version: 66.06
glider: 143
mission: 8
dive: 22
start: 10 12 109 19 43 16
data:
$ID,143
$MISSION,8
$DIVE,22
$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,275
$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,-19354.58
$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,15
$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
$GPS1,192720,6639.546,-6040.859,81,2.6,100,-38.0
$_CALLS,3
$_XMS_NAKs,39
$_XMS_TOUTs,2
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-61.7
$GPS2,194256,6639.257,-6041.249,47,1.7,47,-38.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SW
$TGT_LATLONG,6619.000,-5907.000
$TGT_RADIUS,5000.000
$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,128.7,79520,-18.3,-10.000
$D_GRID,452
$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,-146.0,0.0,0.0,0,102,0.00,0.00,-83.85,0.000,2,0.000,0.000,121,2292,2925,0,0,0,0,0,0
$GC,104,-1.05,-146.0,3.0,-4.6,16,138,10.57,2.78,-15.00,0.000,4,0.328,0.116,2135,709,3399,0,0,0,0,0,0
$GC,391,-0.74,-146.0,63.3,-20.8,67,397,0.43,2.72,0.00,0.000,6,0.237,0.093,2235,2305,3401,0,0,0,0,0,0
$GC,732,-0.74,-146.0,105.5,-11.5,124,737,0.00,2.72,0.00,0.000,4,0.000,0.102,2235,715,3402,0,0,0,0,0,0
$GC,782,-0.74,-146.0,111.8,-12.3,128,786,0.00,2.70,0.00,0.000,6,0.000,0.090,2235,2314,3402,0,0,0,0,0,0
$GC,1107,-0.80,-146.0,150.3,-11.7,158,1111,0.00,2.72,0.00,0.000,4,0.000,0.110,2235,3885,3402,0,0,0,0,0,0
$GC,1116,-0.85,-146.0,151.5,-11.0,158,1123,0.00,2.60,0.00,0.000,6,0.000,0.077,2235,2316,3402,0,0,0,0,0,0
$GC,1441,-0.93,-146.0,187.7,-10.5,189,1443,0.17,0.00,0.00,0.000,6,0.112,0.000,2179,2316,3402,0,0,0,0,0,0
$GC,1760,-0.84,-146.0,229.9,-13.5,219,1764,0.00,2.70,0.00,0.000,4,0.000,0.104,2179,715,3402,0,0,0,0,0,0
$GC,1769,-0.74,-146.0,231.2,-13.4,219,1776,0.25,2.67,0.00,0.000,6,0.235,0.091,2236,2317,3402,0,0,0,0,0,0
$GC,2094,-0.86,-146.0,266.2,-10.9,250,2099,0.00,2.72,0.00,0.000,4,0.000,0.103,2236,707,3401,0,0,0,0,0,0
$GC,2112,-0.98,-146.0,268.0,-11.0,251,2117,0.22,2.67,0.00,0.000,6,0.101,0.090,2161,2317,3401,0,0,0,0,0,0
$GC,2436,-0.84,-146.0,310.6,-12.2,281,2442,0.20,2.72,0.00,0.000,4,0.233,0.102,2205,706,3401,0,0,0,0,0,0
$GC,2448,-0.72,-146.0,312.1,-12.7,281,2455,0.17,2.67,0.00,0.000,6,0.239,0.091,2245,2315,3401,0,0,0,0,0,0
$GC,2774,-0.90,-146.0,337.9,-7.9,312,2779,0.17,2.72,0.00,0.000,4,0.108,0.110,2183,3891,3400,0,0,0,0,0,0
$GC,3031,-0.90,-146.0,367.1,-11.4,334,3037,0.00,2.50,0.00,0.000,6,0.000,0.082,2183,2394,3400,0,0,0,0,0,0
$GC,3356,-0.90,-146.0,402.5,-10.4,365,3360,0.00,2.83,0.00,0.000,4,0.000,0.103,2182,706,3400,0,0,0,0,0,0
$GC,3478,-0.90,-146.0,416.1,-10.9,375,3484,0.00,2.83,0.00,0.000,6,0.000,0.091,2183,2406,3400,0,0,0,0,0,0
$GC,3804,-0.90,-146.0,450.4,-11.4,406,3809,0.00,2.85,0.00,0.000,4,0.000,0.100,2183,705,3399,0,0,0,0,0,0
$GC,3813,-0.90,-146.0,451.9,-11.4,406,3820,0.00,2.83,0.00,0.000,6,0.000,0.089,2183,2413,3399,0,0,0,0,0,0
$STATE,3829,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3829,begin apogee
$GC,3834,-0.24,0.0,453.7,11.8,408,3956,0.80,0.00,118.10,1.112,6,0.204,0.000,2400,2100,2800,0,0,0,0,0,0
