version: 66.06
glider: 143
mission: 8
dive: 28
start: 10 13 109 11 28 50
data:
$ID,143
$MISSION,8
$DIVE,28
$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,-19641.801
$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,15
$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
$GPS1,112025,6633.188,-6040.875,25,1.6,43,-37.9
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-52.2
$GPS2,112830,6633.108,-6040.978,34,1.4,38,-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,48.6,41716,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.05,-146.0,0.0,0.0,0,181,0.00,0.00,-161.02,0.000,2,0.000,0.000,121,2319,2967,0,0,0,0,0,0
$GC,183,-1.05,-146.0,3.4,-4.7,31,215,10.52,2.85,-12.43,0.000,4,0.325,0.110,2129,714,3399,0,0,0,0,0,0
$GC,339,-0.65,-146.0,37.0,-21.2,59,346,0.55,2.72,0.00,0.000,6,0.237,0.089,2261,2308,3402,0,0,0,0,0,0
$GC,684,-0.77,-146.0,78.5,-9.5,120,689,0.00,2.78,0.00,0.000,4,0.000,0.107,2261,3893,3403,0,0,0,0,0,0
$GC,808,-0.91,-146.0,91.0,-10.3,142,815,0.25,2.67,0.00,0.000,6,0.102,0.075,2178,2291,3403,0,0,0,0,0,0
$GC,1143,-0.80,-146.0,140.3,-15.5,179,1148,0.17,2.80,0.00,0.000,4,0.224,0.102,2207,3895,3403,0,0,0,0,0,0
$GC,1238,-0.80,-146.0,153.5,-13.1,187,1243,0.00,2.65,0.00,0.000,6,0.000,0.077,2207,2302,3403,0,0,0,0,0,0
$GC,1562,-0.80,-146.0,195.8,-12.9,217,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2302,3403,0,0,0,0,0,0
$GC,1882,-0.80,-146.0,236.0,-11.6,247,1887,0.00,2.75,0.00,0.000,4,0.000,0.106,2207,3890,3403,0,0,0,0,0,0
$GC,2012,-0.80,-146.0,250.7,-11.1,258,2016,0.00,2.60,0.00,0.000,6,0.000,0.077,2207,2313,3403,0,0,0,0,0,0
$GC,2336,-0.80,-146.0,284.2,-9.9,288,2340,0.00,2.67,0.00,0.000,4,0.000,0.102,2207,715,3402,0,0,0,0,0,0
$GC,2412,-0.80,-146.0,292.2,-10.4,294,2419,0.00,2.65,0.00,0.000,6,0.000,0.090,2207,2316,3402,0,0,0,0,0,0
$GC,2738,-0.85,-146.0,322.1,-9.2,325,2743,0.00,2.72,0.00,0.000,4,0.000,0.108,2207,3896,3402,0,0,0,0,0,0
$GC,2838,-0.92,-146.0,332.1,-10.3,333,2845,0.00,2.60,0.00,0.000,6,0.000,0.079,2207,2313,3402,0,0,0,0,0,0
$GC,3163,-0.98,-146.0,362.9,-9.7,364,3168,0.15,2.70,0.00,0.000,4,0.117,0.102,2156,707,3402,0,0,0,0,0,0
$GC,3225,-0.86,-146.0,370.8,-13.2,369,3230,0.20,2.67,0.00,0.000,6,0.242,0.091,2200,2320,3402,0,0,0,0,0,0
$GC,3550,-0.90,-146.0,403.0,-9.0,399,3554,0.00,2.67,0.00,0.000,4,0.000,0.109,2200,3887,3401,0,0,0,0,0,0
$GC,3696,-0.98,-146.0,417.2,-9.2,411,3702,0.12,2.58,0.00,0.000,6,0.127,0.078,2159,2315,3401,0,0,0,0,0,0
$STATE,3934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3934,begin apogee
$GC,3940,-0.24,0.0,443.5,10.9,434,4065,0.85,0.00,118.43,1.101,6,0.204,0.000,2393,2106,2799,0,0,0,0,0,0
$STATE,4066,end apogee,CONTROL_FINISHED_OK
$STATE,4066,begin climb
$GC,4068,1.05,146.0,447.5,0.0,447,4196,1.42,0.00,121.70,1.044,6,0.141,0.000,2806,2105,2204,0,0,0,0,0,0
$GC,4511,0.72,146.0,388.6,15.9,489,4513,0.40,0.00,0.00,0.000,6,0.220,0.000,2713,2105,2193,0,0,0,0,0,0
