version: 66.06
glider: 143
mission: 8
dive: 31
start: 10 13 109 18 42 36
data:
$ID,143
$MISSION,8
$DIVE,31
$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,-20656.373
$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,19
$R_STBD_OVSHOOT,17
$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
$GPS1,183204,6630.747,-6040.611,14,4.7,33,-37.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-67.2
$GPS2,184216,6630.639,-6040.670,11,2.9,30,-37.8
$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,100.0,72940,-18.3,-10.000
$D_GRID,434
$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,-146.0,0.0,0.0,0,89,0.00,0.00,-71.97,0.000,2,0.000,0.000,129,2313,2779,0,0,0,0,0,0
$GC,92,-1.05,-146.0,3.4,-4.8,14,130,10.43,2.83,-18.50,0.000,4,0.324,0.110,2134,718,3399,0,0,0,0,0,0
$GC,283,-0.71,-146.0,44.7,-21.0,48,289,0.47,2.70,0.00,0.000,6,0.239,0.087,2246,2303,3402,0,0,0,0,0,0
$GC,627,-0.78,-146.0,87.0,-10.8,109,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2304,3403,0,0,0,0,0,0
$GC,957,-0.85,-146.0,121.9,-10.3,151,962,0.15,2.72,0.00,0.000,4,0.117,0.098,2198,710,3403,0,0,0,0,0,0
$GC,1215,-0.77,-146.0,155.5,-12.5,173,1221,0.12,2.67,0.00,0.000,6,0.251,0.088,2222,2313,3403,0,0,0,0,0,0
$GC,1540,-0.83,-146.0,190.7,-11.4,204,1545,0.00,2.70,0.00,0.000,4,0.000,0.098,2222,711,3403,0,0,0,0,0,0
$GC,1681,-0.83,-146.0,206.8,-11.4,216,1686,0.00,2.65,0.00,0.000,6,0.000,0.087,2222,2305,3403,0,0,0,0,0,0
$GC,2006,-0.91,-146.0,241.0,-10.6,246,2011,0.12,2.70,0.00,0.000,4,0.123,0.098,2182,708,3403,0,0,0,0,0,0
$GC,2027,-0.91,-146.0,243.8,-12.4,247,2034,0.00,2.65,0.00,0.000,6,0.000,0.088,2182,2307,3403,0,0,0,0,0,0
$GC,2352,-0.85,-146.0,284.2,-12.6,278,2357,0.00,2.67,0.00,0.000,4,0.000,0.098,2182,713,3402,0,0,0,0,0,0
$GC,2362,-0.78,-146.0,285.5,-12.5,278,2368,0.20,2.75,0.00,0.000,6,0.240,0.086,2225,2378,3402,0,0,0,0,0,0
$GC,2687,-0.89,-146.0,317.4,-8.7,309,2691,0.00,2.80,0.00,0.000,4,0.000,0.098,2227,704,3402,0,0,0,0,0,0
$GC,2944,-0.97,-146.0,341.6,-9.2,331,2951,0.17,2.78,0.00,0.000,6,0.111,0.088,2168,2380,3402,0,0,0,0,0,0
$GC,3269,-0.90,-146.0,377.3,-11.1,362,3273,0.00,2.80,0.00,0.000,4,0.000,0.097,2167,704,3401,0,0,0,0,0,0
$GC,3477,-0.80,-146.0,402.6,-11.9,380,3482,0.22,2.75,0.00,0.000,6,0.234,0.088,2218,2371,3400,0,0,0,0,0,0
$GC,3801,-0.93,-146.0,431.2,-8.5,410,3803,0.12,0.00,0.00,0.000,6,0.125,0.000,2177,2371,3401,0,0,0,0,0,0
$STATE,3831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3831,begin apogee
$GC,3836,-0.24,0.0,434.3,8.9,413,3958,0.82,0.00,118.25,1.091,6,0.208,0.000,2399,2097,2799,0,0,0,0,0,0
$STATE,3959,end apogee,CONTROL_FINISHED_OK
$STATE,3959,begin climb
$GC,3961,1.05,146.0,438.0,0.0,425,4096,1.40,3.03,121.68,1.032,4,0.142,0.095,2804,3685,2201,0,0,0,0,0,0
$GC,4348,0.60,146.0,381.9,17.7,460,4355,0.60,2.75,0.00,0.000,6,0.233,0.080,2677,2098,2191,0,0,0,0,0,0
