version: 66.06
glider: 143
mission: 9
dive: 2
start: 10 18 109 12 40 22
data:
$ID,143
$MISSION,9
$DIVE,2
$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,-22158.535
$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,22
$R_STBD_OVSHOOT,24
$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
$GPS1,123556,6700.334,-5740.231,9,1.3,9,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-54.7
$GPS2,124003,6700.404,-5740.185,9,2.3,28,-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,120.4,37990,-18.3,-10.000
$D_GRID,851
$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,-146.0,0.0,0.0,0,176,0.00,0.00,-158.52,0.000,2,0.000,0.000,120,2307,3108,0,0,0,0,0,0
$GC,179,-1.05,-146.0,3.0,-6.1,30,202,9.55,2.72,-8.05,0.000,4,0.307,0.101,2124,3888,3398,0,0,0,0,0,0
$GC,208,0.33,-146.0,11.3,-27.0,35,218,1.70,2.58,0.00,0.000,6,0.209,0.067,2575,2296,3400,0,0,0,0,0,0
$GC,553,-0.92,-146.0,37.2,-6.8,97,559,1.20,2.60,0.00,0.000,4,0.123,0.087,2195,711,3403,0,0,0,0,0,0
$GC,638,-0.77,-146.0,46.6,-13.8,112,644,0.12,2.55,0.00,0.000,6,0.232,0.076,2222,2286,3402,0,0,0,0,0,0
$GC,982,-0.77,-146.0,85.1,-10.9,173,987,0.00,2.58,0.00,0.000,4,0.000,0.089,2222,717,3402,0,0,0,0,0,0
$GC,1240,-0.77,-146.0,115.0,-12.0,208,1244,0.00,2.55,0.00,0.000,6,0.000,0.076,2222,2301,3403,0,0,0,0,0,0
$GC,1564,-0.77,-146.0,149.8,-10.1,238,1568,0.00,2.60,0.00,0.000,4,0.000,0.090,2223,711,3403,0,0,0,0,0,0
$GC,1607,-0.77,-146.0,154.6,-10.7,241,1613,0.00,2.60,0.00,0.000,6,0.000,0.076,2222,2309,3403,0,0,0,0,0,0
$GC,1932,-0.77,-146.0,187.0,-10.0,272,1937,0.00,2.62,0.00,0.000,4,0.000,0.097,2223,3889,3402,0,0,0,0,0,0
$GC,1941,-0.77,-146.0,188.0,-9.5,272,1948,0.00,2.47,0.00,0.000,6,0.000,0.069,2223,2365,3402,0,0,0,0,0,0
$GC,2267,-0.77,-146.0,217.6,-9.1,303,2271,0.00,2.67,0.00,0.000,4,0.000,0.091,2222,717,3402,0,0,0,0,0,0
$GC,2523,-0.77,-146.0,243.8,-10.5,325,2530,0.00,2.67,0.00,0.000,6,0.000,0.079,2223,2381,3401,0,0,0,0,0,0
$GC,2849,-0.84,-146.0,276.2,-10.0,356,2853,0.00,2.72,0.00,0.000,4,0.000,0.091,2222,711,3400,0,0,0,0,0,0
$GC,2943,-0.84,-146.0,286.5,-10.9,364,2948,0.00,2.67,0.00,0.000,6,0.000,0.077,2223,2376,3400,0,0,0,0,0,0
$GC,3268,-0.90,-146.0,315.9,-8.9,394,3272,0.00,2.50,0.00,0.000,4,0.000,0.096,2223,3892,3400,0,0,0,0,0,0
$GC,3278,-0.97,-146.0,316.9,-8.8,394,3285,0.17,2.40,0.00,0.000,6,0.103,0.068,2161,2385,3400,0,0,0,0,0,0
$GC,3602,-0.82,-146.0,352.6,-10.4,425,3604,0.20,0.00,0.00,0.000,6,0.212,0.000,2209,2384,3400,0,0,0,0,0,0
$STATE,3687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3687,begin apogee
