version: 66.06
glider: 143
mission: 8
dive: 35
start: 10 14 109 4 21 16
data:
$ID,143
$MISSION,8
$DIVE,35
$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,-20768.799
$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,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
$GPS1,041521,6627.292,-6038.878,45,3.7,64,-37.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-68.2
$GPS2,042055,6627.201,-6038.850,12,1.9,17,-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,33.2,48199,-18.3,-10.000
$D_GRID,431
$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,13,begin dive
$GC,15,-1.05,-146.0,0.0,0.0,0,100,0.00,0.00,-82.28,0.000,2,0.000,0.000,128,2317,2887,0,0,0,0,0,0
$GC,103,-1.05,-146.0,3.4,-4.3,16,136,10.55,2.75,-15.05,0.000,4,0.331,0.114,2126,3885,3400,0,0,0,0,0,0
$GC,211,-0.73,-146.0,26.7,-21.4,35,217,0.47,2.67,0.00,0.000,6,0.232,0.074,2237,2292,3402,0,0,0,0,0,0
$GC,554,-0.77,-146.0,73.2,-11.9,96,559,0.00,2.67,0.00,0.000,4,0.000,0.098,2237,714,3403,0,0,0,0,0,0
$GC,639,-0.82,-146.0,83.7,-12.4,111,644,0.00,2.65,0.00,0.000,6,0.000,0.086,2237,2295,3403,0,0,0,0,0,0
$GC,972,-0.88,-146.0,119.0,-11.0,156,978,0.12,2.75,0.00,0.000,4,0.123,0.100,2186,3885,3403,0,0,0,0,0,0
$GC,1092,-0.79,-146.0,135.4,-14.2,166,1097,0.15,2.62,0.00,0.000,6,0.227,0.076,2218,2299,3403,0,0,0,0,0,0
$GC,1416,-0.79,-146.0,174.3,-11.7,196,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2299,3404,0,0,0,0,0,0
$GC,1737,-0.84,-146.0,209.2,-11.1,226,1741,0.00,2.67,0.00,0.000,4,0.000,0.102,2218,716,3403,0,0,0,0,0,0
$GC,1798,-0.84,-146.0,216.4,-12.0,231,1802,0.00,2.65,0.00,0.000,6,0.000,0.087,2218,2313,3404,0,0,0,0,0,0
$GC,2122,-0.91,-146.0,249.8,-10.4,261,2123,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2313,3403,0,0,0,0,0,0
$GC,2442,-0.99,-146.0,282.5,-9.7,291,2448,0.17,2.70,0.00,0.000,4,0.110,0.103,2147,3895,3403,0,0,0,0,0,0
$GC,2678,-0.86,-146.0,314.0,-13.7,311,2684,0.22,2.60,0.00,0.000,6,0.233,0.077,2198,2302,3402,0,0,0,0,0,0
$GC,3003,-0.86,-146.0,346.7,-10.0,342,3007,0.00,2.65,0.00,0.000,4,0.000,0.100,2198,710,3401,0,0,0,0,0,0
$GC,3148,-0.86,-146.0,362.6,-10.8,354,3154,0.00,2.62,0.00,0.000,6,0.000,0.087,2197,2306,3401,0,0,0,0,0,0
$GC,3472,-0.86,-146.0,393.7,-9.6,385,3477,0.00,2.67,0.00,0.000,4,0.000,0.105,2198,3884,3401,0,0,0,0,0,0
$GC,3679,-0.92,-146.0,413.5,-9.2,403,3684,0.00,2.58,0.00,0.000,6,0.000,0.076,2198,2304,3401,0,0,0,0,0,0
$STATE,3885,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3885,begin apogee
$GC,3891,-0.24,0.0,431.8,9.5,422,4013,0.73,0.00,118.12,1.089,6,0.201,0.000,2398,2095,2800,0,0,0,0,0,0
$STATE,4013,end apogee,CONTROL_FINISHED_OK
$STATE,4013,begin climb
$GC,4015,1.05,146.0,434.5,0.0,434,4142,1.42,0.00,122.20,1.026,6,0.143,0.000,2808,2094,2204,0,0,0,0,0,0
$GC,4460,0.65,146.0,370.1,16.1,477,4466,0.45,2.78,0.00,0.000,4,0.223,0.097,2707,507,2192,0,0,0,0,0,0
$GC,4482,0.41,146.0,366.9,14.5,478,4488,0.35,2.70,0.00,0.000,6,0.196,0.077,2619,2101,2192,0,0,0,0,0,0
$GC,4807,0.69,215.6,343.6,6.8,509,4870,0.25,2.88,56.28,0.979,4,0.101,0.097,2718,518,1921,0,0,0,0,0,0
