version: 66.06
glider: 143
mission: 8
dive: 33
start: 10 13 109 23 32 53
data:
$ID,143
$MISSION,8
$DIVE,33
$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,-20733.139
$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,22
$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
$GPS1,232206,6630.470,-6039.692,43,0.9,43,-37.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-67.1
$GPS2,233232,6630.396,-6039.819,16,1.3,16,-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,99.8,72203,-18.3,-10.000
$D_GRID,433
$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,-146.0,0.0,0.0,0,89,0.00,0.00,-71.68,0.000,2,0.000,0.000,129,2279,2746,0,0,0,0,0,0
$GC,92,-1.05,-146.0,3.1,-3.8,14,130,10.40,2.70,-21.20,0.000,4,0.327,0.110,2133,718,3398,0,0,0,0,0,0
$GC,283,-0.72,-146.0,40.1,-20.6,48,290,0.45,2.67,0.00,0.000,6,0.243,0.087,2239,2300,3401,0,0,0,0,0,0
$GC,627,-0.72,-146.0,83.0,-10.7,109,632,0.00,2.72,0.00,0.000,4,0.000,0.098,2239,714,3402,0,0,0,0,0,0
$GC,643,-0.72,-146.0,84.9,-11.0,112,650,0.00,2.65,0.00,0.000,6,0.000,0.085,2239,2299,3402,0,0,0,0,0,0
$GC,977,-0.79,-146.0,122.3,-11.3,155,981,0.00,2.67,0.00,0.000,4,0.000,0.098,2239,718,3402,0,0,0,0,0,0
$GC,986,-0.85,-146.0,123.4,-11.3,155,993,0.12,2.75,0.00,0.000,6,0.127,0.084,2199,2370,3403,0,0,0,0,0,0
$GC,1311,-0.85,-146.0,163.2,-12.1,186,1315,0.00,2.80,0.00,0.000,4,0.000,0.097,2199,712,3403,0,0,0,0,0,0
$GC,1567,-0.81,-146.0,194.0,-11.5,208,1574,0.00,2.78,0.00,0.000,6,0.000,0.087,2199,2380,3402,0,0,0,0,0,0
$GC,1892,-0.81,-146.0,227.9,-10.5,239,1897,0.00,2.80,0.00,0.000,4,0.000,0.097,2199,715,3402,0,0,0,0,0,0
$GC,1946,-0.81,-146.0,234.2,-11.3,243,1952,0.00,2.75,0.00,0.000,6,0.000,0.086,2199,2382,3402,0,0,0,0,0,0
$GC,2271,-0.81,-146.0,269.6,-11.3,274,2275,0.00,2.58,0.00,0.000,4,0.000,0.107,2199,3888,3401,0,0,0,0,0,0
$GC,2287,-0.81,-146.0,271.3,-11.0,275,2291,0.00,2.45,0.00,0.000,6,0.000,0.076,2199,2394,3402,0,0,0,0,0,0
$GC,2611,-0.81,-146.0,306.2,-10.0,305,2616,0.00,2.80,0.00,0.000,4,0.000,0.099,2199,715,3401,0,0,0,0,0,0
$GC,2643,-0.81,-146.0,309.8,-11.1,307,2651,0.00,2.78,0.00,0.000,6,0.000,0.087,2199,2395,3401,0,0,0,0,0,0
$GC,2968,-0.81,-146.0,340.8,-9.3,338,2973,0.00,2.53,0.00,0.000,4,0.000,0.107,2198,3885,3401,0,0,0,0,0,0
$GC,2985,-0.81,-146.0,342.4,-9.7,339,2989,0.00,2.45,0.00,0.000,6,0.000,0.077,2199,2395,3401,0,0,0,0,0,0
$GC,3310,-0.86,-146.0,373.0,-9.3,369,3315,0.00,2.80,0.00,0.000,4,0.000,0.099,2198,713,3401,0,0,0,0,0,0
$GC,3371,-0.86,-146.0,379.5,-10.8,374,3376,0.00,2.78,0.00,0.000,6,0.000,0.087,2198,2393,3401,0,0,0,0,0,0
$GC,3696,-0.91,-146.0,409.6,-8.9,404,3697,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2393,3400,0,0,0,0,0,0
$STATE,3970,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3970,begin apogee
$GC,3975,-0.24,0.0,433.8,8.5,430,4097,0.73,0.00,117.88,1.091,6,0.199,0.000,2398,2106,2800,0,0,0,0,0,0
$STATE,4097,end apogee,CONTROL_FINISHED_OK
$STATE,4098,begin climb