$STATE,3956,end apogee,CONTROL_FINISHED_OK
$STATE,3957,begin climb
$GC,3959,1.05,146.0,458.4,0.0,420,4092,1.40,2.97,121.75,1.051,4,0.140,0.099,2806,3681,2201,0,0,0,0,0,0
$GC,4344,0.61,146.0,404.6,17.3,455,4351,0.57,2.75,0.00,0.000,6,0.230,0.085,2684,2104,2191,0,0,0,0,0,0
$GC,4670,0.61,148.5,371.9,9.9,486,4674,0.00,2.80,0.00,0.000,4,0.000,0.103,2683,3688,2190,0,0,0,0,0,0
$GC,4926,0.55,148.5,344.1,11.2,508,4933,0.15,2.70,0.00,0.000,6,0.205,0.083,2660,2095,2189,0,0,0,0,0,0
$GC,5252,0.69,190.6,316.4,8.1,539,5294,0.15,2.88,35.53,0.980,4,0.120,0.102,2707,3686,2022,0,0,0,0,0,0
$GC,5547,0.60,190.6,281.1,12.0,565,5554,0.17,2.75,0.00,0.000,6,0.206,0.084,2680,2083,2014,0,0,0,0,0,0
$GC,5872,0.75,247.6,254.3,7.4,596,5927,0.12,2.97,47.03,0.957,4,0.133,0.103,2717,3686,1788,0,0,0,0,0,0
$GC,6183,0.75,247.6,220.5,11.8,624,6188,0.00,2.78,0.00,0.000,6,0.000,0.085,2729,2072,1780,0,0,0,0,0,0
$GC,6507,0.75,247.6,181.8,11.8,654,6512,0.00,2.85,0.00,0.000,4,0.000,0.104,2729,3694,1779,0,0,0,0,0,0
$GC,6764,0.75,247.6,148.0,13.2,676,6770,0.00,2.75,0.00,0.000,6,0.000,0.086,2741,2070,1777,0,0,0,0,0,0
$GC,7089,0.75,247.6,110.7,11.0,707,7093,0.00,2.80,0.00,0.000,4,0.000,0.103,2741,3692,1776,0,0,0,0,0,0
$GC,7347,0.67,247.6,80.3,11.2,744,7353,0.22,2.72,0.00,0.000,6,0.208,0.087,2700,2068,1776,0,0,0,0,0,0
$GC,7692,0.89,267.4,54.0,9.1,805,7715,0.20,2.83,15.68,0.856,4,0.102,0.101,2768,3690,1707,0,0,0,0,0,0
$GC,7969,0.73,267.4,24.6,11.0,854,7976,0.25,2.70,0.00,0.000,6,0.202,0.087,2719,2067,1703,0,0,0,0,0,0
$STATE,8199,end climb,SURFACE_DEPTH_REACHED
$STATE,8199,begin surface coast
$FINISH,0.9,1.011099
$STATE,8218,end surface coast,CONTROL_FINISHED_OK
$STATE,8218,begin surface
$SM_CCo,8234,3.83,0.625,0,0,1678,275.23
$SM_GC,3.04,0.00,0.00,3.83,0.000,0.000,0.625,128,2306,1678,-7.35,0.17,275.23
$RAFOS_CLK,591
$RAFOS,4,1255380248,20.750000,20.735556,45,41,41,0,0,0,888,387,1588,0,0,0
$RAFOS,3,1255379642,20.583334,20.567223,48,44,43,0,0,0,1888,1015,526,0,0,0
$RAFOS,2,1255379042,20.416666,20.400555,45,44,43,0,0,0,1903,1818,1314,0,0,0
$RAFOS,1,1255378443,20.250000,20.234167,43,42,41,0,0,0,1158,678,1836,0,0,0
$RAFOS,0,1255377844,20.083334,20.067778,48,43,42,0,0,0,275,361,1122,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6038.24,060199,171705
$TT8_MAMPS,0.026845
$HUMID,53.97
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.30
$XPDR_PINGS,1
$24V_AH,23.3,6.862
$10V_AH,10.3,2.474
$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,23.900,89.200,338.075,3.825,0.000,85.698,212.923,376.461,0.250,0.000,49.273,1583.667,4723.182,437.413,1622.344,808.098,0.000,1270.009,0.000,1562.918,1800.000,0.531,0.000
$DEVICE_MAMPS,328.276,115.817,1112.150,625.105,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,658.258,616.459,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151744
$DATA_FILE_SIZE,34768,898
$CAP_FILE_SIZE,107311,0
$CFSIZE,260165632,249479168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.8
$CURRENT,0.288,196.7,1
$GPS,121009,220229,6638.790,-6041.813,50,2.3,69,-38.0