version: 66.06
glider: 143
mission: 9
dive: 4
start: 10 18 109 16 53 5
data:
$ID,143
$MISSION,9
$DIVE,4
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,500
$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,120
$T_MISSION,150
$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,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,-22203.115
$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,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,45
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2102
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$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,-23.749716
$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,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
$GPS1,164255,6701.741,-5742.617,38,1.5,38,-37.8
$_CALLS,2
$_XMS_NAKs,35
$_XMS_TOUTs,5
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-60.9
$GPS2,165243,6701.766,-5742.364,13,1.5,30,-37.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.257,0.040
$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,120.1,39325,-18.3,-10.000
$D_GRID,865
$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,-146.0,0.0,0.0,0,134,0.00,0.00,-116.60,0.000,2,0.000,0.000,129,2296,3025,0,0,0,0,0,0
$GC,137,-1.05,-146.0,3.3,-6.6,22,165,10.12,2.80,-10.82,0.000,4,0.318,0.110,2133,3888,3398,0,0,0,0,0,0
$GC,312,-0.73,-146.0,37.4,-17.8,53,318,0.43,2.65,0.00,0.000,6,0.221,0.072,2237,2290,3400,0,0,0,0,0,0
$GC,655,-0.73,-146.0,75.9,-10.1,114,661,0.00,2.65,0.00,0.000,4,0.000,0.094,2237,706,3401,0,0,0,0,0,0
$GC,907,-0.73,-146.0,104.8,-11.4,155,913,0.00,2.65,0.00,0.000,6,0.000,0.081,2237,2315,3402,0,0,0,0,0,0
$GC,1232,-0.73,-146.0,139.4,-10.1,186,1236,0.00,2.67,0.00,0.000,4,0.000,0.100,2237,3893,3402,0,0,0,0,0,0
$GC,1241,-0.73,-146.0,140.4,-9.8,186,1248,0.00,2.55,0.00,0.000,6,0.000,0.071,2237,2326,3402,0,0,0,0,0,0
$GC,1567,-0.79,-146.0,172.6,-9.4,217,1572,0.00,2.65,0.00,0.000,4,0.000,0.100,2237,3885,3402,0,0,0,0,0,0
$GC,1577,-0.84,-146.0,173.7,-9.5,217,1583,0.00,2.53,0.00,0.000,6,0.000,0.073,2237,2336,3402,0,0,0,0,0,0
$GC,1902,-0.92,-146.0,203.0,-9.1,248,1907,0.17,2.65,0.00,0.000,4,0.102,0.098,2165,3891,3402,0,0,0,0,0,0
$GC,1912,-0.92,-146.0,204.1,-8.7,248,1919,0.00,2.55,0.00,0.000,6,0.000,0.074,2166,2327,3402,0,0,0,0,0,0
$GC,2237,-0.76,-146.0,245.6,-13.0,279,2242,0.25,2.65,0.00,0.000,4,0.223,0.098,2220,3886,3401,0,0,0,0,0,0
$GC,2247,-0.64,-146.0,247.0,-12.6,279,2254,0.20,2.53,0.00,0.000,6,0.212,0.074,2268,2334,3401,0,0,0,0,0,0
$GC,2573,-0.84,-146.0,272.6,-7.5,310,2578,0.17,2.65,0.00,0.000,4,0.106,0.098,2196,3890,3401,0,0,0,0,0,0
$GC,2583,-0.99,-146.0,273.6,-7.9,310,2590,0.12,2.55,0.00,0.000,6,0.124,0.074,2154,2317,3400,0,0,0,0,0,0
$GC,2908,-0.80,-146.0,314.0,-12.2,341,2914,0.25,2.67,0.00,0.000,4,0.222,0.096,2208,3893,3400,0,0,0,0,0,0
$GC,2919,-0.64,-146.0,315.5,-12.3,341,2925,0.25,2.50,0.00,0.000,6,0.207,0.072,2270,2337,3400,0,0,0,0,0,0