$GC,4829,0.63,146.0,351.7,11.2,519,4833,0.00,2.78,0.00,0.000,4,0.000,0.097,2712,3693,2191,0,0,0,0,0,0
$GC,5070,0.48,146.0,323.5,11.5,540,5075,0.35,2.67,0.00,0.000,6,0.212,0.080,2637,2108,2191,0,0,0,0,0,0
$GC,5395,0.71,201.2,299.5,7.5,570,5447,0.22,2.83,44.00,0.976,4,0.110,0.101,2720,515,1978,0,0,0,0,0,0
$GC,5452,0.71,201.2,293.4,11.3,575,5458,0.00,2.75,0.00,0.000,6,0.000,0.080,2721,2115,1977,0,0,0,0,0,0
$GC,5777,0.71,201.2,252.7,12.1,606,5782,0.00,2.75,0.00,0.000,4,0.000,0.102,2721,3687,1971,0,0,0,0,0,0
$GC,6034,0.61,201.2,219.3,12.2,628,6041,0.22,2.62,0.00,0.000,6,0.209,0.082,2679,2130,1968,0,0,0,0,0,0
$GC,6360,0.79,254.3,192.2,7.6,659,6406,0.17,0.00,43.22,0.927,6,0.115,0.000,2736,2130,1762,0,0,0,0,0,0
$GC,6720,0.79,254.3,152.2,12.0,693,6724,0.00,2.72,0.00,0.000,4,0.000,0.100,2736,3687,1753,0,0,0,0,0,0
$GC,6898,0.74,254.3,128.9,13.3,708,6904,0.00,2.65,0.00,0.000,6,0.000,0.084,2748,2124,1751,0,0,0,0,0,0
$GC,7227,0.74,254.3,90.0,12.4,746,7232,0.00,2.75,0.00,0.000,4,0.000,0.104,2759,513,1750,0,0,0,0,0,0
$GC,7238,0.74,254.3,88.4,13.0,748,7244,0.17,2.67,0.00,0.000,6,0.202,0.081,2720,2125,1750,0,0,0,0,0,0
$GC,7583,0.90,277.7,52.2,8.9,809,7611,0.15,2.78,18.80,0.858,4,0.117,0.102,2767,3688,1665,0,0,0,0,0,0
$GC,7797,0.93,350.3,29.6,6.7,847,7865,0.00,2.62,59.78,0.840,6,0.000,0.084,2779,2138,1369,0,0,0,0,0,0
$STATE,8032,end climb,SURFACE_DEPTH_REACHED
$STATE,8032,begin surface coast
$FINISH,0.8,1.025668
$STATE,8044,end surface coast,CONTROL_FINISHED_OK
$STATE,8044,begin surface
$SM_CCo,8120,0.00,0.000,0,0,1355,354.46
$SM_GC,1.62,7.90,0.00,0.00,0.081,0.000,0.000,124,2309,1355,-7.33,0.25,354.46
$RAFOS_CLK,551
$RAFOS,4,1255437848,12.750000,12.735556,46,44,43,0,0,0,1412,1264,1248,0,0,0
$RAFOS,3,1255437241,12.583333,12.566944,48,43,42,0,0,0,198,1808,1868,0,0,0
$RAFOS,2,1255436643,12.416667,12.400833,45,41,41,0,0,0,573,1583,1785,0,0,0
$RAFOS,1,1255436045,12.250000,12.234722,46,46,41,0,0,0,1422,1576,252,0,0,0
$RAFOS,0,1255435451,12.083333,12.069722,41,41,39,0,0,0,406,1636,438,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6604.29,-6046.77,070199,080856
$TT8_MAMPS,0.026845
$HUMID,52.95
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,16.30
$XPDR_PINGS,3
$24V_AH,23.3,7.792
$10V_AH,10.3,2.845
$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,23.850,76.375,405.925,0.000,0.000,27.771,31.744,294.615,0.750,0.000,40.341,1515.980,4548.225,535.842,1522.566,480.729,0.000,1343.837,0.000,1473.639,1800.000,0.530,0.000
$DEVICE_MAMPS,325.208,110.448,1100.645,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,650.938,608.827,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151652
$DATA_FILE_SIZE,34723,892
$CAP_FILE_SIZE,101025,0
$CFSIZE,260165632,249163776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.5
$CURRENT,0.377,174.8,1
$GPS,131009,134606,6632.555,-6040.373,69,0.9,74,-37.8