version: 66.06
glider: 143
mission: 8
dive: 27
start: 10 13 109 8 56 38
data:
$ID,143
$MISSION,8
$DIVE,27
$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,578.41736
$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,-19600.834
$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,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
$GPS1,083753,6633.076,-6041.428,12,3.7,31,-37.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-63.8
$GPS2,085618,6632.882,-6041.843,38,3.8,57,-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,52.9,42471,-18.3,-10.000
$D_GRID,443
$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,-146.0,0.0,0.0,0,96,0.00,0.00,-78.70,0.000,2,0.000,0.000,127,2313,2912,0,0,0,0,0,0
$GC,99,-1.05,-146.0,3.7,-5.9,15,131,10.30,2.80,-14.30,0.000,4,0.326,0.119,2121,3887,3400,0,0,0,0,0,0
$GC,194,-0.65,-146.0,26.2,-26.0,32,201,0.57,2.67,0.00,0.000,6,0.222,0.079,2262,2299,3402,0,0,0,0,0,0
$GC,538,-0.76,-146.0,67.2,-11.6,93,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2299,3403,0,0,0,0,0,0
$GC,881,-0.88,-146.0,98.2,-8.8,154,888,0.20,2.75,0.00,0.000,4,0.105,0.102,2185,3885,3403,0,0,0,0,0,0
$GC,966,-0.77,-146.0,109.0,-13.1,163,973,0.17,2.62,0.00,0.000,6,0.230,0.080,2223,2306,3404,0,0,0,0,0,0
$GC,1291,-0.77,-146.0,145.2,-11.2,194,1295,0.00,2.75,0.00,0.000,4,0.000,0.107,2223,3891,3404,0,0,0,0,0,0
$GC,1364,-0.82,-146.0,153.5,-12.5,200,1368,0.00,2.62,0.00,0.000,6,0.000,0.078,2223,2303,3403,0,0,0,0,0,0
$GC,1688,-0.88,-146.0,186.9,-9.8,230,1693,0.00,2.75,0.00,0.000,4,0.000,0.107,2223,3885,3403,0,0,0,0,0,0
$GC,1766,-0.97,-146.0,194.4,-9.9,236,1772,0.17,2.60,0.00,0.000,6,0.110,0.078,2164,2307,3403,0,0,0,0,0,0
$GC,2091,-0.84,-146.0,236.1,-13.6,267,2096,0.17,2.75,0.00,0.000,4,0.229,0.105,2192,3892,3403,0,0,0,0,0,0
$GC,2242,-0.84,-146.0,255.4,-13.0,280,2246,0.00,2.58,0.00,0.000,6,0.000,0.079,2193,2326,3403,0,0,0,0,0,0
$GC,2565,-0.84,-146.0,296.5,-12.7,310,2570,0.00,2.70,0.00,0.000,4,0.000,0.107,2192,3892,3402,0,0,0,0,0,0
$GC,2642,-0.84,-146.0,306.0,-12.3,316,2649,0.00,2.60,0.00,0.000,6,0.000,0.078,2193,2333,3402,0,0,0,0,0,0
$GC,2969,-0.84,-146.0,342.6,-11.0,347,2973,0.00,2.70,0.00,0.000,4,0.000,0.101,2192,713,3402,0,0,0,0,0,0
$GC,3079,-0.84,-146.0,355.5,-11.1,356,3086,0.00,2.67,0.00,0.000,6,0.000,0.091,2192,2330,3402,0,0,0,0,0,0
$GC,3405,-0.84,-146.0,387.0,-9.4,387,3409,0.00,2.65,0.00,0.000,4,0.000,0.109,2192,3886,3402,0,0,0,0,0,0
$GC,3500,-0.84,-146.0,396.4,-10.5,395,3504,0.00,2.55,0.00,0.000,6,0.000,0.079,2193,2328,3401,0,0,0,0,0,0
$GC,3824,-0.84,-146.0,429.9,-9.8,425,3825,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2329,3400,0,0,0,0,0,0
$STATE,3960,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3960,begin apogee
$GC,3965,-0.24,0.0,443.7,10.1,438,4087,0.75,0.00,118.28,1.105,6,0.204,0.000,2395,2104,2800,0,0,0,0,0,0
