version: 66.06
glider: 143
mission: 8
dive: 36
start: 10 14 109 6 41 50
data:
$ID,143
$MISSION,8
$DIVE,36
$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,-20817.215
$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,22
$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
$GPS1,063516,6626.744,-6038.174,10,99.0,29,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-68.3
$GPS2,064130,6626.680,-6038.219,36,1.8,46,-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,32.0,48644,-18.3,-10.000
$D_GRID,429
$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,16,-1.05,-146.0,0.0,0.0,0,94,0.00,0.00,-75.62,0.000,2,0.000,0.000,128,2304,2829,0,0,0,0,0,0
$GC,97,-1.05,-146.0,3.3,-5.4,15,135,10.52,2.85,-17.77,0.000,4,0.329,0.117,2134,3881,3399,0,0,0,0,0,0
$GC,209,-0.77,-146.0,25.4,-19.6,35,215,0.40,2.67,0.00,0.000,6,0.231,0.076,2229,2290,3401,0,0,0,0,0,0
$GC,553,-0.77,-146.0,71.7,-11.6,96,558,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2290,3402,0,0,0,0,0,0
$GC,895,-0.77,-146.0,112.5,-11.3,148,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2290,3403,0,0,0,0,0,0
$GC,1214,-0.77,-146.0,148.4,-11.3,178,1219,0.00,2.78,0.00,0.000,4,0.000,0.104,2229,3886,3403,0,0,0,0,0,0
$GC,1314,-0.83,-146.0,160.0,-11.4,186,1320,0.00,2.62,0.00,0.000,6,0.000,0.074,2229,2293,3403,0,0,0,0,0,0
$GC,1641,-0.91,-146.0,192.6,-9.7,217,1646,0.15,2.67,0.00,0.000,4,0.122,0.100,2182,704,3403,0,0,0,0,0,0
$GC,1730,-0.83,-146.0,204.7,-13.6,224,1738,0.12,2.65,0.00,0.000,6,0.252,0.087,2206,2307,3403,0,0,0,0,0,0
$GC,2055,-0.83,-146.0,240.4,-11.1,255,2059,0.00,2.70,0.00,0.000,4,0.000,0.106,2206,3886,3402,0,0,0,0,0,0
$GC,2219,-0.88,-146.0,258.0,-10.9,269,2223,0.00,2.60,0.00,0.000,6,0.000,0.076,2206,2300,3402,0,0,0,0,0,0
$GC,2543,-0.88,-146.0,290.7,-9.9,299,2547,0.00,2.67,0.00,0.000,4,0.000,0.100,2206,707,3402,0,0,0,0,0,0
$GC,2649,-0.88,-146.0,301.9,-10.5,308,2653,0.00,2.62,0.00,0.000,6,0.000,0.088,2206,2299,3402,0,0,0,0,0,0
$GC,2973,-0.93,-146.0,334.2,-9.8,338,2978,0.00,2.70,0.00,0.000,4,0.000,0.107,2206,3884,3402,0,0,0,0,0,0
$GC,3081,-1.00,-146.0,344.8,-9.5,347,3086,0.15,2.60,0.00,0.000,6,0.122,0.077,2156,2295,3401,0,0,0,0,0,0
$GC,3406,-0.91,-146.0,381.6,-11.8,377,3411,0.12,2.65,0.00,0.000,4,0.230,0.099,2189,707,3401,0,0,0,0,0,0
$GC,3561,-0.91,-146.0,399.0,-11.4,390,3567,0.00,2.65,0.00,0.000,6,0.000,0.087,2189,2319,3401,0,0,0,0,0,0
$STATE,3864,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3864,begin apogee
$GC,3868,-0.24,0.0,429.4,9.9,419,3990,0.75,0.00,118.03,1.092,6,0.206,0.000,2393,2092,2800,0,0,0,0,0,0
