version: 66.06
glider: 143
mission: 9
dive: 3
start: 10 18 109 14 45 36
data:
$ID,143
$MISSION,9
$DIVE,3
$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,-22171.002
$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,24
$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
$GPS1,144044,6701.267,-5742.025,10,1.7,10,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-60.0
$GPS2,144514,6701.305,-5741.950,10,1.7,10,-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,137.3,39086,-18.3,-10.000
$D_GRID,855
$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,-146.0,0.0,0.0,0,137,0.00,0.00,-119.40,0.000,2,0.000,0.000,126,2284,3105,0,0,0,0,0,0
$GC,141,-1.05,-146.0,3.9,-9.3,23,164,10.18,2.88,-7.35,0.000,4,0.320,0.112,2132,3886,3398,0,0,0,0,0,0
$GC,187,-0.46,-146.0,17.5,-23.1,31,194,0.77,2.65,0.00,0.000,6,0.219,0.071,2328,2298,3400,0,0,0,0,0,0
$GC,532,-0.76,-146.0,43.7,-7.1,92,538,0.25,2.65,0.00,0.000,4,0.084,0.093,2232,717,3402,0,0,0,0,0,0
$GC,790,-0.76,-146.0,73.4,-11.2,138,797,0.00,2.62,0.00,0.000,6,0.000,0.080,2232,2315,3402,0,0,0,0,0,0
$GC,1129,-0.76,-146.0,110.3,-10.0,190,1133,0.00,2.67,0.00,0.000,4,0.000,0.093,2232,706,3403,0,0,0,0,0,0
$GC,1190,-0.76,-146.0,117.0,-11.4,195,1195,0.00,2.62,0.00,0.000,6,0.000,0.080,2232,2314,3403,0,0,0,0,0,0
$GC,1514,-0.76,-146.0,149.8,-10.7,225,1518,0.00,2.65,0.00,0.000,4,0.000,0.098,2232,3891,3404,0,0,0,0,0,0
$GC,1523,-0.76,-146.0,150.8,-10.8,225,1529,0.00,2.50,0.00,0.000,6,0.000,0.071,2232,2371,3403,0,0,0,0,0,0
$GC,1848,-0.82,-146.0,185.1,-10.5,256,1853,0.00,2.55,0.00,0.000,4,0.000,0.098,2232,3885,3402,0,0,0,0,0,0
$GC,1858,-0.88,-146.0,186.3,-10.3,256,1865,0.10,2.47,0.00,0.000,6,0.132,0.072,2198,2361,3402,0,0,0,0,0,0
$GC,2183,-0.88,-146.0,223.6,-11.6,287,2188,0.00,2.58,0.00,0.000,4,0.000,0.099,2198,3887,3402,0,0,0,0,0,0
$GC,2193,-0.82,-146.0,224.8,-11.5,287,2199,0.00,2.45,0.00,0.000,6,0.000,0.072,2198,2366,3402,0,0,0,0,0,0
$GC,2517,-0.82,-146.0,261.3,-11.3,318,2522,0.00,2.72,0.00,0.000,4,0.000,0.095,2198,713,3402,0,0,0,0,0,0
$GC,2527,-0.78,-146.0,262.4,-11.6,318,2535,0.12,2.72,0.00,0.000,6,0.235,0.080,2223,2387,3401,0,0,0,0,0,0
$GC,2852,-0.83,-146.0,294.0,-9.7,349,2857,0.00,2.78,0.00,0.000,4,0.000,0.094,2224,706,3402,0,0,0,0,0,0
$GC,3108,-0.83,-146.0,321.0,-10.5,371,3115,0.00,2.72,0.00,0.000,6,0.000,0.081,2224,2384,3401,0,0,0,0,0,0
$GC,3434,-0.90,-146.0,352.5,-9.8,402,3438,0.00,2.75,0.00,0.000,4,0.000,0.092,2223,708,3401,0,0,0,0,0,0
$STATE,3504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3504,begin apogee
$GC,3511,-0.24,0.0,360.3,11.0,408,3632,0.57,0.00,116.72,1.027,6,0.188,0.000,2392,2104,2799,0,0,0,0,0,0
$STATE,3633,end apogee,CONTROL_FINISHED_OK
