version: 66.06
glider: 143
mission: 8
dive: 29
start: 10 13 109 13 57 11
data:
$ID,143
$MISSION,8
$DIVE,29
$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,-19654.404
$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,17
$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
$GPS1,134606,6632.555,-6040.373,69,0.9,74,-37.8
$_CALLS,2
$_XMS_NAKs,26
$_XMS_TOUTs,2
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-62.8
$GPS2,135650,6632.412,-6040.398,10,1.2,10,-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,43.0,42197,-18.3,-10.000
$D_GRID,445
$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,-146.0,0.0,0.0,0,100,0.00,0.00,-82.55,0.000,2,0.000,0.000,123,2315,2599,0,0,0,0,0,0
$GC,103,-1.05,-146.0,3.0,-3.1,16,146,10.15,2.80,-25.10,0.000,4,0.316,0.110,2133,705,3398,0,0,0,0,0,0
$GC,175,-0.67,-146.0,16.4,-19.0,29,181,0.52,2.72,0.00,0.000,6,0.238,0.090,2257,2299,3400,0,0,0,0,0,0
$GC,519,-0.77,-146.0,57.4,-10.9,90,525,0.00,2.78,0.00,0.000,4,0.000,0.107,2257,3885,3402,0,0,0,0,0,0
$GC,633,-0.89,-146.0,68.5,-10.2,110,640,0.20,2.65,0.00,0.000,6,0.107,0.076,2191,2298,3401,0,0,0,0,0,0
$GC,977,-0.78,-146.0,116.2,-13.7,161,979,0.15,0.00,0.00,0.000,6,0.226,0.000,2223,2298,3402,0,0,0,0,0,0
$GC,1296,-0.78,-146.0,154.4,-12.0,191,1301,0.00,2.75,0.00,0.000,4,0.000,0.106,2223,3884,3402,0,0,0,0,0,0
$GC,1396,-0.83,-146.0,165.9,-11.4,199,1402,0.00,2.62,0.00,0.000,6,0.000,0.077,2223,2301,3402,0,0,0,0,0,0
$GC,1721,-0.89,-146.0,196.9,-8.9,230,1722,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2301,3402,0,0,0,0,0,0
$GC,2041,-0.96,-146.0,224.3,-9.0,260,2043,0.17,0.00,0.00,0.000,6,0.108,0.000,2165,2301,3402,0,0,0,0,0,0
$GC,2358,-0.84,-146.0,262.6,-11.9,290,2360,0.17,0.00,0.00,0.000,6,0.231,0.000,2203,2301,3402,0,0,0,0,0,0
$GC,2676,-0.84,-146.0,296.3,-10.4,320,2677,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2301,3402,0,0,0,0,0,0
$GC,2997,-0.84,-146.0,329.7,-10.4,350,3002,0.00,2.72,0.00,0.000,4,0.000,0.108,2202,3884,3401,0,0,0,0,0,0
$GC,3104,-0.84,-146.0,341.0,-10.3,359,3108,0.00,2.60,0.00,0.000,6,0.000,0.080,2202,2305,3401,0,0,0,0,0,0
$GC,3428,-0.90,-146.0,372.0,-9.5,389,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2305,3401,0,0,0,0,0,0
$GC,3748,-0.96,-146.0,401.3,-8.9,419,3750,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,2305,3401,0,0,0,0,0,0
$GC,4067,-1.03,-146.0,429.6,-9.3,449,4069,0.17,0.00,0.00,0.000,6,0.112,0.000,2145,2305,3400,0,0,0,0,0,0
$STATE,4200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4201,begin apogee
$GC,4205,-0.24,0.0,445.6,12.0,462,4328,0.95,0.00,118.22,1.098,6,0.212,0.000,2398,2097,2799,0,0,0,0,0,0
$STATE,4328,end apogee,CONTROL_FINISHED_OK
$STATE,4329,begin climb
