version: 66.06
glider: 143
mission: 8
dive: 10
start: 10 11 109 9 39 50
data:
$ID,143
$MISSION,8
$DIVE,10
$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,-18976.75
$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,18
$R_STBD_OVSHOOT,19
$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
$GPS1,093358,6641.224,-6019.745,10,99.0,29,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-67.2
$GPS2,093930,6641.247,-6019.963,38,1.2,43,-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,357.7,16933,-18.3,-10.000
$D_GRID,528
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.05,-146.0,0.0,0.0,0,112,0.00,0.00,-93.32,0.000,2,0.000,0.000,129,2312,2623,0,0,0,0,0,0
$GC,115,-1.05,-146.0,3.1,-2.9,18,158,10.52,2.83,-25.30,0.000,4,0.328,0.124,2133,3883,3398,0,0,0,0,0,0
$GC,412,-0.82,-146.0,59.3,-18.2,71,418,0.32,2.67,0.00,0.000,6,0.230,0.077,2210,2289,3400,0,0,0,0,0,0
$GC,754,-0.82,-146.0,104.5,-12.8,129,758,0.00,2.80,0.00,0.000,4,0.000,0.108,2210,3884,3401,0,0,0,0,0,0
$GC,1010,-0.82,-146.0,135.8,-12.0,151,1016,0.00,2.65,0.00,0.000,6,0.000,0.077,2210,2284,3401,0,0,0,0,0,0
$GC,1335,-0.86,-146.0,172.7,-10.8,182,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2284,3401,0,0,0,0,0,0
$GC,1655,-0.92,-146.0,209.2,-11.2,212,1660,0.00,2.78,0.00,0.000,4,0.000,0.110,2210,3883,3401,0,0,0,0,0,0
$GC,1812,-1.02,-146.0,226.7,-11.3,225,1818,0.20,2.60,0.00,0.000,6,0.107,0.079,2143,2305,3400,0,0,0,0,0,0
$GC,2136,-0.91,-146.0,270.7,-13.3,256,2138,0.17,0.00,0.00,0.000,6,0.231,0.000,2182,2303,3400,0,0,0,0,0,0
$GC,2454,-0.91,-146.0,307.3,-11.7,286,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2304,3400,0,0,0,0,0,0
$GC,2774,-0.91,-146.0,345.2,-11.3,316,2778,0.00,2.72,0.00,0.000,4,0.000,0.110,2182,3884,3399,0,0,0,0,0,0
$GC,2981,-0.96,-146.0,368.0,-10.3,334,2986,0.00,2.60,0.00,0.000,6,0.000,0.080,2182,2297,3399,0,0,0,0,0,0
$GC,3305,-1.00,-146.0,401.0,-10.6,364,3307,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2297,3399,0,0,0,0,0,0
$GC,3625,-1.00,-146.0,433.6,-9.9,394,3630,0.00,2.62,0.00,0.000,4,0.000,0.101,2183,715,3399,0,0,0,0,0,0
$GC,3709,-1.00,-146.0,442.7,-11.0,401,3714,0.00,2.62,0.00,0.000,6,0.000,0.091,2182,2306,3399,0,0,0,0,0,0
$GC,4035,-1.05,-146.0,474.3,-9.4,431,4040,0.12,2.70,0.00,0.000,4,0.117,0.108,2140,3887,3399,0,0,0,0,0,0
$GC,4202,-0.98,-146.0,494.8,-12.4,445,4208,0.00,2.58,0.00,0.000,6,0.000,0.077,2139,2301,3400,0,0,0,0,0,0
$STATE,4494,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4494,begin apogee
$GC,4499,-0.24,0.0,529.0,11.7,473,4625,0.93,0.00,118.32,1.121,6,0.212,0.000,2393,2106,2799,0,0,0,0,0,0
$STATE,4626,end apogee,CONTROL_FINISHED_OK
$STATE,4626,begin climb
$GC,4628,1.05,146.0,532.9,0.0,486,4764,1.42,2.97,122.15,1.086,4,0.136,0.100,2823,524,2202,0,0,0,0,0,0
$GC,4769,0.58,146.0,520.3,15.4,499,4776,0.68,2.83,0.00,0.000,6,0.230,0.082,2672,2106,2200,0,0,0,0,0,0
$GC,5095,0.58,146.0,485.6,10.3,530,5099,0.00,2.78,0.00,0.000,4,0.000,0.100,2682,515,2193,0,0,0,0,0,0
$GC,5156,0.52,146.0,478.7,11.7,535,5162,0.15,2.70,0.00,0.000,6,0.203,0.083,2650,2105,2193,0,0,0,0,0,0
$GC,5481,0.61,165.2,448.2,9.1,565,5503,0.00,2.78,15.30,0.993,4,0.000,0.097,2659,515,2126,0,0,0,0,0,0
