version: 66.06
glider: 143
mission: 8
dive: 12
start: 10 11 109 15 24 24
data:
$ID,143
$MISSION,8
$DIVE,12
$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,250
$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,-19007.209
$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,19
$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
$GPS1,151907,6642.135,-6024.263,35,0.9,35,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-64.2
$GPS2,152402,6642.123,-6024.184,11,1.3,11,-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,326.0,13786,-18.3,-10.000
$D_GRID,521
$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,-146.0,0.0,0.0,0,111,0.00,0.00,-92.47,0.000,2,0.000,0.000,128,2305,2608,0,0,0,0,0,0
$GC,113,-1.05,-146.0,3.0,-2.5,18,156,10.75,2.85,-25.92,0.000,4,0.333,0.122,2132,3892,3398,0,0,0,0,0,0
$GC,410,-0.83,-146.0,60.9,-19.1,71,417,0.30,2.67,0.00,0.000,6,0.229,0.077,2204,2298,3400,0,0,0,0,0,0
$GC,751,-0.83,-146.0,107.3,-12.6,127,756,0.00,2.78,0.00,0.000,4,0.000,0.107,2204,3885,3402,0,0,0,0,0,0
$GC,1008,-0.83,-146.0,140.0,-12.0,149,1014,0.00,2.67,0.00,0.000,6,0.000,0.077,2204,2270,3401,0,0,0,0,0,0
$GC,1333,-0.83,-146.0,178.8,-12.2,180,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2270,3401,0,0,0,0,0,0
$GC,1652,-0.83,-146.0,219.2,-12.5,210,1657,0.00,2.80,0.00,0.000,4,0.000,0.110,2204,3885,3401,0,0,0,0,0,0
$GC,1908,-0.91,-146.0,250.6,-11.8,232,1914,0.00,2.60,0.00,0.000,6,0.000,0.080,2204,2306,3400,0,0,0,0,0,0
$GC,2233,-0.97,-146.0,287.5,-11.1,263,2239,0.12,2.70,0.00,0.000,4,0.131,0.104,2166,707,3400,0,0,0,0,0,0
$GC,2296,-0.89,-146.0,295.8,-13.7,268,2300,0.00,2.70,0.00,0.000,6,0.000,0.094,2166,2323,3400,0,0,0,0,0,0
$GC,2620,-0.84,-146.0,335.2,-12.1,298,2625,0.17,2.70,0.00,0.000,4,0.243,0.110,2195,3888,3400,0,0,0,0,0,0
$GC,2878,-0.91,-146.0,363.3,-10.8,320,2884,0.00,2.58,0.00,0.000,6,0.000,0.079,2195,2319,3399,0,0,0,0,0,0
$GC,3203,-0.97,-146.0,396.9,-10.0,351,3208,0.00,2.72,0.00,0.000,4,0.000,0.110,2195,3892,3399,0,0,0,0,0,0
$GC,3460,-1.06,-146.0,422.2,-9.5,373,3467,0.17,2.55,0.00,0.000,6,0.120,0.079,2137,2327,3399,0,0,0,0,0,0
$GC,3785,-0.94,-146.0,458.6,-11.3,404,3790,0.15,2.67,0.00,0.000,4,0.232,0.104,2159,3886,3399,0,0,0,0,0,0
$GC,4042,-0.88,-146.0,486.5,-11.1,426,4049,0.15,2.53,0.00,0.000,6,0.222,0.075,2192,2326,3399,0,0,0,0,0,0
$GC,4367,-0.95,-146.0,516.6,-9.8,457,4372,0.00,2.65,0.00,0.000,4,0.000,0.104,2192,3885,3400,0,0,0,0,0,0
$STATE,4416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4416,begin apogee
$GC,4424,-0.24,0.0,521.5,9.6,461,4549,0.73,0.00,118.30,1.134,6,0.200,0.000,2396,2104,2799,0,0,0,0,0,0
$STATE,4550,end apogee,CONTROL_FINISHED_OK
$STATE,4550,begin climb
$GC,4552,1.05,146.0,523.8,0.0,474,4685,1.40,2.97,121.95,1.088,4,0.137,0.099,2818,520,2202,0,0,0,0,0,0
$GC,4938,0.54,146.0,467.5,18.1,509,4944,0.68,2.72,0.00,0.000,6,0.229,0.082,2659,2109,2193,0,0,0,0,0,0
$GC,5263,0.55,147.4,433.7,9.9,540,5267,0.00,2.78,0.00,0.000,4,0.000,0.100,2668,511,2193,0,0,0,0,0,0
$GC,5453,0.55,147.4,413.8,10.3,556,5459,0.00,2.67,0.00,0.000,6,0.000,0.083,2668,2106,2193,0,0,0,0,0,0
$GC,5777,0.55,147.4,379.8,10.7,587,5781,0.00,2.72,0.00,0.000,4,0.000,0.100,2680,516,2192,0,0,0,0,0,0
$GC,5817,0.55,147.4,375.7,10.6,590,5821,0.00,2.65,0.00,0.000,6,0.000,0.083,2680,2106,2192,0,0,0,0,0,0
