version: 66.06
glider: 143
mission: 8
dive: 32
start: 10 13 109 21 5 53
data:
$ID,143
$MISSION,8
$DIVE,32
$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,-20714.826
$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,19
$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
$GPS1,205858,6630.909,-6040.446,8,99.0,27,-37.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-64.7
$GPS2,210533,6630.869,-6040.540,36,99.0,55,-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,124.2,72975,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-76.45,0.000,2,0.000,0.000,125,2312,2787,0,0,0,0,0,0
$GC,97,-1.05,-146.0,3.5,-5.1,15,134,10.43,2.83,-17.75,0.000,4,0.328,0.108,2135,708,3400,0,0,0,0,0,0
$GC,247,-0.71,-146.0,36.9,-21.9,42,254,0.45,2.70,0.00,0.000,6,0.237,0.090,2243,2301,3403,0,0,0,0,0,0
$GC,591,-0.77,-146.0,82.7,-11.3,103,597,0.00,2.70,0.00,0.000,4,0.000,0.098,2243,714,3403,0,0,0,0,0,0
$GC,631,-0.77,-146.0,86.9,-11.1,110,636,0.00,2.65,0.00,0.000,6,0.000,0.085,2243,2301,3403,0,0,0,0,0,0
$GC,968,-0.84,-146.0,120.6,-10.4,153,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2301,3403,0,0,0,0,0,0
$GC,1288,-0.93,-146.0,157.6,-11.7,183,1293,0.20,2.70,0.00,0.000,4,0.108,0.098,2178,707,3404,0,0,0,0,0,0
$GC,1298,-0.98,-146.0,159.0,-11.4,183,1304,0.00,2.67,0.00,0.000,6,0.000,0.087,2177,2319,3404,0,0,0,0,0,0
$GC,1623,-0.89,-146.0,202.5,-12.6,214,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2319,3404,0,0,0,0,0,0
$GC,1943,-0.82,-146.0,241.2,-12.2,244,1948,0.15,2.72,0.00,0.000,4,0.244,0.100,2216,711,3403,0,0,0,0,0,0
$GC,1953,-0.76,-146.0,242.9,-12.3,244,1960,0.00,2.65,0.00,0.000,6,0.000,0.086,2216,2320,3403,0,0,0,0,0,0
$GC,2278,-0.82,-146.0,274.1,-9.2,275,2283,0.00,2.70,0.00,0.000,4,0.000,0.110,2216,3892,3403,0,0,0,0,0,0
$GC,2535,-0.92,-146.0,300.0,-10.3,297,2541,0.00,2.60,0.00,0.000,6,0.000,0.077,2216,2302,3402,0,0,0,0,0,0
$GC,2860,-1.01,-146.0,331.2,-10.1,328,2865,0.20,2.65,0.00,0.000,4,0.110,0.099,2149,712,3402,0,0,0,0,0,0
$GC,3005,-0.85,-146.0,351.3,-14.4,340,3013,0.22,2.62,0.00,0.000,6,0.242,0.087,2202,2311,3402,0,0,0,0,0,0
$GC,3331,-0.91,-146.0,384.9,-10.0,371,3335,0.00,2.67,0.00,0.000,4,0.000,0.099,2202,709,3402,0,0,0,0,0,0
$GC,3369,-0.91,-146.0,388.8,-9.8,374,3374,0.00,2.62,0.00,0.000,6,0.000,0.088,2202,2304,3402,0,0,0,0,0,0
$GC,3694,-0.96,-146.0,418.9,-8.9,404,3698,0.00,2.65,0.00,0.000,4,0.000,0.099,2202,715,3402,0,0,0,0,0,0
$GC,3704,-1.01,-146.0,420.0,-9.4,404,3711,0.15,2.60,0.00,0.000,6,0.118,0.085,2153,2307,3401,0,0,0,0,0,0
$STATE,3835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3836,begin apogee
