version: 66.06
glider: 143
mission: 7
dive: 15
start: 8 27 109 5 50 11
data:
$ID,143
$MISSION,7
$DIVE,15
$D_SURF,2
$D_FLARE,3
$D_TGT,100
$D_ABORT,200
$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,35
$T_MISSION,50
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$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,380
$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,-17792.773
$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,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,5
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,26
$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,30
$ALTIM_PING_DELTA,10
$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
$GPS1,054510,4806.176,-12223.233,7,2.1,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-70.0
$GPS2,054922,4806.154,-12223.229,14,99.0,33,18.3
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.070,0.247
$KALMAN_X,-1510.3,-705.2,-148.5,2209.4,65.4
$KALMAN_Y,-909.2,-270.8,-53.9,308.3,-227.8
$MHEAD_RNG_PITCHd_Wd,325.9,3550,-17.5,-9.524
$D_GRID,100
$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,-0.83,-146.6,0.0,0.0,0,124,0.00,0.00,-105.62,0.000,2,0.000,0.000,120,2396,2965,0,0,0,0,0,0
$GC,127,-0.83,-146.6,3.6,-7.3,21,159,9.60,2.28,-14.50,0.000,4,0.288,0.084,2228,3813,3662,0,0,0,0,0,0
$GC,411,-0.83,-146.6,48.1,-14.1,72,417,0.00,2.15,0.00,0.000,6,0.000,0.048,2229,2401,3665,0,0,0,0,0,0
$GC,484,-0.83,-146.6,58.3,-14.1,85,489,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2400,3665,0,0,0,0,0,0
$GC,556,-0.83,-146.6,68.4,-14.0,98,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2401,3665,0,0,0,0,0,0
$GC,628,-0.83,-146.6,78.6,-14.1,111,634,0.00,2.25,0.00,0.000,4,0.000,0.067,2229,3813,3665,0,0,0,0,0,0
$GC,696,-0.83,-146.6,88.0,-13.7,123,701,0.00,2.15,0.00,0.000,6,0.000,0.048,2229,2396,3665,0,0,0,0,0,0
$GC,770,-0.83,-146.6,98.6,-13.8,136,775,0.00,2.22,0.00,0.000,4,0.000,0.067,2229,3811,3666,0,0,0,0,0,0
$STATE,783,end dive,TARGET_DEPTH_EXCEEDED
$STATE,783,begin apogee
$GC,790,-0.19,0.0,100.1,13.7,138,903,0.70,0.00,106.22,0.669,6,0.173,0.000,2436,2190,3062,0,0,0,0,0,0
$STATE,903,end apogee,CONTROL_FINISHED_OK
$STATE,904,begin climb
$GC,905,0.83,146.6,102.4,0.0,160,1024,1.00,2.30,107.68,0.648,4,0.101,0.065,2775,792,2464,0,0,0,0,0,0
$GC,1052,0.99,275.0,100.4,3.9,188,1155,0.12,2.25,96.05,0.636,6,0.105,0.047,2820,2216,1941,0,0,0,0,0,0
$GC,1223,0.99,275.0,85.2,12.0,220,1229,0.00,2.25,0.00,0.000,4,0.000,0.065,2820,3609,1936,0,0,0,0,0,0
$GC,1234,0.99,275.0,83.7,11.9,222,1240,0.00,2.25,0.00,0.000,6,0.000,0.052,2831,2196,1936,0,0,0,0,0,0
$GC,1307,0.99,275.0,74.2,12.9,235,1313,0.00,2.22,0.00,0.000,4,0.000,0.064,2841,774,1935,0,0,0,0,0,0
$GC,1358,0.99,275.0,67.1,14.2,244,1363,0.00,2.17,0.00,0.000,6,0.000,0.052,2841,2174,1935,0,0,0,0,0,0
$GC,1431,0.99,275.0,56.5,14.7,257,1436,0.00,2.17,0.00,0.000,4,0.000,0.066,2851,794,1935,0,0,0,0,0,0
$GC,1487,0.99,275.0,48.2,15.0,267,1493,0.15,2.10,0.00,0.000,6,0.196,0.051,2817,2154,1935,0,0,0,0,0,0
$GC,1561,0.99,275.0,38.3,12.8,280,1566,0.00,2.12,0.00,0.000,4,0.000,0.064,2825,792,1934,0,0,0,0,0,0
$GC,1600,0.99,275.0,33.2,13.1,287,1605,0.00,2.05,0.00,0.000,6,0.000,0.051,2825,2133,1934,0,0,0,0,0,0
$GC,1673,0.99,275.0,23.9,12.8,300,1678,0.00,2.10,0.00,0.000,4,0.000,0.066,2835,786,1934,0,0,0,0,0,0
$GC,1712,0.99,275.0,18.6,13.3,307,1717,0.00,2.05,0.00,0.000,6,0.000,0.051,2835,2129,1934,0,0,0,0,0,0
$GC,1785,0.99,275.0,8.1,15.5,320,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2129,1934,0,0,0,0,0,0
$STATE,1838,end climb,SURFACE_DEPTH_REACHED
$STATE,1839,begin surface coast
$FINISH,0.5,1.019783
$STATE,1857,end surface coast,CONTROL_FINISHED_OK
$STATE,1857,begin surface
$SM_CCo,1873,52.38,0.598,0,0,1512,380.21
$SM_GC,2.09,0.00,0.00,52.38,0.000,0.000,0.598,124,2411,1512,-7.43,0.31,380.21
$RAFOS_CLK,90
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12221.84,211198,050549
$TT8_MAMPS,0.026845
$HUMID,1078578700
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,20.10
$XPDR_PINGS,3
$24V_AH,24.5,2.510
$10V_AH,10.6,0.756
$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,19.150,40.050,309.950,52.375,0.000,25.875,28.941,86.200,3.250,0.000,36.472,478.432,541.854,435.440,521.902,207.458,33.331,782.378,0.000,486.450,0.000,18.603,0.000
$DEVICE_MAMPS,288.392,83.603,668.824,598.260,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,220.910,235.250,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,264524
$DATA_FILE_SIZE,12780,333
$CAP_FILE_SIZE,46559,0
$CFSIZE,260165632,256987136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1485.0
$GPS,270809,062308,4806.305,-12223.388,8,1.8,8,18.3