version: 66.06
glider: 143
mission: 9
dive: 5
start: 10 18 109 18 59 27
data:
$ID,143
$MISSION,9
$DIVE,5
$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,-22236.76
$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,21
$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
$GPS1,185306,6701.081,-5740.653,37,2.0,37,-37.7
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-62.3
$GPS2,185907,6701.042,-5740.481,13,1.4,31,-37.7
$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,77.2,38072,-18.3,-10.000
$D_GRID,846
$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,-1.05,-146.0,0.0,0.0,0,134,0.00,0.00,-115.10,0.000,2,0.000,0.000,124,2307,2997,0,0,0,0,0,0
$GC,137,-1.05,-146.0,3.4,-7.7,22,165,10.12,2.78,-11.15,0.000,4,0.316,0.109,2124,3890,3397,0,0,0,0,0,0
$GC,396,-0.73,-146.0,58.1,-17.1,68,403,0.47,2.65,0.00,0.000,6,0.219,0.074,2239,2298,3400,0,0,0,0,0,0
$GC,740,-0.73,-146.0,98.2,-10.1,129,745,0.00,2.72,0.00,0.000,4,0.000,0.098,2240,3882,3401,0,0,0,0,0,0
$GC,801,-0.80,-146.0,104.1,-9.2,136,807,0.00,2.60,0.00,0.000,6,0.000,0.072,2240,2298,3401,0,0,0,0,0,0
$GC,1126,-0.85,-146.0,135.8,-10.8,167,1131,0.12,2.72,0.00,0.000,4,0.120,0.097,2187,3885,3402,0,0,0,0,0,0
$GC,1221,-0.74,-146.0,148.4,-13.9,175,1227,0.22,2.60,0.00,0.000,6,0.216,0.075,2240,2304,3402,0,0,0,0,0,0
$GC,1546,-0.80,-146.0,181.5,-9.4,205,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2304,3402,0,0,0,0,0,0
$GC,1865,-0.88,-146.0,210.4,-9.4,235,1871,0.15,2.70,0.00,0.000,4,0.120,0.100,2183,3882,3402,0,0,0,0,0,0
$GC,1978,-0.77,-146.0,224.5,-12.8,244,1984,0.20,2.58,0.00,0.000,6,0.219,0.076,2229,2308,3401,0,0,0,0,0,0
$GC,2304,-0.82,-146.0,258.0,-10.2,275,2305,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2308,3401,0,0,0,0,0,0
$GC,2622,-0.89,-146.0,290.0,-9.5,305,2624,0.12,0.00,0.00,0.000,6,0.127,0.000,2189,2308,3400,0,0,0,0,0,0
$GC,2940,-0.82,-146.0,323.4,-10.2,335,2944,0.00,2.70,0.00,0.000,4,0.000,0.101,2188,3892,3400,0,0,0,0,0,0
$GC,2994,-0.76,-146.0,329.1,-10.2,339,3002,0.17,2.58,0.00,0.000,6,0.211,0.074,2229,2302,3400,0,0,0,0,0,0
$GC,3320,-0.84,-146.0,356.9,-8.6,370,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2302,3400,0,0,0,0,0,0
$STATE,3359,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3359,begin apogee
$GC,3364,-0.24,0.0,360.6,8.7,374,3485,0.57,0.00,116.72,1.025,6,0.179,0.000,2394,2104,2800,0,0,0,0,0,0
$STATE,3485,end apogee,CONTROL_FINISHED_OK
$STATE,3485,begin climb
$GC,3487,1.05,146.0,364.5,0.0,386,3616,1.42,0.00,119.80,0.974,6,0.142,0.000,2808,2104,2202,0,0,0,0,0,0
$GC,3933,0.79,146.0,305.7,14.9,429,3938,0.28,2.78,0.00,0.000,4,0.205,0.091,2727,3688,2192,0,0,0,0,0,0
$GC,4191,0.68,146.0,271.4,13.0,451,4198,0.15,2.67,0.00,0.000,6,0.216,0.076,2704,2097,2190,0,0,0,0,0,0
$GC,4515,0.68,146.0,237.1,10.6,482,4516,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2097,2191,0,0,0,0,0,0
$GC,4836,0.69,157.4,205.5,9.5,512,4850,0.00,2.78,8.35,0.827,4,0.000,0.092,2704,3689,2158,0,0,0,0,0,0
$GC,5104,0.69,157.4,176.3,10.5,536,5109,0.00,2.65,0.00,0.000,6,0.000,0.075,2714,2087,2155,0,0,0,0,0,0
$GC,5429,0.74,157.4,143.8,10.3,566,5430,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2087,2156,0,0,0,0,0,0
$GC,5749,0.75,166.7,114.1,9.6,596,5760,0.00,0.00,9.07,0.819,6,0.000,0.000,2714,2087,2120,0,0,0,0,0,0
$GC,6086,0.84,176.3,83.3,9.6,643,6104,0.10,2.78,9.35,0.817,4,0.142,0.095,2748,3681,2079,0,0,0,0,0,0
$GC,6357,0.78,176.3,51.1,11.9,691,6364,0.00,2.65,0.00,0.000,6,0.000,0.080,2760,2085,2077,0,0,0,0,0,0
$GC,6701,0.83,216.6,20.3,8.1,752,6737,0.00,0.00,32.97,0.825,6,0.000,0.000,2760,2085,1916,0,0,0,0,0,0
$STATE,6886,end climb,SURFACE_DEPTH_REACHED
$STATE,6886,begin surface coast
$FINISH,0.5,1.026066
$STATE,6910,end surface coast,CONTROL_FINISHED_OK
$STATE,6910,begin surface
$SM_CCo,6926,103.97,0.778,0,0,1168,400.08
$SM_GC,1.22,0.00,0.00,103.97,0.000,0.000,0.778,124,2307,1168,-7.36,0.20,400.08
$RAFOS_CLK,465
$RAFOS,5,1255898462,20.700001,20.683889,41,40,39,0,0,0,1636,489,1096,0,0,0
$RAFOS,4,1255897985,20.566668,20.551390,47,42,41,0,0,0,1829,1716,1628,0,0,0
$RAFOS,3,1255897507,20.433332,20.418612,40,39,39,0,0,0,932,1262,1565,0,0,0
$RAFOS,2,1255897029,20.299999,20.285833,51,44,44,0,0,0,1753,234,971,0,0,0
$RAFOS,1,1255896545,20.166666,20.151388,43,42,42,0,0,0,575,229,1437,0,0,0
$RAFOS,0,1255896064,20.033333,20.017778,45,45,44,0,0,0,419,1350,297,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5741.01,120199,161642
$TT8_MAMPS,0.027612
$HUMID,52.83
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,16.60
$XPDR_PINGS,4
$24V_AH,23.5,13.715
$10V_AH,10.3,5.536
$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,21.900,43.650,296.275,103.975,0.000,25.661,42.789,164.586,1.000,0.000,33.018,1353.641,3913.133,500.627,1286.473,342.818,0.000,1162.287,0.000,1248.686,2520.000,0.530,0.000
$DEVICE_MAMPS,316.004,108.914,1024.712,777.738,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,577.238,541.211,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150236
$DATA_FILE_SIZE,31673,790
$CAP_FILE_SIZE,82455,0
$CFSIZE,260165632,250458112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.3
$CURRENT,0.535,146.4,1
$GPS,181009,205752,6700.079,-5736.524,9,99.0,28,-37.7