$GC,4909,0.63,215.6,332.4,12.5,518,4916,0.15,2.75,0.00,0.000,6,0.195,0.078,2685,2099,1917,0,0,0,0,0,0
$GC,5234,0.71,215.6,297.6,11.0,549,5238,0.00,2.75,0.00,0.000,4,0.000,0.097,2695,516,1913,0,0,0,0,0,0
$GC,5244,0.78,215.6,296.3,11.2,549,5251,0.12,2.67,0.00,0.000,6,0.128,0.076,2734,2106,1912,0,0,0,0,0,0
$GC,5568,0.73,215.6,252.7,12.4,580,5573,0.00,2.72,0.00,0.000,4,0.000,0.098,2734,3688,1912,0,0,0,0,0,0
$GC,5698,0.62,215.6,234.7,14.9,591,5704,0.25,2.67,0.00,0.000,6,0.207,0.080,2687,2101,1911,0,0,0,0,0,0
$GC,6023,0.72,224.3,202.2,9.6,621,6035,0.00,2.78,7.12,0.820,4,0.000,0.100,2697,514,1885,0,0,0,0,0,0
$GC,6175,0.81,224.3,186.7,10.1,634,6182,0.15,2.62,0.00,0.000,6,0.120,0.078,2746,2102,1884,0,0,0,0,0,0
$GC,6500,0.81,224.3,147.6,13.0,665,6504,0.00,2.72,0.00,0.000,4,0.000,0.100,2757,514,1884,0,0,0,0,0,0
$GC,6509,0.76,224.3,146.4,12.8,665,6517,0.15,2.62,0.00,0.000,6,0.206,0.077,2724,2105,1884,0,0,0,0,0,0
$GC,6834,0.76,224.3,110.7,10.8,696,6838,0.00,2.67,0.00,0.000,4,0.000,0.098,2724,3687,1883,0,0,0,0,0,0
$GC,7007,0.76,224.3,91.3,11.2,717,7013,0.00,2.65,0.00,0.000,6,0.000,0.081,2734,2094,1882,0,0,0,0,0,0
$GC,7353,0.76,224.3,57.3,10.1,778,7358,0.00,2.65,0.00,0.000,4,0.000,0.103,2745,515,1882,0,0,0,0,0,0
$GC,7506,0.77,231.4,41.2,9.7,805,7522,0.00,2.60,7.28,0.797,6,0.000,0.080,2745,2103,1856,0,0,0,0,0,0
$GC,7861,0.78,241.8,6.7,9.5,868,7877,0.00,2.72,9.73,0.811,4,0.000,0.103,2757,516,1813,0,0,0,0,0,0
$GC,7888,0.78,242.9,3.8,10.0,873,7895,0.00,2.58,0.00,0.000,6,0.000,0.079,2757,2090,1812,0,0,0,0,0,0
$STATE,7905,end climb,SURFACE_DEPTH_REACHED
$STATE,7905,begin surface coast
$FINISH,0.8,1.024907
$STATE,7923,end surface coast,CONTROL_FINISHED_OK
$STATE,7923,begin surface
$SM_CCo,7939,26.08,0.838,0,0,1677,275.23
$SM_GC,1.56,0.00,0.00,26.08,0.000,0.000,0.838,128,2304,1677,-7.35,0.11,275.23
$RAFOS_CLK,534
$RAFOS,6,1255495745,4.833333,4.818056,46,43,41,0,0,0,936,668,1475,0,0,0
$RAFOS,5,1255495267,4.700000,4.685278,46,44,41,0,0,0,1860,565,104,0,0,0
$RAFOS,4,1255494786,4.566667,4.551667,44,42,38,0,0,0,1745,1884,522,0,0,0
$RAFOS,3,1255494303,4.433333,4.417500,47,42,42,0,0,0,1533,203,353,0,0,0
$RAFOS,1,1255493345,4.166667,4.151389,42,41,41,0,0,0,873,768,1097,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6558.99,-6044.69,080199,020216
$TT8_MAMPS,0.026845
$HUMID,53.11
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.30
$XPDR_PINGS,3
$24V_AH,23.4,8.642
$10V_AH,10.3,3.245
$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,23.375,86.525,320.725,26.075,0.000,23.799,31.258,172.067,0.750,0.000,18.719,1561.804,4460.819,464.880,1458.099,356.406,0.000,1226.650,0.000,1433.684,1440.000,0.530,0.000
$DEVICE_MAMPS,330.577,113.516,1089.140,838.331,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,643.415,604.645,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151004
$DATA_FILE_SIZE,34790,879
$CAP_FILE_SIZE,99473,0
$CFSIZE,260165632,248799232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.9
$CURRENT,0.372,168.3,1
$GPS,141009,063516,6626.744,-6038.174,10,99.0,29,-37.7