$GC,4673,0.60,151.9,349.3,9.7,491,4678,0.00,2.80,0.00,0.000,4,0.000,0.098,2677,3696,2189,0,0,0,0,0,0
$GC,4929,0.55,151.9,321.7,10.6,513,4935,0.00,2.70,0.00,0.000,6,0.000,0.079,2687,2094,2189,0,0,0,0,0,0
$GC,5255,0.57,165.4,290.5,9.4,544,5276,0.00,2.80,14.80,0.934,4,0.000,0.098,2688,3687,2125,0,0,0,0,0,0
$GC,5528,0.51,165.4,260.6,10.5,568,5535,0.20,2.67,0.00,0.000,6,0.199,0.080,2652,2098,2122,0,0,0,0,0,0
$GC,5854,0.73,230.0,235.8,7.0,599,5916,0.20,2.92,53.65,0.946,4,0.112,0.098,2715,3686,1860,0,0,0,0,0,0
$GC,6168,0.73,230.0,197.6,12.3,627,6176,0.00,2.70,0.00,0.000,6,0.000,0.080,2727,2099,1852,0,0,0,0,0,0
$GC,6493,0.73,230.0,161.9,11.0,658,6497,0.00,2.75,0.00,0.000,4,0.000,0.099,2727,3687,1850,0,0,0,0,0,0
$GC,6750,0.67,230.0,130.8,10.9,680,6756,0.17,2.67,0.00,0.000,6,0.206,0.081,2699,2092,1849,0,0,0,0,0,0
$GC,7076,0.85,277.2,104.1,7.8,711,7122,0.17,2.88,38.47,0.886,4,0.110,0.098,2756,3682,1668,0,0,0,0,0,0
$GC,7376,0.79,277.2,66.9,12.6,760,7383,0.15,2.70,0.00,0.000,6,0.199,0.083,2735,2093,1660,0,0,0,0,0,0
$GC,7722,0.89,283.6,31.7,9.7,821,7733,0.00,2.78,5.00,0.709,4,0.000,0.099,2735,3689,1642,0,0,0,0,0,0
$GC,7987,1.10,358.6,2.6,6.6,868,8000,0.28,2.70,6.55,0.753,2,0.104,0.080,2836,2074,1613,0,0,0,0,0,0
$STATE,8001,end climb,SURFACE_DEPTH_REACHED
$STATE,8001,begin surface coast
$FINISH,0.8,1.016562
$STATE,8034,end surface coast,CONTROL_FINISHED_OK
$STATE,8034,begin surface
$SM_CCo,8111,0.00,0.000,0,0,1605,293.13
$SM_GC,1.85,7.93,0.00,0.00,0.081,0.000,0.000,126,2310,1605,-7.32,0.25,293.13
$RAFOS_CLK,558
$RAFOS,4,1255466645,20.750000,20.734722,48,41,40,0,0,0,444,794,1663,0,0,0
$RAFOS,3,1255466043,20.583334,20.567499,44,42,41,0,0,0,274,1209,298,0,0,0
$RAFOS,2,1255465445,20.416666,20.401388,47,41,40,0,0,0,1274,1408,1682,0,0,0
$RAFOS,1,1255464844,20.250000,20.234444,44,44,43,0,0,0,251,285,637,0,0,0
$RAFOS,0,1255464245,20.083334,20.068056,42,41,39,0,0,0,652,1657,1792,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6558.99,-6042.06,070199,181820
$TT8_MAMPS,0.027612
$HUMID,52.91
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.40
$XPDR_PINGS,4
$24V_AH,23.3,8.169
$10V_AH,10.3,3.029
$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,23.950,77.925,358.400,0.000,0.000,54.712,66.639,280.859,1.000,0.000,32.558,1551.948,4561.862,437.540,1615.732,557.899,0.000,1271.087,0.000,1572.854,1800.000,0.530,0.000
$DEVICE_MAMPS,324.441,110.448,1091.441,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,640.526,600.518,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151564
$DATA_FILE_SIZE,34743,876
$CAP_FILE_SIZE,104542,0
$CFSIZE,260165632,249008128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.5
$CURRENT,0.129,154.2,1
$GPS,131009,205858,6630.909,-6040.446,8,99.0,27,-37.8