version: 66.06
glider: 143
mission: 8
dive: 6
start: 10 10 109 22 45 54
data:
$ID,143
$MISSION,8
$DIVE,6
$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,-18759.998
$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,15
$R_STBD_OVSHOOT,18
$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
$GPS1,224038,6643.243,-6012.254,27,1.0,28,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-65.0
$GPS2,224532,6643.228,-6012.247,11,1.3,11,-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,347.2,22643,-18.3,-10.000
$D_GRID,550
$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,15,-1.05,-146.0,0.0,0.0,0,117,0.00,0.00,-98.22,0.000,2,0.000,0.000,123,2309,2713,0,0,0,0,0,0
$GC,119,-1.05,-146.0,3.1,-4.6,19,156,10.25,2.50,-20.00,0.000,4,0.320,0.124,2132,3707,3398,0,0,0,0,0,0
$GC,411,-0.84,-146.0,61.7,-17.5,71,417,0.30,2.40,0.00,0.000,6,0.222,0.083,2204,2284,3401,0,0,0,0,0,0
$GC,752,-0.84,-146.0,105.7,-12.0,128,756,0.00,2.50,0.00,0.000,4,0.000,0.110,2204,3714,3402,0,0,0,0,0,0
$GC,1008,-0.84,-146.0,136.4,-11.8,150,1015,0.00,2.40,0.00,0.000,6,0.000,0.083,2204,2299,3402,0,0,0,0,0,0
$GC,1333,-0.89,-146.0,173.9,-12.2,181,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2299,3402,0,0,0,0,0,0
$GC,1653,-0.95,-146.0,212.5,-11.2,211,1658,0.00,2.45,0.00,0.000,4,0.000,0.113,2204,3707,3402,0,0,0,0,0,0
$GC,1806,-1.04,-146.0,228.9,-10.8,224,1811,0.17,2.35,0.00,0.000,6,0.109,0.086,2145,2299,3401,0,0,0,0,0,0
$GC,2131,-0.92,-146.0,273.9,-14.0,254,2133,0.15,0.00,0.00,0.000,6,0.228,0.000,2177,2299,3401,0,0,0,0,0,0
$STATE,2341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2341,begin apogee
$GC,2346,-0.24,0.0,300.2,12.1,274,2466,0.80,0.00,116.00,1.022,6,0.204,0.000,2395,2097,2799,0,0,0,0,0,0
$STATE,2466,end apogee,CONTROL_FINISHED_OK
$STATE,2466,begin climb
$GC,2468,1.05,146.0,305.6,0.0,286,2596,1.45,0.00,119.90,0.975,6,0.147,0.000,2810,2097,2203,0,0,0,0,0,0
$GC,2913,0.71,146.0,259.6,12.2,329,2918,0.40,2.47,0.00,0.000,4,0.233,0.106,2722,686,2192,0,0,0,0,0,0
$GC,3037,0.61,161.5,247.1,9.3,339,3056,0.17,2.45,11.75,0.881,6,0.219,0.094,2680,2108,2140,0,0,0,0,0,0
$GC,3381,0.68,216.2,221.0,7.5,372,3432,0.00,2.58,44.78,0.920,4,0.000,0.106,2689,692,1918,0,0,0,0,0,0
$GC,3528,0.75,226.5,207.8,9.5,385,3545,0.00,2.45,9.20,0.835,6,0.000,0.091,2689,2098,1875,0,0,0,0,0,0
$GC,3862,0.84,226.5,175.3,10.0,417,3867,0.20,2.47,0.00,0.000,4,0.112,0.107,2764,691,1871,0,0,0,0,0,0
$GC,4052,0.74,226.5,151.0,13.2,433,4059,0.20,2.38,0.00,0.000,6,0.218,0.097,2720,2079,1870,0,0,0,0,0,0
$GC,4378,0.80,232.1,117.8,9.7,464,4389,0.00,2.38,5.53,0.764,4,0.000,0.107,2728,689,1853,0,0,0,0,0,0
$GC,4394,0.80,232.1,115.8,10.2,465,4400,0.00,2.38,0.00,0.000,6,0.000,0.094,2728,2080,1852,0,0,0,0,0,0
$GC,4728,0.81,239.8,82.8,9.6,511,4744,0.00,2.47,7.65,0.817,4,0.000,0.110,2738,693,1821,0,0,0,0,0,0
$GC,4800,0.81,239.8,75.4,10.2,524,4806,0.00,2.35,0.00,0.000,6,0.000,0.097,2738,2067,1821,0,0,0,0,0,0
$GC,5143,0.87,248.6,41.8,9.6,585,5160,0.00,2.45,8.73,0.821,4,0.000,0.110,2748,693,1786,0,0,0,0,0,0
$GC,5412,0.93,297.5,16.7,7.8,633,5459,0.00,2.33,40.22,0.836,6,0.000,0.097,2748,2062,1587,0,0,0,0,0,0
$STATE,5564,end climb,SURFACE_DEPTH_REACHED
$STATE,5564,begin surface coast
$FINISH,0.7,1.025186
$STATE,5582,end surface coast,CONTROL_FINISHED_OK
$STATE,5582,begin surface
$SM_CCo,5598,58.20,0.785,0,0,1168,400.08
$SM_GC,1.83,0.00,0.00,58.20,0.000,0.000,0.785,130,2313,1168,-7.34,0.37,400.08
$RAFOS_CLK,377
$RAFOS,0,1255219446,0.083333,0.068333,48,41,40,0,0,0,514,842,1752,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6015.98,040199,212141
$TT8_MAMPS,0.027612
$HUMID,59.21
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,16.30
$XPDR_PINGS,3
$24V_AH,23.5,4.649
$10V_AH,10.2,1.457
$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,21.975,44.550,363.750,58.200,0.000,30.616,32.348,136.401,0.750,0.000,12.822,1117.490,2951.377,509.887,1087.634,291.991,0.000,1099.186,0.000,1075.755,720.000,0.986,0.000
$DEVICE_MAMPS,319.839,124.254,1022.411,784.641,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,486.852,449.349,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152024
$DATA_FILE_SIZE,25295,664
$CAP_FILE_SIZE,72498,0
$CFSIZE,260165632,250474496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.9
$CURRENT,0.405,172.5,1
$GPS,111009,002122,6642.664,-6012.799,8,99.0,27,-38.0