version: 66.06
glider: 143
mission: 8
dive: 11
start: 10 11 109 12 30 23
data:
$ID,143
$MISSION,8
$DIVE,11
$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,-18993.297
$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,14
$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
$GPS1,122507,6641.292,-6022.024,27,1.1,27,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-66.0
$GPS2,123001,6641.298,-6022.047,8,1.3,14,-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,357.8,15404,-18.3,-10.000
$D_GRID,525
$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,-1.05,-146.0,0.0,0.0,0,112,0.00,0.00,-94.00,0.000,2,0.000,0.000,130,2304,2647,0,0,0,0,0,0
$GC,115,-1.05,-146.0,3.4,-5.0,18,157,10.55,2.88,-22.95,0.000,4,0.329,0.120,2130,3883,3399,0,0,0,0,0,0
$GC,411,-0.83,-146.0,61.6,-18.3,71,417,0.32,2.67,0.00,0.000,6,0.229,0.077,2207,2289,3401,0,0,0,0,0,0
$GC,758,-0.83,-146.0,105.4,-11.4,129,763,0.00,2.83,0.00,0.000,4,0.000,0.109,2208,3896,3402,0,0,0,0,0,0
$GC,1014,-0.83,-146.0,136.0,-12.2,151,1021,0.00,2.67,0.00,0.000,6,0.000,0.076,2208,2306,3402,0,0,0,0,0,0
$GC,1339,-0.83,-146.0,174.6,-11.8,182,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2306,3402,0,0,0,0,0,0
$GC,1660,-0.88,-146.0,208.8,-9.8,212,1664,0.00,2.75,0.00,0.000,4,0.000,0.107,2208,3895,3402,0,0,0,0,0,0
$GC,1805,-0.95,-146.0,224.0,-10.5,224,1812,0.00,2.62,0.00,0.000,6,0.000,0.077,2208,2301,3402,0,0,0,0,0,0
$GC,2130,-1.02,-146.0,257.3,-9.6,255,2132,0.17,0.00,0.00,0.000,6,0.114,0.000,2151,2300,3401,0,0,0,0,0,0
$GC,2449,-0.94,-146.0,298.5,-12.9,285,2450,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2301,3401,0,0,0,0,0,0
$GC,2768,-0.86,-146.0,339.3,-13.3,315,2773,0.20,2.72,0.00,0.000,4,0.229,0.104,2187,3889,3400,0,0,0,0,0,0
$GC,2988,-0.86,-146.0,364.8,-10.9,334,2993,0.00,2.60,0.00,0.000,6,0.000,0.077,2186,2299,3400,0,0,0,0,0,0
$GC,3312,-0.86,-146.0,399.1,-9.9,364,3314,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2299,3400,0,0,0,0,0,0
$GC,3632,-0.86,-146.0,429.9,-9.7,394,3637,0.00,2.72,0.00,0.000,4,0.000,0.104,2186,3896,3400,0,0,0,0,0,0
$GC,3807,-0.91,-146.0,446.7,-9.2,409,3811,0.00,2.55,0.00,0.000,6,0.000,0.074,2186,2319,3400,0,0,0,0,0,0
$GC,4133,-0.98,-146.0,477.0,-9.4,439,4137,0.00,2.67,0.00,0.000,4,0.000,0.105,2186,3889,3400,0,0,0,0,0,0
$GC,4252,-1.05,-146.0,488.7,-9.4,449,4257,0.15,2.53,0.00,0.000,6,0.113,0.074,2135,2322,3401,0,0,0,0,0,0
$STATE,4555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4555,begin apogee
$GC,4560,-0.24,0.0,525.8,13.3,477,4686,0.95,0.00,118.78,1.138,6,0.208,0.000,2395,2097,2800,0,0,0,0,0,0
$STATE,4687,end apogee,CONTROL_FINISHED_OK
$STATE,4687,begin climb
$GC,4689,1.05,146.0,529.7,0.0,490,4820,1.42,2.95,122.78,1.091,4,0.135,0.098,2820,523,2202,0,0,0,0,0,0
$GC,4827,0.60,146.0,518.3,14.1,504,4833,0.60,2.83,0.00,0.000,6,0.232,0.078,2676,2110,2201,0,0,0,0,0,0
$GC,5153,0.60,146.0,482.5,11.2,534,5157,0.00,2.78,0.00,0.000,4,0.000,0.098,2686,516,2193,0,0,0,0,0,0
$GC,5225,0.53,146.0,474.2,11.0,540,5231,0.15,2.67,0.00,0.000,6,0.202,0.081,2654,2100,2192,0,0,0,0,0,0
$GC,5550,0.60,155.4,443.7,9.6,570,5564,0.00,2.80,7.28,0.896,4,0.000,0.097,2663,516,2166,0,0,0,0,0,0
$GC,5582,0.61,160.8,440.5,9.7,573,5593,0.00,2.67,6.07,0.844,6,0.000,0.080,2663,2108,2145,0,0,0,0,0,0