$GC,5583,0.69,174.2,438.3,9.6,574,5599,0.15,2.67,9.07,0.932,6,0.129,0.082,2704,2098,2088,0,0,0,0,0,0
$GC,5923,0.64,174.2,398.5,12.1,606,5928,0.00,2.72,0.00,0.000,4,0.000,0.099,2717,514,2085,0,0,0,0,0,0
$GC,6088,0.53,174.2,377.3,13.4,620,6094,0.25,2.65,0.00,0.000,6,0.207,0.086,2657,2085,2085,0,0,0,0,0,0
$GC,6413,0.61,180.7,345.2,9.7,650,6425,0.00,2.70,6.35,0.848,4,0.000,0.097,2666,511,2062,0,0,0,0,0,0
$GC,6486,0.67,180.7,337.8,10.5,656,6493,0.00,2.62,0.00,0.000,6,0.000,0.083,2666,2085,2061,0,0,0,0,0,0
$GC,6815,0.76,200.1,307.4,9.1,687,6840,0.17,2.78,17.25,0.955,4,0.121,0.102,2734,523,1984,0,0,0,0,0,0
$GC,6868,0.65,200.1,300.6,13.1,692,6873,0.17,2.65,0.00,0.000,6,0.212,0.086,2696,2090,1982,0,0,0,0,0,0
$GC,7192,0.65,204.4,266.1,9.8,722,7204,0.00,2.70,4.88,0.752,4,0.000,0.100,2705,515,1965,0,0,0,0,0,0
$GC,7299,0.65,204.4,254.6,10.7,731,7305,0.00,2.60,0.00,0.000,6,0.000,0.084,2705,2071,1965,0,0,0,0,0,0
$GC,7623,0.65,204.4,221.6,10.2,762,7628,0.00,2.65,0.00,0.000,4,0.000,0.101,2717,514,1964,0,0,0,0,0,0
$GC,7734,0.65,204.4,209.2,11.5,771,7740,0.00,2.60,0.00,0.000,6,0.000,0.086,2717,2073,1965,0,0,0,0,0,0
$GC,8059,0.65,204.4,174.3,10.3,802,8063,0.00,2.65,0.00,0.000,4,0.000,0.104,2728,516,1964,0,0,0,0,0,0
$GC,8176,0.59,204.4,161.6,10.5,812,8181,0.22,2.58,0.00,0.000,6,0.203,0.087,2674,2063,1964,0,0,0,0,0,0
$GC,8501,0.80,256.6,135.0,7.6,842,8554,0.20,2.78,43.10,0.903,4,0.111,0.105,2750,522,1752,0,0,0,0,0,0
$GC,8659,0.80,256.6,116.8,12.6,856,8665,0.00,2.62,0.00,0.000,6,0.000,0.087,2750,2061,1748,0,0,0,0,0,0
$GC,8996,0.80,256.6,77.1,11.7,904,9000,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2061,1744,0,0,0,0,0,0
$GC,9339,0.80,256.6,39.1,10.6,965,9345,0.00,2.65,0.00,0.000,4,0.000,0.107,2762,516,1743,0,0,0,0,0,0
$GC,9463,0.80,256.6,26.3,10.1,987,9469,0.00,2.58,0.00,0.000,6,0.000,0.088,2761,2056,1743,0,0,0,0,0,0
$STATE,9725,end climb,SURFACE_DEPTH_REACHED
$STATE,9725,begin surface coast
$FINISH,1.1,1.025433
$STATE,9749,end surface coast,CONTROL_FINISHED_OK
$STATE,9749,begin surface
$SM_CCo,9765,79.78,0.821,0,0,1168,400.08
$SM_GC,1.94,0.00,0.00,79.78,0.000,0.000,0.821,131,2304,1168,-7.34,0.11,400.08
$RAFOS_CLK,653
$RAFOS,1,1255263242,12.250000,12.233889,42,40,39,0,0,0,1206,1441,1289,0,0,0
$RAFOS,0,1255262643,12.083333,12.067500,46,41,41,0,0,0,1800,234,529,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6109.92,050199,060605
$TT8_MAMPS,0.026078
$HUMID,55.63
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,16.20
$XPDR_PINGS,8
$24V_AH,23.3,5.212
$10V_AH,10.3,1.720
$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,23.400,92.175,336.425,79.775,0.000,27.672,36.698,132.187,2.000,0.000,44.790,1825.658,5678.254,537.082,1802.445,333.271,0.000,1462.326,0.000,1747.567,720.000,0.530,0.000
$DEVICE_MAMPS,328.276,124.254,1121.354,820.690,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,761.583,714.857,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151428
$DATA_FILE_SIZE,41029,1038
$CAP_FILE_SIZE,113484,0
$CFSIZE,260165632,250175488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.6
$CURRENT,0.241,190.3,1
$GPS,111009,122507,6641.292,-6022.024,27,1.1,27,-38.0