$STATE,4088,end apogee,CONTROL_FINISHED_OK
$STATE,4088,begin climb
$GC,4090,1.05,146.0,447.1,0.0,450,4219,1.42,0.00,122.30,1.042,6,0.142,0.000,2808,2104,2204,0,0,0,0,0,0
$GC,4537,0.69,146.0,388.4,15.3,493,4539,0.43,0.00,0.00,0.000,6,0.225,0.000,2709,2104,2192,0,0,0,0,0,0
$GC,4854,0.61,146.0,352.8,10.7,523,4859,0.12,2.78,0.00,0.000,4,0.230,0.098,2679,3695,2190,0,0,0,0,0,0
$GC,5084,0.55,146.0,327.2,10.6,543,5090,0.15,2.70,0.00,0.000,6,0.214,0.081,2657,2099,2190,0,0,0,0,0,0
$GC,5409,0.70,191.2,301.0,7.9,573,5450,0.15,0.00,36.15,0.973,6,0.122,0.000,2703,2099,2019,0,0,0,0,0,0
$GC,5768,0.70,191.2,264.7,10.5,607,5773,0.00,2.78,0.00,0.000,4,0.000,0.100,2703,3687,2013,0,0,0,0,0,0
$GC,5954,0.64,191.2,243.0,12.0,623,5958,0.00,2.70,0.00,0.000,6,0.000,0.082,2715,2092,2012,0,0,0,0,0,0
$GC,6278,0.64,191.2,209.0,10.5,653,6279,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2092,2012,0,0,0,0,0,0
$GC,6598,0.64,191.2,175.4,10.4,683,6602,0.00,2.67,0.00,0.000,4,0.000,0.104,2727,514,2011,0,0,0,0,0,0
$GC,6608,0.64,194.7,174.4,9.8,683,6614,0.15,2.62,0.00,0.000,6,0.199,0.082,2693,2101,2010,0,0,0,0,0,0
$GC,6933,0.80,249.6,150.0,7.5,714,6989,0.15,2.88,47.55,0.914,4,0.120,0.102,2741,3685,1781,0,0,0,0,0,0
$GC,7232,0.74,249.6,114.2,13.7,741,7237,0.15,2.72,0.00,0.000,6,0.209,0.084,2720,2100,1773,0,0,0,0,0,0
$GC,7567,0.84,254.6,79.1,9.8,788,7573,0.00,0.00,4.00,0.644,6,0.000,0.000,2721,2100,1761,0,0,0,0,0,0
$GC,7911,0.99,291.5,48.9,8.3,849,7953,0.25,2.92,32.05,0.861,4,0.102,0.105,2809,3693,1609,0,0,0,0,0,0
$GC,8156,0.81,291.5,17.3,12.5,893,8162,0.32,2.75,0.00,0.000,6,0.211,0.088,2743,2095,1601,0,0,0,0,0,0
$STATE,8312,end climb,SURFACE_DEPTH_REACHED
$STATE,8312,begin surface coast
$FINISH,0.7,1.025675
$STATE,8336,end surface coast,CONTROL_FINISHED_OK
$STATE,8336,begin surface
$SM_CCo,8352,187.05,0.788,0,0,441,578.42
$SM_GC,1.41,0.00,0.00,187.05,0.000,0.000,0.788,124,2316,441,-7.36,0.45,578.42
$RAFOS_CLK,619
$RAFOS,3,1255422843,8.583333,8.567500,57,46,41,0,0,0,291,1672,424,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6604.29,-6046.77,070199,080856
$TT8_MAMPS,0.027612
$HUMID,50.98
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,16.30
$XPDR_PINGS,2
$24V_AH,23.3,7.655
$10V_AH,10.3,2.789
$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,23.400,71.075,360.325,187.050,0.000,142.522,278.010,265.270,0.500,0.000,59.599,1612.671,4974.531,628.474,1588.050,844.585,0.000,1434.422,0.000,1521.049,0.000,0.530,0.000
$DEVICE_MAMPS,325.975,118.885,1105.247,787.709,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,677.442,634.766,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151192
$DATA_FILE_SIZE,34710,925
$CAP_FILE_SIZE,105474,0
$CFSIZE,260165632,249196544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.4
$CURRENT,0.181,160.7,1
$GPS,131009,112025,6633.188,-6040.875,25,1.6,43,-37.9