version: 66.06
glider: 143
mission: 8
dive: 7
start: 10 11 109 0 52 15
data:
$ID,143
$MISSION,8
$DIVE,7
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$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,330
$T_MISSION,400
$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,-18885.801
$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,17
$R_STBD_OVSHOOT,16
$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
$GPS1,004801,6642.429,-6012.185,11,1.3,11,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-66.0
$GPS2,005156,6642.395,-6012.104,11,1.5,11,-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,306.2,22645,-18.3,-10.000
$D_GRID,549
$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,-146.0,0.0,0.0,0,112,0.00,0.00,-94.90,0.000,2,0.000,0.000,125,2316,2728,0,0,0,0,0,0
$GC,115,-1.05,-146.0,3.1,-5.2,18,153,10.07,2.80,-19.88,0.000,4,0.319,0.123,2125,3886,3398,0,0,0,0,0,0
$GC,406,-0.80,-146.0,62.5,-18.7,70,413,0.38,2.67,0.00,0.000,6,0.226,0.081,2213,2295,3400,0,0,0,0,0,0
$GC,754,-0.80,-146.0,105.1,-11.7,128,758,0.00,2.80,0.00,0.000,4,0.000,0.110,2214,3892,3402,0,0,0,0,0,0
$GC,1010,-0.80,-146.0,134.5,-11.0,150,1018,0.00,2.67,0.00,0.000,6,0.000,0.081,2214,2286,3402,0,0,0,0,0,0
$GC,1336,-0.87,-146.0,169.3,-10.8,181,1340,0.00,2.80,0.00,0.000,4,0.000,0.111,2214,3891,3401,0,0,0,0,0,0
$GC,1592,-0.97,-146.0,197.5,-10.9,203,1599,0.15,2.62,0.00,0.000,6,0.117,0.082,2164,2301,3401,0,0,0,0,0,0
$GC,1917,-0.91,-146.0,238.7,-13.3,234,1922,0.00,2.78,0.00,0.000,4,0.000,0.112,2164,3893,3401,0,0,0,0,0,0
$GC,2174,-0.86,-146.0,273.0,-12.8,256,2181,0.15,2.62,0.00,0.000,6,0.233,0.084,2196,2308,3401,0,0,0,0,0,0
$GC,2500,-0.91,-146.0,307.1,-10.9,287,2504,0.00,2.67,0.00,0.000,4,0.000,0.106,2196,717,3400,0,0,0,0,0,0
$GC,2595,-0.96,-146.0,317.1,-10.7,295,2600,0.00,2.70,0.00,0.000,6,0.000,0.097,2196,2326,3400,0,0,0,0,0,0
$GC,2920,-1.03,-146.0,350.2,-10.4,325,2925,0.15,2.70,0.00,0.000,4,0.110,0.114,2141,3886,3400,0,0,0,0,0,0
$GC,3177,-0.93,-146.0,383.5,-12.6,347,3184,0.15,2.58,0.00,0.000,6,0.235,0.083,2172,2324,3399,0,0,0,0,0,0
$GC,3502,-0.93,-146.0,420.3,-11.0,378,3506,0.00,2.70,0.00,0.000,4,0.000,0.104,2172,706,3399,0,0,0,0,0,0
$GC,3585,-0.93,-146.0,429.9,-11.7,385,3590,0.00,2.78,0.00,0.000,6,0.000,0.096,2172,2372,3399,0,0,0,0,0,0
$GC,3911,-0.93,-146.0,462.8,-10.1,415,3915,0.00,2.60,0.00,0.000,4,0.000,0.114,2172,3888,3399,0,0,0,0,0,0
$GC,4167,-0.93,-146.0,491.4,-11.5,437,4174,0.00,2.50,0.00,0.000,6,0.000,0.080,2172,2353,3400,0,0,0,0,0,0
$GC,4493,-0.93,-146.0,525.1,-9.9,468,4497,0.00,2.72,0.00,0.000,4,0.000,0.100,2172,708,3400,0,0,0,0,0,0
$GC,4603,-0.93,-146.0,538.1,-11.6,477,4609,0.00,2.72,0.00,0.000,6,0.000,0.091,2172,2365,3400,0,0,0,0,0,0
$STATE,4714,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4714,begin apogee
$GC,4718,-0.24,0.0,549.1,9.7,488,4841,0.80,0.00,118.40,1.145,6,0.197,0.000,2394,2093,2800,0,0,0,0,0,0
$STATE,4842,end apogee,CONTROL_FINISHED_OK
$STATE,4842,begin climb
$GC,4844,1.05,146.0,552.1,0.0,500,4978,1.42,2.97,122.38,1.104,4,0.140,0.104,2819,523,2203,0,0,0,0,0,0