$GC,3841,-0.24,0.0,435.1,11.7,417,3963,0.93,0.00,118.30,1.098,6,0.212,0.000,2399,2095,2800,0,0,0,0,0,0
$STATE,3964,end apogee,CONTROL_FINISHED_OK
$STATE,3964,begin climb
$GC,3966,1.05,146.0,438.5,0.0,429,4100,1.42,3.03,121.65,1.035,4,0.141,0.095,2812,3680,2202,0,0,0,0,0,0
$GC,4353,0.59,146.0,380.4,17.6,464,4361,0.62,2.72,0.00,0.000,6,0.237,0.081,2679,2105,2191,0,0,0,0,0,0
$GC,4677,0.59,146.0,346.3,10.0,495,4682,0.00,2.78,0.00,0.000,4,0.000,0.098,2679,3686,2190,0,0,0,0,0,0
$GC,4935,0.54,152.2,319.8,9.7,517,4945,0.15,2.67,4.22,0.700,6,0.203,0.081,2656,2101,2179,0,0,0,0,0,0
$GC,5270,0.71,204.8,294.2,7.6,549,5323,0.17,2.88,44.85,0.972,4,0.117,0.100,2710,3686,1963,0,0,0,0,0,0
$GC,5575,0.64,204.8,256.2,13.5,576,5582,0.15,2.72,0.00,0.000,6,0.211,0.081,2691,2094,1956,0,0,0,0,0,0
$GC,5900,0.73,209.3,223.3,9.8,607,5905,0.00,2.78,0.00,0.000,4,0.000,0.099,2691,3686,1954,0,0,0,0,0,0
$GC,6156,0.73,209.3,195.3,11.1,629,6162,0.00,2.67,0.00,0.000,6,0.000,0.081,2700,2091,1954,0,0,0,0,0,0
$GC,6482,0.81,215.1,163.0,9.7,660,6497,0.12,2.83,8.15,0.845,4,0.120,0.099,2743,3688,1922,0,0,0,0,0,0
$GC,6751,0.69,215.1,129.7,11.6,684,6756,0.20,2.67,0.00,0.000,6,0.207,0.082,2709,2101,1921,0,0,0,0,0,0
$GC,7076,0.83,255.4,100.9,8.1,714,7119,0.12,2.83,34.65,0.890,4,0.128,0.100,2747,3690,1756,0,0,0,0,0,0
$GC,7372,0.78,255.4,67.9,10.5,766,7378,0.00,2.72,0.00,0.000,6,0.000,0.082,2759,2087,1750,0,0,0,0,0,0
$GC,7716,0.81,277.2,35.1,9.0,827,7742,0.00,2.85,18.38,0.844,4,0.000,0.100,2759,3681,1668,0,0,0,0,0,0
$STATE,7994,end climb,SURFACE_DEPTH_REACHED
$STATE,7994,begin surface coast
$FINISH,0.8,1.025621
$STATE,8011,end surface coast,CONTROL_FINISHED_OK
$STATE,8011,begin surface
$SM_CCo,8090,0.00,0.000,0,0,1656,280.38
$SM_GC,1.78,7.80,0.00,0.00,0.089,0.000,0.000,130,2283,1656,-7.31,-0.48,280.38
$RAFOS_CLK,550
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6604.29,-6039.42,070199,181812
$TT8_MAMPS,0.026845
$HUMID,53.46
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.40
$XPDR_PINGS,4
$24V_AH,23.3,8.285
$10V_AH,10.3,3.082
$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,23.500,81.650,350.200,0.000,0.000,28.445,39.998,177.479,1.000,0.000,57.825,1522.624,4562.150,439.407,1582.279,376.816,0.000,1248.401,0.000,1518.477,0.000,0.529,0.000
$DEVICE_MAMPS,328.276,110.448,1097.577,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,645.034,602.465,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151740
$DATA_FILE_SIZE,34769,880
$CAP_FILE_SIZE,99354,0
$CFSIZE,260165632,248958976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.2
$CURRENT,0.265,174.0,1
$GPS,131009,232206,6630.470,-6039.692,43,0.9,43,-37.8