$GC,5911,0.67,160.8,407.7,10.1,604,5916,0.00,2.72,0.00,0.000,4,0.000,0.098,2675,515,2143,0,0,0,0,0,0
$GC,5928,0.67,160.8,405.9,10.3,605,5933,0.00,2.65,0.00,0.000,6,0.000,0.081,2675,2102,2142,0,0,0,0,0,0
$GC,6252,0.67,160.8,372.1,10.6,635,6257,0.00,2.72,0.00,0.000,4,0.000,0.100,2687,515,2142,0,0,0,0,0,0
$GC,6358,0.67,160.8,360.8,10.4,644,6362,0.00,2.65,0.00,0.000,6,0.000,0.084,2687,2095,2142,0,0,0,0,0,0
$GC,6682,0.68,165.5,329.0,9.8,674,6693,0.00,2.70,5.43,0.806,4,0.000,0.100,2699,515,2125,0,0,0,0,0,0
$GC,6796,0.63,165.5,317.6,10.2,684,6800,0.00,2.65,0.00,0.000,6,0.000,0.084,2699,2096,2125,0,0,0,0,0,0
$GC,7120,0.64,174.7,285.9,9.6,714,7135,0.00,2.72,9.35,0.903,4,0.000,0.100,2711,511,2086,0,0,0,0,0,0
$GC,7258,0.58,174.7,271.9,10.9,726,7263,0.17,2.62,0.00,0.000,6,0.205,0.086,2670,2083,2085,0,0,0,0,0,0
$GC,7583,0.71,209.6,244.2,8.4,756,7618,0.12,2.75,29.17,0.945,4,0.133,0.101,2719,518,1944,0,0,0,0,0,0
$GC,7679,0.71,209.6,233.6,11.5,764,7686,0.00,2.67,0.00,0.000,6,0.000,0.084,2719,2098,1941,0,0,0,0,0,0
$GC,8004,0.71,209.6,198.2,11.6,795,8008,0.00,2.70,0.00,0.000,4,0.000,0.101,2731,518,1939,0,0,0,0,0,0
$GC,8181,0.71,209.6,177.3,12.0,810,8188,0.00,2.60,0.00,0.000,6,0.000,0.085,2731,2071,1938,0,0,0,0,0,0
$GC,8506,0.71,209.6,140.5,10.2,841,8511,0.00,2.65,0.00,0.000,4,0.000,0.102,2742,518,1937,0,0,0,0,0,0
$GC,8568,0.64,209.6,134.3,10.9,846,8573,0.22,2.58,0.00,0.000,6,0.206,0.085,2688,2067,1937,0,0,0,0,0,0
$GC,8892,0.84,270.7,109.9,7.2,876,8948,0.20,2.75,49.42,0.884,4,0.114,0.103,2764,518,1694,0,0,0,0,0,0
$GC,8977,0.77,270.7,100.6,12.8,883,8983,0.15,2.65,0.00,0.000,6,0.208,0.084,2732,2061,1691,0,0,0,0,0,0
$GC,9319,0.83,270.7,64.6,10.1,943,9325,0.00,2.67,0.00,0.000,4,0.000,0.103,2741,511,1686,0,0,0,0,0,0
$GC,9578,0.88,270.7,36.5,10.8,989,9584,0.00,2.58,0.00,0.000,6,0.000,0.087,2742,2047,1685,0,0,0,0,0,0
$GC,9922,0.95,284.7,4.0,9.4,1050,9940,0.15,2.65,10.90,0.811,4,0.119,0.104,2804,516,1638,0,0,0,0,0,0
$STATE,9944,end climb,SURFACE_DEPTH_REACHED
$STATE,9944,begin surface coast
$FINISH,1.1,1.025193
$STATE,9963,end surface coast,CONTROL_FINISHED_OK
$STATE,9963,begin surface
$SM_CCo,9981,63.05,0.808,0,0,1169,400.08
$SM_GC,1.71,0.00,0.00,63.05,0.000,0.000,0.808,129,2305,1169,-7.35,0.14,400.08
$RAFOS_CLK,668
$RAFOS,4,1255265046,12.750000,12.735000,49,39,39,0,0,0,866,476,1788,0,0,0
$RAFOS,3,1255264441,12.583333,12.566944,52,46,41,0,0,0,1915,1487,1530,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6021.37,050199,090923
$TT8_MAMPS,0.027612
$HUMID,54.76
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,16.20
$XPDR_PINGS,7
$24V_AH,23.3,5.344
$10V_AH,10.3,1.781
$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,23.400,103.075,359.175,63.050,0.000,31.281,31.087,126.324,1.750,0.000,15.918,1854.067,5817.545,552.260,1784.631,331.929,0.000,1475.516,0.000,1758.619,720.000,0.530,0.000
$DEVICE_MAMPS,329.043,120.419,1138.228,808.418,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,773.850,730.063,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151392
$DATA_FILE_SIZE,40972,1057
$CAP_FILE_SIZE,116645,0
$CFSIZE,260165632,250109952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.9
$CURRENT,0.102,212.8,1
$GPS,111009,151907,6642.135,-6024.263,35,0.9,35,-38.0