version: 66.06
glider: 143
mission: 8
dive: 34
start: 10 14 109 1 56 41
data:
$ID,143
$MISSION,8
$DIVE,34
$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,-20749.451
$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,18
$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
$GPS1,014936,6628.850,-6039.500,21,0.9,32,-37.7
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-68.0
$GPS2,015620,6628.743,-6039.510,14,0.9,14,-37.7
$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,35.9,46393,-18.3,-10.000
$D_GRID,432
$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,-146.0,0.0,0.0,0,90,0.00,0.00,-72.65,0.000,2,0.000,0.000,123,2292,2785,0,0,0,0,0,0
$GC,93,-1.05,-146.0,3.1,-4.0,14,126,10.62,0.00,-19.38,0.000,6,0.331,0.000,2132,2292,3397,0,0,0,0,0,0
$GC,464,-0.76,-146.0,74.2,-16.4,80,470,0.38,2.72,0.00,0.000,4,0.239,0.100,2216,3889,3401,0,0,0,0,0,0
$GC,588,-0.76,-146.0,90.0,-11.3,102,595,0.00,2.65,0.00,0.000,6,0.000,0.075,2216,2297,3402,0,0,0,0,0,0
$GC,923,-0.76,-146.0,129.1,-12.1,141,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2297,3403,0,0,0,0,0,0
$GC,1243,-0.76,-146.0,165.4,-10.7,171,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2297,3402,0,0,0,0,0,0
$GC,1561,-0.76,-146.0,201.4,-11.1,201,1566,0.00,2.75,0.00,0.000,4,0.000,0.104,2216,3890,3402,0,0,0,0,0,0
$GC,1661,-0.82,-146.0,212.4,-10.8,209,1667,0.00,2.62,0.00,0.000,6,0.000,0.075,2216,2293,3402,0,0,0,0,0,0
$GC,1986,-0.82,-146.0,244.2,-9.1,240,1990,0.00,2.65,0.00,0.000,4,0.000,0.103,2216,712,3402,0,0,0,0,0,0
$GC,2074,-0.82,-146.0,253.2,-9.9,247,2080,0.00,2.62,0.00,0.000,6,0.000,0.087,2216,2305,3402,0,0,0,0,0,0
$GC,2399,-0.89,-146.0,283.4,-9.3,278,2404,0.00,2.70,0.00,0.000,4,0.000,0.107,2216,3888,3402,0,0,0,0,0,0
$GC,2545,-0.95,-146.0,297.1,-9.4,290,2552,0.12,2.60,0.00,0.000,6,0.127,0.077,2174,2301,3401,0,0,0,0,0,0
$GC,2869,-0.95,-146.0,332.1,-11.8,321,2874,0.00,2.65,0.00,0.000,4,0.000,0.100,2173,710,3401,0,0,0,0,0,0
$GC,2976,-0.89,-146.0,345.1,-12.3,330,2980,0.00,2.65,0.00,0.000,6,0.000,0.089,2173,2313,3401,0,0,0,0,0,0
$GC,3300,-0.85,-146.0,380.8,-11.1,360,3305,0.15,2.67,0.00,0.000,4,0.245,0.103,2195,3888,3401,0,0,0,0,0,0
$GC,3400,-0.85,-146.0,391.2,-9.4,368,3406,0.00,2.58,0.00,0.000,6,0.000,0.075,2195,2301,3400,0,0,0,0,0,0
$GC,3726,-0.85,-146.0,423.2,-10.0,399,3727,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2301,3400,0,0,0,0,0,0
$STATE,3819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3819,begin apogee
$GC,3824,-0.24,0.0,432.5,9.9,408,3945,0.75,0.00,117.93,1.090,6,0.205,0.000,2398,2104,2800,0,0,0,0,0,0
$STATE,3946,end apogee,CONTROL_FINISHED_OK
$STATE,3946,begin climb
$GC,3948,1.05,146.0,436.2,0.0,420,4083,1.42,2.97,121.62,1.032,4,0.144,0.099,2822,521,2202,0,0,0,0,0,0
$GC,4133,0.59,146.0,416.3,18.4,437,4139,0.65,2.78,0.00,0.000,6,0.225,0.078,2674,2102,2197,0,0,0,0,0,0
$GC,4457,0.61,168.6,384.3,9.0,468,4482,0.00,2.88,18.38,0.960,4,0.000,0.099,2683,517,2111,0,0,0,0,0,0