$GC,3244,-0.86,-146.0,340.3,-7.0,372,3249,0.20,2.67,0.00,0.000,4,0.101,0.094,2201,712,3400,0,0,0,0,0,0
$GC,3254,-1.02,-146.0,341.3,-7.3,372,3262,0.15,2.65,0.00,0.000,6,0.111,0.081,2148,2346,3400,0,0,0,0,0,0
$STATE,3417,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3418,begin apogee
$GC,3423,-0.24,0.0,361.1,11.7,388,3543,0.93,0.00,116.82,1.026,6,0.206,0.000,2398,2103,2800,0,0,0,0,0,0
$STATE,3544,end apogee,CONTROL_FINISHED_OK
$STATE,3544,begin climb
$GC,3546,1.05,146.0,364.7,0.0,400,3675,1.40,2.92,119.22,0.971,4,0.137,0.091,2809,3687,2202,0,0,0,0,0,0
$GC,3927,0.68,146.0,309.9,16.3,434,3934,0.50,2.72,0.00,0.000,6,0.221,0.076,2703,2095,2192,0,0,0,0,0,0
$GC,4253,0.70,161.8,278.8,9.3,465,4274,0.00,2.85,12.02,0.882,4,0.000,0.091,2703,3691,2139,0,0,0,0,0,0
$GC,4525,0.70,161.8,249.3,10.8,489,4531,0.00,2.67,0.00,0.000,6,0.000,0.075,2713,2095,2136,0,0,0,0,0,0
$GC,4850,0.71,169.2,217.4,9.7,520,4865,0.00,2.80,7.35,0.811,4,0.000,0.092,2712,3687,2109,0,0,0,0,0,0
$GC,5119,0.71,169.2,187.2,12.0,544,5123,0.00,2.60,0.00,0.000,6,0.000,0.076,2725,2123,2107,0,0,0,0,0,0
$GC,5443,0.72,180.7,154.0,9.5,574,5459,0.00,2.67,10.88,0.848,4,0.000,0.092,2725,3689,2062,0,0,0,0,0,0
$GC,5711,0.67,180.7,124.6,10.5,597,5718,0.17,2.53,0.00,0.000,6,0.197,0.077,2695,2164,2059,0,0,0,0,0,0
$GC,6038,0.83,210.1,97.3,8.6,630,6070,0.17,2.65,24.98,0.858,4,0.107,0.094,2752,3692,1942,0,0,0,0,0,0
$GC,6324,0.74,210.1,61.9,12.4,681,6330,0.17,2.55,0.00,0.000,6,0.202,0.077,2724,2160,1936,0,0,0,0,0,0
$GC,6669,0.86,226.2,31.2,9.3,742,6691,0.00,2.67,12.98,0.815,4,0.000,0.095,2725,3685,1877,0,0,0,0,0,0
$GC,6944,0.94,226.2,6.1,12.0,791,6950,0.15,2.45,0.00,0.000,6,0.112,0.078,2783,2208,1871,0,0,0,0,0,0
$STATE,6982,end climb,SURFACE_DEPTH_REACHED
$STATE,6982,begin surface coast
$FINISH,0.4,1.026023
$STATE,7001,end surface coast,CONTROL_FINISHED_OK
$STATE,7001,begin surface
$SM_CCo,7017,102.60,0.788,0,0,1168,400.08
$SM_GC,1.14,0.00,0.00,102.60,0.000,0.000,0.788,130,2306,1168,-7.34,0.17,400.08
$RAFOS_CLK,482
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6636.54,-5744.45,120199,161613
$TT8_MAMPS,0.027612
$HUMID,52.99
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,16.60
$XPDR_PINGS,5
$24V_AH,23.5,13.598
$10V_AH,10.2,5.488
$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,23.450,79.925,304.250,102.600,0.000,53.363,104.463,245.570,1.250,0.000,31.487,1393.141,3904.938,532.435,1362.124,521.092,0.000,1255.080,0.000,1325.421,0.000,0.530,0.000
$DEVICE_MAMPS,317.538,111.982,1026.246,788.476,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,586.214,547.592,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150292
$DATA_FILE_SIZE,31570,801
$CAP_FILE_SIZE,95012,0
$CFSIZE,260165632,250494976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.1
$CURRENT,0.335,139.0,1
$GPS,181009,185306,6701.081,-5740.653,37,2.0,37,-37.7