$GC,4100,1.05,146.0,436.5,0.0,442,4235,1.42,3.03,121.53,1.032,4,0.142,0.096,2810,3686,2203,0,0,0,0,0,0
$GC,4487,0.63,146.0,378.0,16.0,477,4494,0.57,2.75,0.00,0.000,6,0.229,0.081,2688,2099,2193,0,0,0,0,0,0
$GC,4812,0.64,155.7,346.4,9.6,508,4826,0.00,2.88,7.43,0.854,4,0.000,0.097,2688,3686,2165,0,0,0,0,0,0
$GC,5079,0.57,155.7,318.0,10.7,532,5085,0.15,2.72,0.00,0.000,6,0.206,0.080,2665,2087,2163,0,0,0,0,0,0
$GC,5404,0.66,163.5,288.0,9.6,562,5418,0.00,2.85,8.10,0.867,4,0.000,0.098,2665,3689,2133,0,0,0,0,0,0
$GC,5673,0.66,163.5,260.1,10.7,586,5677,0.00,2.65,0.00,0.000,6,0.000,0.078,2675,2104,2131,0,0,0,0,0,0
$GC,5997,0.76,194.4,230.8,8.6,616,6032,0.15,2.88,26.67,0.941,4,0.112,0.098,2725,3693,2005,0,0,0,0,0,0
$GC,6285,0.65,194.4,192.6,13.0,642,6290,0.20,2.70,0.00,0.000,6,0.209,0.081,2692,2101,2001,0,0,0,0,0,0
$GC,6610,0.77,213.5,161.4,9.1,672,6632,0.12,2.78,16.33,0.896,4,0.126,0.097,2730,3687,1928,0,0,0,0,0,0
$GC,6885,0.70,213.5,129.0,11.9,696,6892,0.15,2.67,0.00,0.000,6,0.204,0.080,2709,2093,1923,0,0,0,0,0,0
$GC,7210,0.80,239.2,100.0,8.8,727,7242,0.00,2.88,22.00,0.884,4,0.000,0.097,2709,3691,1822,0,0,0,0,0,0
$GC,7495,0.80,239.2,69.9,10.7,778,7500,0.00,2.72,0.00,0.000,6,0.000,0.082,2719,2081,1818,0,0,0,0,0,0
$GC,7839,0.97,267.6,37.4,8.7,839,7872,0.22,2.85,23.95,0.854,4,0.095,0.099,2796,3693,1708,0,0,0,0,0,0
$STATE,8096,end climb,SURFACE_DEPTH_REACHED
$STATE,8096,begin surface coast
$FINISH,1.1,1.025694
$STATE,8102,end surface coast,CONTROL_FINISHED_OK
$STATE,8102,begin surface
$SM_CCo,8120,4.07,0.630,0,0,1678,275.23
$SM_GC,3.10,0.00,0.00,4.07,0.000,0.000,0.630,124,2295,1678,-7.36,-0.14,275.23
$RAFOS_CLK,564
$RAFOS,6,1255481349,0.833333,0.819167,44,44,42,0,0,0,1080,1262,1769,0,0,0
$RAFOS,5,1255480863,0.700000,0.684167,43,41,39,0,0,0,701,643,180,0,0,0
$RAFOS,4,1255480381,0.566667,0.550278,45,43,42,0,0,0,621,947,480,0,0,0
$RAFOS,3,1255479910,0.433333,0.419444,46,45,45,0,0,0,1190,1142,1231,0,0,0
$RAFOS,2,1255479421,0.300000,0.283611,45,43,42,0,0,0,1104,90,744,0,0,0
$RAFOS,1,1255478946,0.166667,0.151667,45,40,39,0,0,0,1073,1269,489,0,0,0
$RAFOS,0,1255478461,0.033333,0.016944,42,41,40,0,0,0,1113,1808,429,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6604.29,-6042.06,070199,232329
$TT8_MAMPS,0.027612
$HUMID,52.83
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.30
$XPDR_PINGS,4
$24V_AH,23.3,8.410
$10V_AH,10.3,3.139
$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,22.650,87.700,343.875,4.075,0.000,58.791,70.454,308.789,1.000,0.000,17.685,1571.807,4604.744,437.172,1555.985,584.461,0.000,1254.855,0.000,1525.322,2520.000,0.530,0.000
$DEVICE_MAMPS,326.742,109.681,1090.674,630.474,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,649.385,607.232,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151440
$DATA_FILE_SIZE,34741,886
$CAP_FILE_SIZE,104118,0
$CFSIZE,260165632,248901632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.5
$CURRENT,0.525,180.4,1
$GPS,141009,014936,6628.850,-6039.500,21,0.9,32,-37.7