$GC,6141,0.57,171.3,343.4,8.9,620,6166,0.00,2.78,19.67,0.966,4,0.000,0.100,2692,510,2100,0,0,0,0,0,0
$GC,6178,0.60,190.5,340.1,9.1,623,6203,0.00,2.67,17.20,0.941,6,0.000,0.083,2692,2097,2022,0,0,0,0,0,0
$GC,6529,0.60,190.5,301.7,11.0,656,6533,0.00,2.72,0.00,0.000,4,0.000,0.099,2704,512,2017,0,0,0,0,0,0
$GC,6628,0.60,190.5,289.0,13.2,664,6635,0.12,2.67,0.00,0.000,6,0.205,0.084,2677,2102,2016,0,0,0,0,0,0
$GC,6953,0.66,190.5,254.1,10.1,695,6957,0.00,2.72,0.00,0.000,4,0.000,0.098,2687,515,2016,0,0,0,0,0,0
$GC,6985,0.66,190.5,250.4,11.0,697,6991,0.00,2.65,0.00,0.000,6,0.000,0.081,2687,2111,2016,0,0,0,0,0,0
$GC,7311,0.74,204.4,217.2,9.4,728,7332,0.00,2.80,11.85,0.897,4,0.000,0.100,2699,517,1966,0,0,0,0,0,0
$GC,7370,0.74,204.4,211.0,10.3,733,7376,0.00,2.65,0.00,0.000,6,0.000,0.083,2699,2101,1964,0,0,0,0,0,0
$GC,7696,0.82,224.1,179.8,9.1,764,7721,0.15,2.83,16.95,0.900,4,0.117,0.101,2760,513,1885,0,0,0,0,0,0
$GC,7810,0.70,224.1,166.3,11.7,774,7817,0.22,2.65,0.00,0.000,6,0.204,0.085,2707,2087,1883,0,0,0,0,0,0
$GC,8135,0.76,224.1,134.6,10.2,805,8140,0.00,2.67,0.00,0.000,4,0.000,0.101,2717,518,1880,0,0,0,0,0,0
$GC,8242,0.76,224.1,123.1,11.0,814,8246,0.00,2.60,0.00,0.000,6,0.000,0.084,2717,2076,1880,0,0,0,0,0,0
$GC,8571,0.82,227.6,89.5,9.8,853,8577,0.00,2.62,0.00,0.000,4,0.000,0.104,2728,508,1880,0,0,0,0,0,0
$GC,8600,0.82,231.9,86.6,9.8,858,8612,0.00,2.60,7.25,0.810,6,0.000,0.085,2728,2075,1854,0,0,0,0,0,0
$GC,8951,0.90,244.9,54.2,9.4,920,8974,0.12,2.78,12.00,0.844,4,0.126,0.104,2780,508,1801,0,0,0,0,0,0
$GC,8980,0.84,251.9,51.3,9.7,925,8997,0.00,2.62,7.53,0.769,6,0.000,0.084,2781,2074,1772,0,0,0,0,0,0
$GC,9337,0.76,251.9,14.0,10.6,988,9342,0.22,0.00,0.00,0.000,6,0.213,0.000,2727,2075,1768,0,0,0,0,0,0
$STATE,9481,end climb,SURFACE_DEPTH_REACHED
$STATE,9482,begin surface coast
$FINISH,0.9,1.004094
$STATE,9504,end surface coast,CONTROL_FINISHED_OK
$STATE,9504,begin surface
$SM_CCo,9581,0.00,0.000,0,0,1761,254.62
$SM_GC,2.06,7.65,0.00,0.00,0.090,0.000,0.000,126,2308,1761,-7.33,0.23,254.62
$RAFOS_CLK,637
$RAFOS,4,1255279443,16.750000,16.734167,48,46,45,0,0,0,609,882,1503,0,0,0
$RAFOS,3,1255278848,16.583334,16.568890,45,42,41,0,0,0,1833,412,172,0,0,0
$RAFOS,2,1255278245,16.416666,16.401388,45,42,41,0,0,0,1906,396,850,0,0,0
$RAFOS,1,1255277641,16.250000,16.233612,48,46,44,0,0,0,1639,817,1733,0,0,0
$RAFOS,0,1255277048,16.083334,16.068890,46,44,41,0,0,0,1289,398,1504,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6609.62,-6024.05,050199,121233
$TT8_MAMPS,0.026845
$HUMID,55.35
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.30
$XPDR_PINGS,6
$24V_AH,23.3,5.456
$10V_AH,10.3,1.841
$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,23.125,103.100,332.700,0.000,0.000,30.735,32.455,126.403,1.500,0.000,13.283,1805.762,5467.537,463.904,1811.660,327.388,0.000,1411.877,0.000,1786.623,1800.000,0.529,0.000
$DEVICE_MAMPS,332.878,121.953,1134.393,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,745.027,702.141,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151380
$DATA_FILE_SIZE,41031,1018
$CAP_FILE_SIZE,115972,0
$CFSIZE,260165632,250048512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.2
$CURRENT,0.080,251.7,1
$GPS,111009,180531,6642.834,-6027.253,42,1.5,42,-38.0