$GC,4331,1.05,146.0,449.3,0.0,474,4458,1.40,0.00,121.75,1.040,6,0.137,0.000,2808,2096,2203,0,0,0,0,0,0
$GC,4773,0.66,146.0,387.2,15.1,516,4778,0.45,2.83,0.00,0.000,4,0.225,0.094,2687,3691,2192,0,0,0,0,0,0
$GC,4993,0.56,146.0,359.9,12.2,535,4999,0.15,2.70,0.00,0.000,6,0.225,0.077,2666,2103,2191,0,0,0,0,0,0
$GC,5318,0.68,186.9,331.6,8.1,565,5359,0.00,2.85,32.33,0.978,4,0.000,0.100,2675,514,2036,0,0,0,0,0,0
$GC,5371,0.79,224.4,327.2,8.3,570,5413,0.20,2.72,32.65,0.959,6,0.119,0.078,2738,2107,1883,0,0,0,0,0,0
$GC,5731,0.71,224.4,277.5,14.6,604,5736,0.00,2.78,0.00,0.000,4,0.000,0.100,2737,3693,1874,0,0,0,0,0,0
$GC,5932,0.59,224.4,244.6,16.4,621,5938,0.30,2.65,0.00,0.000,6,0.211,0.080,2677,2130,1873,0,0,0,0,0,0
$GC,6257,0.71,227.9,209.0,9.8,652,6258,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2130,1872,0,0,0,0,0,0
$GC,6577,0.93,287.5,184.1,7.3,682,6639,0.28,2.83,51.67,0.915,4,0.105,0.099,2774,3691,1624,0,0,0,0,0,0
$GC,6768,0.80,287.5,156.0,15.9,699,6774,0.20,2.70,0.00,0.000,6,0.207,0.081,2741,2126,1618,0,0,0,0,0,0
$GC,7092,0.80,287.5,111.2,13.8,730,7097,0.00,2.72,0.00,0.000,4,0.000,0.098,2741,3690,1615,0,0,0,0,0,0
$GC,7304,0.80,287.5,82.6,12.7,760,7310,0.00,2.60,0.00,0.000,6,0.000,0.082,2750,2149,1613,0,0,0,0,0,0
$GC,7648,0.86,287.5,43.6,11.7,821,7654,0.00,2.78,0.00,0.000,4,0.000,0.104,2762,519,1612,0,0,0,0,0,0
$GC,7665,0.93,287.5,41.4,11.9,824,7671,0.00,2.72,0.00,0.000,6,0.000,0.081,2763,2160,1612,0,0,0,0,0,0
$STATE,7995,end climb,SURFACE_DEPTH_REACHED
$STATE,7995,begin surface coast
$FINISH,0.9,1.016597
$STATE,8014,end surface coast,CONTROL_FINISHED_OK
$STATE,8014,begin surface
$SM_CCo,8090,0.00,0.000,0,0,1606,292.89
$SM_GC,1.97,7.62,0.00,0.00,0.081,0.000,0.000,125,2303,1606,-7.32,0.06,292.89
$RAFOS_CLK,565
$RAFOS,0,1255449843,16.083334,16.067499,43,43,42,0,0,0,180,1280,831,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6604.29,-6046.77,070199,131332
$TT8_MAMPS,0.026845
$HUMID,52.99
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.20
$XPDR_PINGS,5
$24V_AH,23.3,7.922
$10V_AH,10.3,2.900
$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,23.100,55.125,356.625,0.000,0.000,62.210,74.697,332.527,1.250,0.000,11.976,1520.059,4749.921,438.302,1421.459,604.731,0.000,1188.511,0.000,1408.421,360.000,0.530,0.000
$DEVICE_MAMPS,316.004,116.584,1098.344,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,652.425,608.640,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151072
$DATA_FILE_SIZE,34753,886
$CAP_FILE_SIZE,97220,0
$CFSIZE,260165632,249114624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.1
$CURRENT,62.504,  0.9,1
$GPS,131009,135650,6632.412,-6040.398,901,99.0,901,-37.8