version: 66.06
glider: 143
mission: 7
dive: 6
start: 8 27 109 0 53 34
data:
$ID,143
$MISSION,7
$DIVE,6
$D_SURF,2
$D_FLARE,3
$D_TGT,100
$D_ABORT,130
$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,40
$T_MISSION,80
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$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,1.023
$MASS,50964
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,500
$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,-17619.4
$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,2500
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,50
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,290
$ROLL_MAX,3915
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,5
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,442
$VBD_MAX,3793
$C_VBD,3063
$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,-23.51395
$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,7
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,70
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,004856,4806.326,-12223.466,12,1.6,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-66.7
$GPS2,005244,4806.318,-12223.484,10,1.7,10,18.3
$SPEED_LIMITS,0.144,0.245
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.239,-0.053
$KALMAN_X,-488.4,-355.8,-325.7,714.3,-75.3
$KALMAN_Y,-46.8,-31.7,-28.4,-515.8,-6.3
$MHEAD_RNG_PITCHd_Wd,84.2,1928,-15.5,-8.333
$D_GRID,52
$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,-0.75,-146.6,0.0,0.0,0,128,0.00,0.00,-109.70,0.000,2,0.000,0.000,121,2187,3256,0,0,0,0,0,0
$GC,131,-0.75,-146.6,3.8,-6.5,22,158,9.32,2.17,-8.65,0.000,4,0.279,0.077,2251,794,3663,0,0,0,0,0,0
$GC,349,-0.75,-146.6,34.9,-13.4,61,355,0.00,2.12,0.00,0.000,6,0.000,0.048,2251,2217,3665,0,0,0,0,0,0
$GC,422,-0.75,-146.6,44.5,-13.3,74,428,0.00,2.12,0.00,0.000,4,0.000,0.061,2251,3607,3665,0,0,0,0,0,0
$GC,467,-0.75,-146.6,50.4,-13.0,82,472,0.00,2.08,0.00,0.000,6,0.000,0.048,2251,2219,3665,0,0,0,0,0,0
$STATE,482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,482,begin apogee
$GC,486,-0.19,0.0,52.6,12.5,85,599,0.60,0.00,103.95,0.611,6,0.160,0.000,2435,2218,3062,0,0,0,0,0,0
$STATE,600,end apogee,CONTROL_FINISHED_OK
$STATE,600,begin climb
$GC,601,0.75,146.6,57.9,0.0,107,714,0.93,0.00,105.57,0.609,6,0.113,0.000,2735,2218,2465,0,0,0,0,0,0
$GC,782,0.77,162.5,50.9,7.7,141,803,0.00,2.30,12.85,0.535,4,0.000,0.064,2745,801,2400,0,0,0,0,0,0
$GC,849,0.77,162.5,44.9,9.2,153,855,0.00,2.10,0.00,0.000,6,0.000,0.047,2745,2172,2400,0,0,0,0,0,0
$GC,924,0.77,162.5,38.2,9.3,166,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2171,2398,0,0,0,0,0,0
$GC,996,0.77,162.5,31.5,9.1,179,1001,0.00,2.15,0.00,0.000,4,0.000,0.064,2754,792,2398,0,0,0,0,0,0
$GC,1076,0.77,162.5,24.2,9.6,193,1081,0.00,2.08,0.00,0.000,6,0.000,0.048,2755,2162,2398,0,0,0,0,0,0
$GC,1150,0.77,162.5,17.4,9.0,206,1155,0.00,2.12,0.00,0.000,4,0.000,0.064,2765,789,2398,0,0,0,0,0,0
$GC,1166,0.77,162.5,15.8,9.1,209,1172,0.00,2.05,0.00,0.000,6,0.000,0.048,2765,2148,2398,0,0,0,0,0,0
$GC,1239,0.77,162.5,9.1,8.7,222,1245,0.00,2.10,0.00,0.000,4,0.000,0.064,2775,786,2397,0,0,0,0,0,0
$GC,1301,0.81,193.5,4.3,7.1,233,1332,0.00,2.03,22.10,0.568,6,0.000,0.048,2775,2134,2272,0,0,0,0,0,0
$GC,1401,1.11,439.3,3.0,-1.1,251,1452,0.25,0.00,48.60,0.569,2,0.081,0.000,2874,2134,1855,0,0,0,0,0,0
$STATE,1453,end climb,SURFACE_DEPTH_REACHED
$STATE,1453,begin surface coast
$FINISH,0.1,1.018451
$STATE,1520,end surface coast,CONTROL_FINISHED_OK
$STATE,1520,begin surface
$SM_CCo,1536,90.57,0.563,0,0,1023,500.17
$SM_GC,1.05,0.00,0.00,90.57,0.000,0.000,0.563,121,2198,1023,-7.43,-0.06,500.17
$RAFOS_CLK,495
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12223.57,211198,000011
$TT8_MAMPS,0.027612
$HUMID,1078579990
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,20.30
$XPDR_PINGS,0
$24V_AH,24.8,1.845
$10V_AH,10.7,0.578
$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,18.800,25.500,293.075,90.575,0.000,0.000,0.000,0.000,0.000,0.000,12.378,390.890,422.101,446.380,404.084,38.810,31.416,741.685,0.000,402.953,0.000,1.003,0.000
$DEVICE_MAMPS,279.188,124.254,611.299,562.978,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,180.643,188.075,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,264248
$DATA_FILE_SIZE,9590,273
$CAP_FILE_SIZE,92784,0
$CFSIZE,260165632,257191936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1487.5
$GPS,270809,012200,4806.225,-12223.472,32,1.2,36,18.3