$GC,3692,-0.24,0.0,360.3,8.6,433,3811,0.62,0.00,115.97,1.020,6,0.186,0.000,2392,2093,2800,0,0,0,0,0,0
$STATE,3812,end apogee,CONTROL_FINISHED_OK
$STATE,3812,begin climb
$GC,3814,1.05,146.0,363.3,0.0,445,3942,1.40,2.90,118.22,0.972,4,0.137,0.086,2807,3694,2203,0,0,0,0,0,0
$GC,4195,0.68,146.0,305.4,17.7,480,4201,0.47,2.70,0.00,0.000,6,0.209,0.072,2702,2097,2192,0,0,0,0,0,0
$GC,4519,0.69,159.5,271.6,9.4,510,4535,0.00,2.72,10.43,0.858,4,0.000,0.087,2701,3690,2148,0,0,0,0,0,0
$GC,4787,0.69,159.5,243.1,11.2,533,4793,0.00,2.62,0.00,0.000,6,0.000,0.071,2712,2095,2144,0,0,0,0,0,0
$GC,5112,0.70,164.9,210.9,9.8,564,5123,0.00,2.70,5.68,0.753,4,0.000,0.087,2712,3696,2125,0,0,0,0,0,0
$GC,5375,0.70,164.9,179.5,12.8,587,5382,0.00,2.62,0.00,0.000,6,0.000,0.072,2724,2087,2124,0,0,0,0,0,0
$GC,5700,0.70,164.9,141.3,11.4,618,5705,0.00,2.67,0.00,0.000,4,0.000,0.088,2724,3693,2124,0,0,0,0,0,0
$GC,5958,0.64,164.9,110.0,11.7,640,5965,0.20,2.62,0.00,0.000,6,0.196,0.074,2687,2079,2124,0,0,0,0,0,0
$GC,6295,0.84,215.1,83.0,7.7,690,6344,0.20,2.78,40.60,0.851,4,0.100,0.089,2755,3694,1922,0,0,0,0,0,0
$GC,6598,0.76,215.1,44.5,13.0,744,6604,0.17,2.67,0.00,0.000,6,0.191,0.075,2726,2079,1914,0,0,0,0,0,0
$GC,6943,0.86,252.4,12.9,8.3,805,6980,0.00,2.80,29.75,0.809,4,0.000,0.093,2725,3693,1769,0,0,0,0,0,0
$STATE,7047,end climb,SURFACE_DEPTH_REACHED
$STATE,7047,begin surface coast
$FINISH,0.6,1.015401
$STATE,7065,end surface coast,CONTROL_FINISHED_OK
$STATE,7065,begin surface
$SM_CCo,7083,85.68,0.774,0,0,1168,400.08
$SM_GC,1.31,0.00,0.00,85.68,0.000,0.000,0.774,127,2285,1168,-7.35,-0.42,400.08
$RAFOS_CLK,505
$RAFOS,6,1255870144,12.833333,12.817778,42,41,40,0,0,0,1223,1879,1080,0,0,0
$RAFOS,5,1255869661,12.700000,12.683611,42,41,40,0,0,0,880,1393,331,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5743.95,120199,121206
$TT8_MAMPS,0.027612
$HUMID,54.56
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.50
$XPDR_PINGS,3
$24V_AH,23.7,13.352
$10V_AH,10.3,5.390
$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,23.650,74.200,320.650,85.675,0.000,0.000,0.000,0.000,0.750,0.000,30.800,1433.485,3748.056,543.927,1450.684,84.827,0.000,1306.309,0.000,1410.537,720.000,0.532,0.000
$DEVICE_MAMPS,306.800,101.244,1020.110,773.903,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,601.926,563.784,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150336
$DATA_FILE_SIZE,31630,827
$CAP_FILE_SIZE,103110,0
$CFSIZE,260165632,250589184
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.4
$CURRENT,0.180,286.1,1
$GPS,181009,144044,6701.267,-5742.025,10,1.7,10,-37.8