version: 66.06
glider: 143
mission: 8
dive: 26
start: 10 13 109 6 19 31
data:
$ID,143
$MISSION,8
$DIVE,26
$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,-19540.605
$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,23
$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
$GPS1,060355,6633.000,-6042.207,124,1.7,124,-37.8
$_CALLS,3
$_XMS_NAKs,32
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-63.4
$GPS2,061910,6632.644,-6042.216,9,2.8,28,-37.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_ADD1_WB
$TGT_LATLONG,6647.000,-5956.000
$TGT_RADIUS,10000.000
$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,44.6,42958,-18.3,-10.000
$D_GRID,438
$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,15,-1.05,-146.0,0.0,0.0,0,114,0.00,0.00,-96.93,0.000,2,0.000,0.000,122,2287,2976,0,0,0,0,0,0
$GC,117,-1.05,-146.0,3.3,-5.5,18,149,10.50,2.80,-12.62,0.000,4,0.327,0.114,2129,716,3400,0,0,0,0,0,0
$GC,239,-0.71,-146.0,28.6,-20.4,40,245,0.50,2.72,0.00,0.000,6,0.235,0.093,2249,2303,3401,0,0,0,0,0,0
$GC,584,-0.78,-146.0,71.2,-11.6,101,590,0.00,2.78,0.00,0.000,4,0.000,0.109,2249,3886,3403,0,0,0,0,0,0
$GC,681,-0.89,-146.0,83.3,-12.1,118,687,0.17,2.65,0.00,0.000,6,0.108,0.077,2192,2299,3403,0,0,0,0,0,0
$GC,1013,-0.78,-146.0,134.4,-14.5,158,1015,0.15,0.00,0.00,0.000,6,0.227,0.000,2224,2299,3403,0,0,0,0,0,0
$GC,1331,-0.78,-146.0,170.8,-9.7,188,1335,0.00,2.75,0.00,0.000,4,0.000,0.107,2224,3885,3403,0,0,0,0,0,0
$GC,1426,-0.83,-146.0,180.4,-10.0,196,1430,0.00,2.62,0.00,0.000,6,0.000,0.079,2224,2304,3403,0,0,0,0,0,0
$GC,1753,-0.89,-146.0,210.1,-8.7,226,1757,0.00,2.75,0.00,0.000,4,0.000,0.107,2224,3889,3403,0,0,0,0,0,0
$GC,1830,-0.95,-146.0,217.5,-8.9,232,1836,0.15,2.62,0.00,0.000,6,0.114,0.079,2174,2301,3402,0,0,0,0,0,0
$GC,2155,-0.85,-146.0,256.8,-12.7,263,2160,0.12,2.75,0.00,0.000,4,0.229,0.105,2189,3887,3402,0,0,0,0,0,0
$GC,2261,-0.85,-146.0,269.9,-12.6,272,2266,0.00,2.60,0.00,0.000,6,0.000,0.081,2189,2310,3402,0,0,0,0,0,0
$GC,2586,-0.85,-146.0,309.7,-12.3,302,2590,0.00,2.72,0.00,0.000,4,0.000,0.109,2189,3888,3402,0,0,0,0,0,0
$GC,2669,-0.85,-146.0,320.2,-13.0,309,2673,0.00,2.58,0.00,0.000,6,0.000,0.080,2189,2325,3401,0,0,0,0,0,0
$GC,2993,-0.85,-146.0,356.3,-10.6,339,2997,0.00,2.70,0.00,0.000,4,0.000,0.104,2189,713,3401,0,0,0,0,0,0
$GC,3110,-0.85,-146.0,369.3,-10.8,349,3114,0.00,2.70,0.00,0.000,6,0.000,0.091,2189,2328,3401,0,0,0,0,0,0
$GC,3434,-0.85,-146.0,401.8,-9.6,379,3435,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2329,3400,0,0,0,0,0,0
$GC,3754,-0.85,-146.0,435.8,-10.7,409,3758,0.00,2.65,0.00,0.000,4,0.000,0.108,2189,3886,3401,0,0,0,0,0,0
$STATE,3774,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3774,begin apogee
$GC,3781,-0.24,0.0,438.1,10.1,410,3907,0.75,0.00,118.35,1.098,6,0.206,0.000,2395,2094,2799,0,0,0,0,0,0
$STATE,3908,end apogee,CONTROL_FINISHED_OK
$STATE,3908,begin climb
$GC,3910,1.05,146.0,442.5,0.0,423,4044,1.42,2.97,121.57,1.037,4,0.142,0.102,2820,518,2202,0,0,0,0,0,0
$GC,4090,0.61,146.0,423.7,17.5,440,4095,0.60,2.80,0.00,0.000,6,0.225,0.081,2683,2104,2197,0,0,0,0,0,0
