version: 66.06
glider: 143
mission: 8
dive: 3
start: 10 10 109 17 58 17
data:
$ID,143
$MISSION,8
$DIVE,3
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,75
$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,450
$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,-18640.561
$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,24
$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,2200
$C_ROLL_CLIMB,2102
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,17
$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
$GPS1,175316,6644.251,-6007.460,12,3.2,31,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-59.9
$GPS2,175758,6644.205,-6007.534,13,2.1,32,-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,299.1,26300,-18.3,-10.000
$D_GRID,585
$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,-0.94,-146.0,0.0,0.0,0,166,0.00,0.00,-146.93,0.000,2,0.000,0.000,124,2208,2963,0,0,0,0,0,0
$GC,168,-0.94,-146.0,3.6,-8.8,28,196,9.82,2.38,-10.62,0.000,4,0.310,0.113,2161,3610,3398,0,0,0,0,0,0
$GC,451,-0.77,-146.0,59.2,-17.9,78,457,0.28,2.30,0.00,0.000,6,0.211,0.078,2227,2201,3400,0,0,0,0,0,0
$GC,795,-0.84,-146.0,99.5,-10.1,139,800,0.00,2.38,0.00,0.000,4,0.000,0.101,2227,3610,3401,0,0,0,0,0,0
$GC,1055,-0.94,-146.0,126.6,-10.5,163,1060,0.17,2.30,0.00,0.000,6,0.104,0.080,2166,2198,3401,0,0,0,0,0,0
$STATE,1241,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1241,begin apogee
$GC,1246,-0.21,0.0,151.4,13.2,180,1362,0.85,0.00,112.75,0.883,6,0.199,0.000,2402,2093,2800,0,0,0,0,0,0
$STATE,1363,end apogee,CONTROL_FINISHED_OK
$STATE,1363,begin climb
$GC,1365,0.94,146.0,155.8,0.0,192,1491,1.25,2.53,115.47,0.861,4,0.134,0.099,2787,690,2203,0,0,0,0,0,0
$GC,1744,0.67,152.6,127.4,9.7,226,1754,0.35,2.38,4.78,0.650,6,0.212,0.087,2703,2101,2178,0,0,0,0,0,0
$GC,2073,0.79,249.0,106.3,5.6,257,2156,0.00,2.53,76.15,0.837,4,0.000,0.100,2711,693,1783,0,0,0,0,0,0
$GC,2410,0.90,271.6,77.5,9.0,309,2438,0.17,2.38,17.85,0.806,6,0.112,0.088,2769,2099,1690,0,0,0,0,0,0
$GC,2776,0.94,303.1,41.1,8.6,374,2808,0.00,2.47,25.12,0.810,4,0.000,0.104,2778,693,1563,0,0,0,0,0,0
$GC,3061,0.94,303.1,10.6,12.2,425,3067,0.00,2.40,0.00,0.000,6,0.000,0.091,2779,2114,1556,0,0,0,0,0,0
$STATE,3138,end climb,SURFACE_DEPTH_REACHED
$STATE,3138,begin surface coast
$FINISH,0.4,1.012722
$STATE,3157,end surface coast,CONTROL_FINISHED_OK
$STATE,3157,begin surface
$SM_CCo,3173,71.88,0.762,0,0,964,450.13
$SM_GC,1.18,0.00,0.00,71.88,0.000,0.000,0.762,125,2205,964,-7.36,0.17,450.13
$RAFOS_CLK,327
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6008.55,040199,171757
$TT8_MAMPS,0.027612
$HUMID,62.71
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.40
$XPDR_PINGS,3
$24V_AH,23.9,4.260
$10V_AH,10.3,1.324
$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,20.750,24.350,352.125,71.875,0.000,0.000,0.000,0.000,0.750,0.000,34.643,718.415,1310.723,502.019,767.987,42.699,0.000,938.445,0.000,735.224,0.000,0.991,0.000
$DEVICE_MAMPS,309.868,131.157,882.817,761.631,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,317.334,294.628,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151464
$DATA_FILE_SIZE,15902,442
$CAP_FILE_SIZE,80470,0
$CFSIZE,260165632,250634240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1445.0
$CURRENT,0.307,212.8,1
$GPS,101009,185334,6644.035,-6008.823,9,4.1,28,-38.0