$STATE,3633,begin climb
$GC,3634,1.05,146.0,365.6,0.0,420,3763,1.40,2.88,118.85,0.975,4,0.137,0.089,2806,3686,2202,0,0,0,0,0,0
$GC,4015,0.70,146.0,311.8,17.9,454,4023,0.45,2.67,0.00,0.000,6,0.212,0.074,2710,2106,2192,0,0,0,0,0,0
$GC,4340,0.70,146.0,272.3,11.8,485,4344,0.00,2.70,0.00,0.000,4,0.000,0.091,2709,3686,2191,0,0,0,0,0,0
$GC,4596,0.63,146.0,239.4,12.3,507,4603,0.15,2.65,0.00,0.000,6,0.199,0.075,2685,2086,2190,0,0,0,0,0,0
$GC,4921,0.75,167.6,208.6,9.0,538,4946,0.12,2.83,16.52,0.886,4,0.119,0.091,2724,3694,2115,0,0,0,0,0,0
$GC,5200,0.66,167.6,176.2,12.4,563,5205,0.17,2.67,0.00,0.000,6,0.203,0.075,2696,2081,2111,0,0,0,0,0,0
$GC,5524,0.80,197.9,147.1,8.6,593,5557,0.12,2.78,25.38,0.870,4,0.118,0.091,2737,3689,1991,0,0,0,0,0,0
$GC,5808,0.80,197.9,111.1,13.9,618,5816,0.00,2.67,0.00,0.000,6,0.000,0.076,2749,2078,1985,0,0,0,0,0,0
$GC,6146,0.80,197.9,72.6,11.2,670,6152,0.00,2.72,0.00,0.000,4,0.000,0.094,2749,3689,1985,0,0,0,0,0,0
$GC,6405,0.71,197.9,40.5,12.1,716,6412,0.20,2.65,0.00,0.000,6,0.198,0.077,2713,2076,1984,0,0,0,0,0,0
$GC,6750,0.92,271.5,13.0,6.6,777,6819,0.20,2.88,58.62,0.813,4,0.098,0.093,2782,3685,1691,0,0,0,0,0,0
$STATE,6847,end climb,SURFACE_DEPTH_REACHED
$STATE,6847,begin surface coast
$FINISH,0.4,1.003691
$STATE,6859,end surface coast,CONTROL_FINISHED_OK
$STATE,6859,begin surface
$SM_CCo,6877,79.10,0.768,0,0,1168,400.08
$SM_GC,1.15,0.00,0.00,79.10,0.000,0.000,0.768,130,2297,1168,-7.34,-0.08,400.08
$RAFOS_CLK,454
$RAFOS,4,1255883585,16.566668,16.551390,57,45,44,0,0,0,1191,1552,1778,0,0,0
$RAFOS,3,1255883106,16.433332,16.418333,41,41,41,0,0,0,433,966,1449,0,0,0
$RAFOS,2,1255882626,16.299999,16.285000,47,44,42,0,0,0,180,104,952,0,0,0
$RAFOS,1,1255882142,16.166666,16.150555,42,41,40,0,0,0,1263,253,170,0,0,0
$RAFOS,0,1255881664,16.033333,16.017778,47,42,41,0,0,0,245,1395,1115,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5736.37,120199,121223
$TT8_MAMPS,0.027612
$HUMID,53.42
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,16.40
$XPDR_PINGS,4
$24V_AH,23.6,13.470
$10V_AH,10.2,5.438
$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,22.675,79.800,336.100,79.100,0.000,28.584,30.818,111.952,1.000,0.000,11.840,1386.322,3660.439,527.558,1381.527,277.348,0.000,1265.118,0.000,1359.666,1800.000,0.529,0.000
$DEVICE_MAMPS,319.839,111.982,1027.013,767.767,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,578.906,544.164,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150284
$DATA_FILE_SIZE,31614,797
$CAP_FILE_SIZE,89674,0
$CFSIZE,260165632,250552320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.2
$CURRENT,0.020,183.4,1
$GPS,181009,164255,6701.741,-5742.617,38,1.5,38,-37.8