$GC,5230,0.57,146.0,496.9,17.9,535,5237,0.60,2.72,0.00,0.000,6,0.237,0.087,2669,2102,2195,0,0,0,0,0,0
$GC,5555,0.57,146.0,462.0,10.1,566,5559,0.00,2.75,0.00,0.000,4,0.000,0.103,2679,518,2193,0,0,0,0,0,0
$GC,5721,0.57,146.0,444.1,10.7,580,5728,0.00,2.67,0.00,0.000,6,0.000,0.087,2679,2102,2193,0,0,0,0,0,0
$GC,6048,0.57,146.0,410.3,11.0,611,6053,0.00,2.72,0.00,0.000,4,0.000,0.103,2690,512,2192,0,0,0,0,0,0
$GC,6306,0.51,146.0,380.4,11.3,633,6313,0.20,2.65,0.00,0.000,6,0.206,0.089,2643,2098,2192,0,0,0,0,0,0
$GC,6631,0.63,187.7,352.1,8.1,664,6673,0.12,2.83,32.65,0.985,4,0.131,0.104,2693,527,2033,0,0,0,0,0,0
$GC,6925,0.63,187.7,317.9,12.4,690,6932,0.00,2.67,0.00,0.000,6,0.000,0.090,2693,2102,2029,0,0,0,0,0,0
$GC,7250,0.63,187.7,283.9,10.2,721,7254,0.00,2.75,0.00,0.000,4,0.000,0.104,2705,515,2028,0,0,0,0,0,0
$GC,7506,0.63,187.7,254.9,11.8,743,7512,0.00,2.65,0.00,0.000,6,0.000,0.091,2705,2095,2028,0,0,0,0,0,0
$GC,7831,0.63,187.7,219.8,10.7,774,7835,0.00,2.67,0.00,0.000,4,0.000,0.104,2716,521,2028,0,0,0,0,0,0
$GC,8027,0.63,187.7,197.8,10.6,791,8032,0.12,2.62,0.00,0.000,6,0.216,0.091,2690,2094,2028,0,0,0,0,0,0
$GC,8351,0.70,238.6,169.6,7.7,821,8398,0.00,2.78,40.85,0.900,4,0.000,0.102,2700,516,1826,0,0,0,0,0,0
$GC,8444,0.77,250.6,161.5,9.4,829,8461,0.00,2.70,11.02,0.834,6,0.000,0.088,2700,2088,1777,0,0,0,0,0,0
$GC,8779,0.87,253.1,130.3,9.9,860,8784,0.17,2.75,0.00,0.000,4,0.114,0.105,2769,515,1772,0,0,0,0,0,0
$GC,8903,0.79,253.1,113.7,14.4,870,8910,0.15,2.67,0.00,0.000,6,0.216,0.091,2738,2091,1771,0,0,0,0,0,0
$GC,9238,0.79,253.1,77.1,10.1,920,9243,0.00,2.70,0.00,0.000,4,0.000,0.106,2747,518,1770,0,0,0,0,0,0
$GC,9373,0.79,253.1,63.0,10.1,944,9378,0.00,2.62,0.00,0.000,6,0.000,0.091,2747,2081,1770,0,0,0,0,0,0
$GC,9716,0.84,296.6,30.9,8.0,1005,9762,0.00,2.83,36.80,0.840,4,0.000,0.107,2758,520,1588,0,0,0,0,0,0
$STATE,10014,end climb,SURFACE_DEPTH_REACHED
$STATE,10014,begin surface coast
$FINISH,1.1,1.025099
$STATE,10037,end surface coast,CONTROL_FINISHED_OK
$STATE,10037,begin surface
$SM_CCo,10056,58.03,0.811,0,0,1169,400.08
$SM_GC,1.71,0.00,0.00,58.03,0.000,0.000,0.811,124,2308,1169,-7.36,0.23,400.08
$RAFOS_CLK,765
$RAFOS,1,1255220041,0.250000,0.233611,50,44,44,0,0,0,1013,180,1240,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6006.54,050199,000022
$TT8_MAMPS,0.026845
$HUMID,56.69
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,16.40
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,401.2,176.4
$24V_AH,23.3,4.807
$10V_AH,10.3,1.532
$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,22.475,103.775,362.100,58.025,0.000,0.000,0.000,0.000,1.750,0.000,12.750,1911.289,5630.012,540.443,1994.153,111.773,0.000,1556.878,0.000,1959.513,0.000,5.886,0.000
$DEVICE_MAMPS,319.072,122.720,1145.131,810.719,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,777.024,731.379,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151388
$DATA_FILE_SIZE,41041,1063
$CAP_FILE_SIZE,138137,0
$CFSIZE,260165632,250343424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.0
$CURRENT,0.395,174.6,1
$GPS,111009,034207,6640.967,-6013.219,34,1.2,34,-38.0