$GC,4544,0.61,168.6,376.0,10.5,476,4549,0.00,2.72,0.00,0.000,6,0.000,0.078,2683,2109,2109,0,0,0,0,0,0
$GC,4870,0.61,168.6,342.9,11.0,506,4874,0.00,2.75,0.00,0.000,4,0.000,0.099,2683,3690,2107,0,0,0,0,0,0
$GC,4977,0.55,168.6,329.5,12.1,515,4982,0.15,2.70,0.00,0.000,6,0.206,0.080,2662,2100,2105,0,0,0,0,0,0
$GC,5301,0.65,168.6,297.0,10.1,545,5306,0.00,2.75,0.00,0.000,4,0.000,0.097,2662,3692,2105,0,0,0,0,0,0
$GC,5311,0.75,172.0,296.0,9.8,545,5317,0.15,2.65,0.00,0.000,6,0.116,0.077,2721,2107,2105,0,0,0,0,0,0
$GC,5636,0.68,172.0,258.3,10.9,576,5640,0.00,2.72,0.00,0.000,4,0.000,0.098,2721,3690,2105,0,0,0,0,0,0
$GC,5766,0.52,172.0,243.0,11.9,587,5771,0.32,2.65,0.00,0.000,6,0.209,0.080,2653,2104,2105,0,0,0,0,0,0
$GC,6091,0.71,206.7,215.5,8.4,617,6132,0.17,2.83,31.65,0.933,4,0.115,0.101,2720,515,1955,0,0,0,0,0,0
$GC,6238,0.71,206.7,198.0,12.3,630,6245,0.00,2.67,0.00,0.000,6,0.000,0.080,2721,2106,1952,0,0,0,0,0,0
$GC,6564,0.73,217.7,163.6,9.5,661,6579,0.00,2.78,9.73,0.860,4,0.000,0.100,2732,515,1911,0,0,0,0,0,0
$GC,6639,0.73,217.7,155.7,10.2,667,6646,0.00,2.65,0.00,0.000,6,0.000,0.079,2732,2105,1910,0,0,0,0,0,0
$GC,6966,0.73,217.7,121.3,11.8,698,6970,0.00,2.72,0.00,0.000,4,0.000,0.100,2744,512,1909,0,0,0,0,0,0
$GC,6986,0.73,217.7,118.6,11.6,699,6992,0.00,2.65,0.00,0.000,6,0.000,0.080,2744,2106,1908,0,0,0,0,0,0
$GC,7321,0.73,217.7,81.0,11.2,745,7326,0.00,2.70,0.00,0.000,4,0.000,0.098,2744,3694,1908,0,0,0,0,0,0
$GC,7489,0.63,217.7,60.3,11.5,775,7496,0.28,2.62,0.00,0.000,6,0.206,0.081,2688,2122,1907,0,0,0,0,0,0
$GC,7835,0.91,283.9,34.5,7.0,836,7899,0.25,2.85,54.83,0.849,4,0.100,0.103,2791,514,1640,0,0,0,0,0,0
$GC,7906,0.86,283.9,26.7,12.3,849,7912,0.15,2.75,0.00,0.000,6,0.201,0.080,2759,2125,1638,0,0,0,0,0,0
$STATE,8119,end climb,SURFACE_DEPTH_REACHED
$STATE,8119,begin surface coast
$FINISH,0.9,1.016726
$STATE,8137,end surface coast,CONTROL_FINISHED_OK
$STATE,8137,begin surface
$SM_CCo,8213,0.00,0.000,0,0,1624,288.47
$SM_GC,1.69,7.82,0.00,0.00,0.086,0.000,0.000,128,2315,1624,-7.32,0.42,288.47
$RAFOS_CLK,557
$RAFOS,0,1255492866,4.033333,4.018333,50,40,40,0,0,0,399,256,1784,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6604.29,-6037.36,070199,232302
$TT8_MAMPS,0.028379
$HUMID,52.52
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.30
$XPDR_PINGS,1
$24V_AH,23.3,8.529
$10V_AH,10.3,3.192
$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,23.400,87.325,354.125,0.000,0.000,40.851,37.027,222.489,0.250,0.000,15.685,1574.369,4694.184,444.929,1474.410,429.625,0.000,1231.390,0.000,1451.071,720.000,0.530,0.000
$DEVICE_MAMPS,330.577,106.613,1089.907,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,652.398,609.799,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151064
$DATA_FILE_SIZE,34721,890
$CAP_FILE_SIZE,100141,0
$CFSIZE,260165632,248852480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.1
$CURRENT,0.577,174.4,1
$GPS,141009,041521,6627.292,-6038.878,45,3.7,64,-37.7