$GC,4414,0.61,150.0,389.7,9.8,470,4419,0.00,2.80,0.00,0.000,4,0.000,0.102,2693,511,2192,0,0,0,0,0,0
$GC,4441,0.61,150.0,386.8,10.0,472,4446,0.00,2.70,0.00,0.000,6,0.000,0.082,2693,2100,2192,0,0,0,0,0,0
$GC,4767,0.61,150.0,353.6,10.9,502,4772,0.00,2.78,0.00,0.000,4,0.000,0.101,2693,3696,2191,0,0,0,0,0,0
$GC,4986,0.50,150.0,326.5,12.5,521,4991,0.25,2.65,0.00,0.000,6,0.210,0.083,2645,2134,2190,0,0,0,0,0,0
$GC,5310,0.68,195.8,299.7,7.9,551,5357,0.17,2.88,39.85,0.971,4,0.112,0.104,2713,514,2000,0,0,0,0,0,0
$GC,5362,0.68,200.5,294.5,9.8,555,5373,0.00,2.80,5.22,0.733,6,0.000,0.082,2713,2137,1982,0,0,0,0,0,0
$GC,5692,0.68,200.5,258.5,10.8,586,5693,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2136,1976,0,0,0,0,0,0
$GC,6011,0.68,202.5,226.0,9.9,616,6016,0.00,2.70,0.00,0.000,4,0.000,0.104,2713,3696,1975,0,0,0,0,0,0
$GC,6169,0.61,202.5,208.4,11.5,629,6176,0.20,2.65,0.00,0.000,6,0.209,0.084,2678,2130,1974,0,0,0,0,0,0
$GC,6494,0.76,222.9,178.6,9.1,660,6519,0.15,2.85,18.50,0.910,4,0.120,0.105,2737,516,1890,0,0,0,0,0,0
$GC,6525,0.76,222.9,175.3,10.8,663,6529,0.00,2.75,0.00,0.000,6,0.000,0.083,2737,2143,1889,0,0,0,0,0,0
$GC,6849,0.76,222.9,137.9,11.7,693,6853,0.00,2.67,0.00,0.000,4,0.000,0.104,2737,3694,1886,0,0,0,0,0,0
$GC,7056,0.67,222.9,112.4,12.3,711,7062,0.20,2.60,0.00,0.000,6,0.206,0.084,2702,2152,1885,0,0,0,0,0,0
$GC,7391,0.85,267.8,82.6,7.9,759,7433,0.15,0.00,37.75,0.885,6,0.117,0.000,2749,2151,1707,0,0,0,0,0,0
$GC,7770,0.86,274.9,44.8,9.7,827,7781,0.00,2.72,5.53,0.732,4,0.000,0.103,2749,3693,1681,0,0,0,0,0,0
$GC,7983,0.86,274.9,19.1,13.3,865,7989,0.00,2.62,0.00,0.000,6,0.000,0.087,2761,2148,1678,0,0,0,0,0,0
$STATE,8128,end climb,SURFACE_DEPTH_REACHED
$STATE,8129,begin surface coast
$FINISH,0.8,1.025625
$STATE,8152,end surface coast,CONTROL_FINISHED_OK
$STATE,8152,begin surface
$SM_CCo,8228,0.00,0.000,0,0,1671,276.70
$SM_GC,1.84,7.68,0.00,0.00,0.081,0.000,0.000,130,2311,1671,-7.31,0.34,276.70
$RAFOS_CLK,591
$RAFOS,2,1255422242,8.416667,8.400556,44,42,41,0,0,0,1361,258,643,0,0,0
$RAFOS,1,1255421645,8.250000,8.234722,42,41,39,0,0,0,917,1934,303,0,0,0
$RAFOS,0,1255421050,8.083333,8.069445,43,39,38,0,0,0,1848,1695,367,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6553.70,-5652.93,070199,060613
$TT8_MAMPS,0.028379
$HUMID,52.87
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.30
$XPDR_PINGS,4
$24V_AH,23.3,7.476
$10V_AH,10.3,2.727
$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,23.175,87.650,346.775,0.000,0.000,79.920,134.659,422.287,1.000,0.000,31.654,1577.232,4807.865,443.759,1508.968,805.374,0.000,1239.434,0.000,1472.857,1440.000,0.530,0.000
$DEVICE_MAMPS,326.742,113.516,1097.577,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,656.515,613.929,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151676
$DATA_FILE_SIZE,34768,895
$CAP_FILE_SIZE,107604,0
$CFSIZE,260165632,249262080
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.2
$CURRENT,0.163,158.8,1
$GPS,131009,083753,6633.076,-6041.428,12,3.7,31,-37.8