version: 66.06
glider: 143
mission: 8
dive: 9
start: 10 11 109 6 49 30
data:
$ID,143
$MISSION,8
$DIVE,9
$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,-18931.332
$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,12
$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,0
$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
$GPS1,064055,6641.738,-6016.355,39,1.9,39,-38.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-66.8
$GPS2,064908,6641.621,-6016.626,10,1.7,10,-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,330.1,19333,-18.3,-10.000
$D_GRID,535
$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,-1.05,-146.0,0.0,0.0,0,111,0.00,0.00,-93.38,0.000,2,0.000,0.000,125,2311,2638,0,0,0,0,0,0
$GC,113,-1.05,-146.0,3.1,-3.1,18,156,10.60,2.83,-24.23,0.000,4,0.328,0.121,2133,3885,3397,0,0,0,0,0,0
$GC,409,-0.79,-146.0,60.4,-18.0,71,417,0.38,2.67,0.00,0.000,6,0.232,0.077,2221,2290,3400,0,0,0,0,0,0
$GC,759,-0.84,-146.0,102.9,-11.3,131,763,0.00,2.80,0.00,0.000,4,0.000,0.106,2221,3894,3401,0,0,0,0,0,0
$GC,1016,-0.94,-146.0,132.5,-10.8,153,1022,0.15,2.62,0.00,0.000,6,0.119,0.076,2175,2301,3401,0,0,0,0,0,0
$GC,1341,-0.94,-146.0,175.3,-13.4,184,1345,0.00,2.75,0.00,0.000,4,0.000,0.107,2174,3885,3401,0,0,0,0,0,0
$GC,1597,-0.94,-146.0,208.9,-12.9,206,1603,0.00,2.60,0.00,0.000,6,0.000,0.077,2174,2306,3400,0,0,0,0,0,0
$GC,1922,-0.94,-146.0,250.1,-13.0,237,1926,0.00,2.67,0.00,0.000,4,0.000,0.104,2174,714,3400,0,0,0,0,0,0
$GC,2010,-0.94,-146.0,261.9,-13.7,244,2016,0.00,2.80,0.00,0.000,6,0.000,0.093,2174,2382,3400,0,0,0,0,0,0
$GC,2335,-0.94,-146.0,299.9,-11.3,275,2339,0.00,2.60,0.00,0.000,4,0.000,0.112,2174,3892,3400,0,0,0,0,0,0
$GC,2591,-0.94,-146.0,328.3,-10.7,297,2597,0.00,2.53,0.00,0.000,6,0.000,0.079,2174,2378,3399,0,0,0,0,0,0
$GC,2917,-0.94,-146.0,364.8,-11.6,328,2918,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2378,3399,0,0,0,0,0,0
$GC,3236,-0.94,-146.0,400.7,-11.6,358,3240,0.00,2.60,0.00,0.000,4,0.000,0.110,2174,3885,3399,0,0,0,0,0,0
$GC,3492,-0.94,-146.0,430.8,-10.6,380,3498,0.00,2.47,0.00,0.000,6,0.000,0.077,2174,2362,3399,0,0,0,0,0,0
$GC,3817,-0.94,-146.0,463.9,-10.8,411,3821,0.00,2.72,0.00,0.000,4,0.000,0.100,2174,717,3399,0,0,0,0,0,0
$GC,3983,-0.94,-146.0,482.4,-11.6,425,3990,0.00,2.80,0.00,0.000,6,0.000,0.091,2174,2413,3399,0,0,0,0,0,0
$GC,4311,-0.94,-146.0,516.8,-9.9,456,4315,0.00,2.50,0.00,0.000,4,0.000,0.111,2174,3886,3400,0,0,0,0,0,0
$STATE,4487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4487,begin apogee
$GC,4495,-0.24,0.0,535.3,9.4,471,4621,0.80,0.00,118.72,1.142,6,0.207,0.000,2393,2095,2800,0,0,0,0,0,0
$STATE,4622,end apogee,CONTROL_FINISHED_OK
$STATE,4622,begin climb
$GC,4624,1.05,146.0,538.4,0.0,484,4752,1.42,0.00,123.18,1.097,6,0.142,0.000,2806,2095,2204,0,0,0,0,0,0
$GC,5070,0.65,146.0,477.2,16.1,527,5072,0.47,0.00,0.00,0.000,6,0.235,0.000,2697,2095,2195,0,0,0,0,0,0
$GC,5388,0.57,146.0,442.0,11.0,557,5393,0.12,2.70,0.00,0.000,4,0.241,0.100,2680,514,2193,0,0,0,0,0,0
$GC,5556,0.48,146.0,425.1,10.0,571,5563,0.17,2.65,0.00,0.000,6,0.206,0.084,2640,2099,2192,0,0,0,0,0,0
$GC,5881,0.62,180.5,396.5,8.4,602,5916,0.12,2.85,27.12,1.002,4,0.127,0.100,2691,516,2063,0,0,0,0,0,0
