000
$D_GRID,558
$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,16,-1.05,-146.0,0.0,0.0,0,118,0.00,0.00,-99.25,0.000,2,0.000,0.000,126,2315,2764,0,0,0,0,0,0
$GC,121,-1.05,-146.0,3.5,-6.8,19,158,10.20,2.55,-17.30,0.000,4,0.318,0.123,2124,3713,3398,0,0,0,0,0,0
$GC,411,-0.81,-146.0,64.6,-18.5,71,418,0.38,2.38,0.00,0.000,6,0.225,0.082,2212,2297,3400,0,0,0,0,0,0
$GC,757,-0.81,-146.0,107.8,-12.0,127,762,0.00,2.47,0.00,0.000,4,0.000,0.110,2213,3714,3401,0,0,0,0,0,0
$GC,1015,-0.88,-146.0,138.6,-10.9,149,1021,0.00,2.35,0.00,0.000,6,0.000,0.082,2213,2297,3401,0,0,0,0,0,0
$GC,1340,-0.96,-146.0,174.1,-10.9,180,1342,0.15,0.00,0.00,0.000,6,0.117,0.000,2164,2297,3401,0,0,0,0,0,0
$GC,1658,-0.89,-146.0,215.8,-13.4,210,1663,0.00,2.45,0.00,0.000,4,0.000,0.110,2163,3714,3401,0,0,0,0,0,0
$GC,1822,-0.85,-146.0,237.5,-13.6,224,1827,0.17,2.35,0.00,0.000,6,0.228,0.084,2202,2294,3401,0,0,0,0,0,0
$GC,2147,-0.93,-146.0,273.6,-11.8,254,2148,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,2294,3401,0,0,0,0,0,0
$STATE,2389,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2389,begin apogee
$GC,2394,-0.24,0.0,300.0,10.6,277,2513,0.70,0.00,115.72,1.022,6,0.196,0.000,2396,2106,2799,0,0,0,0,0,0
$STATE,2514,end apogee,CONTROL_FINISHED_OK
$STATE,2514,begin climb
$GC,2516,1.05,146.0,305.4,0.0,289,2645,1.42,2.67,119.05,0.973,4,0.145,0.106,2818,692,2202,0,0,0,0,0,0
$GC,2791,0.66,146.0,282.6,12.8,314,2798,0.47,2.45,0.00,0.000,6,0.229,0.093,2698,2098,2193,0,0,0,0,0,0
$GC,3116,0.64,172.4,254.6,8.8,345,3138,0.00,0.00,20.45,0.912,6,0.000,0.000,2698,2098,2097,0,0,0,0,0,0
$GC,3454,0.66,193.6,223.7,9.0,377,3479,0.00,2.55,18.10,0.906,4,0.000,0.106,2706,691,2009,0,0,0,0,0,0
$GC,3591,0.66,193.6,210.4,10.0,389,3597,0.00,2.45,0.00,0.000,6,0.000,0.093,2706,2094,2006,0,0,0,0,0,0
$GC,3917,0.66,193.6,178.1,10.3,420,3921,0.00,2.42,0.00,0.000,4,0.000,0.107,2716,691,2005,0,0,0,0,0,0
$GC,3983,0.67,199.4,171.1,9.7,425,3993,0.00,2.38,5.53,0.770,6,0.000,0.094,2716,2097,1987,0,0,0,0,0,0
$GC,4313,0.69,217.8,140.5,9.2,456,4334,0.00,2.47,16.12,0.889,4,0.000,0.107,2726,688,1912,0,0,0,0,0,0
$GC,4575,0.69,217.8,114.0,10.4,479,4581,0.00,2.42,0.00,0.000,6,0.000,0.096,2726,2084,1909,0,0,0,0,0,0
$GC,4911,0.71,229.4,80.5,9.5,527,4927,0.00,2.45,10.25,0.844,4,0.000,0.109,2737,680,1863,0,0,0,0,0,0
$GC,5041,0.72,242.2,68.3,9.4,550,5062,0.00,2.38,12.07,0.843,6,0.000,0.095,2737,2078,1811,0,0,0,0,0,0
$GC,5401,0.83,265.3,35.4,8.9,614,5428,0.00,2.47,19.73,0.843,4,0.000,0.109,2746,680,1716,0,0,0,0,0,0
$GC,5530,0.85,282.6,23.3,9.2,637,5551,0.00,2.40,15.30,0.820,6,0.000,0.095,2747,2080,1646,0,0,0,0,0,0
$STATE,5769,end climb,SURFACE_DEPTH_REACHED
$STATE,5769,begin surface coast
$FINISH,0.7,1.025119
$STATE,5793,end surface coast,CONTROL_FINISHED_OK
$STATE,5793,begin surface
$SM_CCo,5809,61.33,0.790,0,0,1169,400.08
$SM_GC,1.58,0.00,0.00,61.33,0.000,0.000,0.790,124,2308,1169,-7.36,0.23,400.08
$RAFOS_CLK,398
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6003.82,040199,191934
$TT8_MAMPS,0.027612
$HUMID,61.38
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,16.40
$XPDR_PINGS,4
$24V_AH,23.6,4.526
$10V_AH,10.3,1.417
$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,21.275,44.800,352.325,61.325,0.000,30.109,34.961,307.775,1.000,0.000,14.066,1154.861,3085.601,486.334,1149.106,473.306,0.000,1109.726,0.000,1135.615,0.000,0.987,0.000
$DEVICE_MAMPS,318.305,123.487,1022.411,790.010,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,502.865,463.606,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151924
$DATA_FILE_SIZE,25324,684
$CAP_FILE_SIZE,74015,0
$CFSIZE,260165632,250515456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1445.4
$CURRENT,0.325,187.5,1
$GPS,101009,224038,6643.243,-6012.254,27,1.0,28,-38.0