$GC,5982,0.62,180.5,385.1,11.3,611,5990,0.00,2.72,0.00,0.000,6,0.000,0.084,2691,2114,2060,0,0,0,0,0,0
$GC,6307,0.62,180.5,349.7,10.3,642,6312,0.00,2.75,0.00,0.000,4,0.000,0.100,2703,515,2059,0,0,0,0,0,0
$GC,6373,0.57,180.5,342.3,11.5,647,6380,0.15,2.65,0.00,0.000,6,0.207,0.086,2670,2091,2059,0,0,0,0,0,0
$GC,6698,0.67,203.8,313.3,8.9,678,6723,0.00,2.75,19.70,0.962,4,0.000,0.100,2679,515,1969,0,0,0,0,0,0
$GC,6786,0.74,203.8,304.6,10.4,685,6792,0.12,2.67,0.00,0.000,6,0.137,0.084,2718,2097,1967,0,0,0,0,0,0
$GC,7110,0.74,203.8,266.6,11.6,716,7114,0.00,2.70,0.00,0.000,4,0.000,0.100,2729,515,1965,0,0,0,0,0,0
$GC,7227,0.65,203.8,251.2,13.7,726,7233,0.15,2.65,0.00,0.000,6,0.212,0.087,2697,2094,1965,0,0,0,0,0,0
$GC,7552,0.66,210.5,215.6,9.7,756,7566,0.00,2.78,6.50,0.817,4,0.000,0.100,2707,509,1940,0,0,0,0,0,0
$GC,7622,0.66,210.5,208.6,10.1,762,7628,0.00,2.62,0.00,0.000,6,0.000,0.085,2707,2078,1940,0,0,0,0,0,0
$GC,7947,0.69,231.3,179.4,9.0,793,7971,0.00,2.75,18.30,0.907,4,0.000,0.103,2718,520,1855,0,0,0,0,0,0
$GC,8027,0.69,231.3,170.8,11.5,800,8033,0.00,2.62,0.00,0.000,6,0.000,0.087,2718,2072,1854,0,0,0,0,0,0
$GC,8351,0.69,231.3,134.3,10.5,831,8356,0.00,2.65,0.00,0.000,4,0.000,0.104,2729,516,1853,0,0,0,0,0,0
$GC,8462,0.69,231.3,121.5,11.3,840,8469,0.00,2.60,0.00,0.000,6,0.000,0.087,2729,2071,1852,0,0,0,0,0,0
$GC,8794,0.70,241.5,87.7,9.5,882,8811,0.00,2.70,9.10,0.838,4,0.000,0.104,2741,512,1815,0,0,0,0,0,0
$GC,8934,0.70,241.5,73.2,10.2,907,8941,0.15,2.60,0.00,0.000,6,0.212,0.089,2708,2063,1814,0,0,0,0,0,0
$GC,9281,0.85,283.7,45.0,8.1,968,9324,0.15,2.75,35.60,0.860,4,0.121,0.105,2767,509,1641,0,0,0,0,0,0
$GC,9420,0.85,283.7,30.7,11.1,993,9425,0.00,2.65,0.00,0.000,6,0.000,0.087,2767,2065,1637,0,0,0,0,0,0
$STATE,9688,end climb,SURFACE_DEPTH_REACHED
$STATE,9688,begin surface coast
$FINISH,1.0,1.016456
$STATE,9712,end surface coast,CONTROL_FINISHED_OK
$STATE,9712,begin surface
$SM_CCo,9728,65.88,0.809,0,0,1168,400.08
$SM_GC,2.01,0.00,0.00,65.88,0.000,0.000,0.809,129,2312,1168,-7.35,0.34,400.08
$RAFOS_CLK,660
$RAFOS,4,1255250644,8.750000,8.734445,45,44,41,0,0,0,1103,358,1336,0,0,0
$RAFOS,3,1255250044,8.583333,8.567778,48,44,42,0,0,0,464,646,1808,0,0,0
$RAFOS,2,1255249446,8.416667,8.401667,45,40,40,0,0,0,1467,370,945,0,0,0
$RAFOS,1,1255248848,8.250000,8.235556,47,42,41,0,0,0,477,673,1047,0,0,0
$RAFOS,0,1255248241,8.083333,8.066944,46,39,39,0,0,0,1634,392,1922,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6055.14,050199,060622
$TT8_MAMPS,0.027612
$HUMID,55.86
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,16.40
$XPDR_PINGS,5
$24V_AH,23.3,5.081
$10V_AH,10.3,1.659
$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,22.750,97.200,358.225,65.875,0.000,57.641,63.965,202.171,1.250,0.000,11.750,1838.732,5600.543,565.358,1815.150,466.538,0.000,1499.570,0.000,1792.549,1800.000,0.530,0.000
$DEVICE_MAMPS,328.276,121.186,1142.063,809.185,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,766.360,720.920,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151352
$DATA_FILE_SIZE,41033,1045
$CAP_FILE_SIZE,117575,0
$CFSIZE,260165632,250232832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.0
$CURRENT,0.235,194.5,1
$GPS,111009,093358,6641.224,-6019.745,10,99.0,29,-38.0