$STATE,3991,end apogee,CONTROL_FINISHED_OK
$STATE,3991,begin climb
$GC,3993,1.05,146.0,433.1,0.0,431,4128,1.42,2.95,121.47,1.026,4,0.142,0.098,2818,521,2202,0,0,0,0,0,0
$GC,4156,0.58,146.0,416.6,18.1,446,4162,0.62,2.80,0.00,0.000,6,0.212,0.078,2671,2106,2198,0,0,0,0,0,0
$GC,4480,0.60,158.9,383.7,9.4,477,4496,0.00,2.83,10.45,0.914,4,0.000,0.097,2680,515,2151,0,0,0,0,0,0
$GC,4524,0.60,161.3,379.4,9.9,480,4531,0.00,2.72,0.00,0.000,6,0.000,0.078,2680,2108,2149,0,0,0,0,0,0
$GC,4848,0.60,162.7,348.3,9.9,511,4859,0.00,2.78,4.50,0.723,4,0.000,0.099,2692,518,2135,0,0,0,0,0,0
$GC,5021,0.60,162.7,328.3,11.7,526,5028,0.00,2.67,0.00,0.000,6,0.000,0.080,2692,2111,2135,0,0,0,0,0,0
$GC,5347,0.60,162.7,293.2,10.3,557,5352,0.00,2.72,0.00,0.000,4,0.000,0.097,2704,517,2134,0,0,0,0,0,0
$GC,5408,0.56,162.7,286.6,11.3,562,5414,0.17,2.62,0.00,0.000,6,0.189,0.080,2661,2095,2135,0,0,0,0,0,0
$GC,5733,0.69,190.6,258.6,8.7,592,5765,0.12,2.75,24.30,0.947,4,0.123,0.098,2712,518,2022,0,0,0,0,0,0
$GC,5814,0.69,190.6,249.6,11.8,599,5821,0.00,2.65,0.00,0.000,6,0.000,0.079,2713,2092,2019,0,0,0,0,0,0
$GC,6139,0.69,190.6,214.1,11.4,630,6144,0.00,2.70,0.00,0.000,4,0.000,0.099,2725,518,2018,0,0,0,0,0,0
$GC,6149,0.69,190.6,213.0,11.7,630,6155,0.00,2.60,0.00,0.000,6,0.000,0.077,2725,2087,2018,0,0,0,0,0,0
$GC,6474,0.69,190.6,178.5,10.1,661,6479,0.00,2.67,0.00,0.000,4,0.000,0.100,2736,518,2017,0,0,0,0,0,0
$GC,6484,0.64,190.6,177.5,10.2,661,6490,0.20,2.60,0.00,0.000,6,0.195,0.077,2687,2098,2017,0,0,0,0,0,0
$GC,6809,0.77,216.1,148.0,8.8,692,6840,0.12,2.83,21.38,0.905,4,0.126,0.098,2726,3688,1917,0,0,0,0,0,0
$GC,6947,0.69,216.1,131.6,12.3,704,6954,0.10,2.67,0.00,0.000,6,0.191,0.081,2701,2092,1914,0,0,0,0,0,0
$GC,7272,0.84,251.4,103.2,8.4,735,7308,0.15,2.78,29.95,0.885,4,0.114,0.104,2760,514,1774,0,0,0,0,0,0
$GC,7332,0.80,251.4,97.0,11.4,742,7337,0.00,2.67,0.00,0.000,6,0.000,0.081,2760,2088,1772,0,0,0,0,0,0
$GC,7674,0.80,252.3,59.7,10.0,803,7680,0.00,2.75,0.00,0.000,4,0.000,0.099,2760,3687,1768,0,0,0,0,0,0
$GC,7854,0.72,252.3,39.3,13.2,835,7860,0.22,2.65,0.00,0.000,6,0.193,0.084,2717,2120,1766,0,0,0,0,0,0
$GC,8199,0.91,309.8,9.4,7.4,896,8257,0.17,2.90,47.78,0.829,4,0.108,0.104,2787,516,1534,0,0,0,0,0,0
$STATE,8263,end climb,SURFACE_DEPTH_REACHED
$STATE,8263,begin surface coast
$FINISH,1.2,1.025764
$STATE,8268,end surface coast,CONTROL_FINISHED_OK
$STATE,8268,begin surface
$SM_CCo,8347,0.00,0.000,0,0,1526,312.51
$SM_GC,1.66,8.02,0.00,0.00,0.084,0.000,0.000,125,2301,1526,-7.33,0.03,312.51
$RAFOS_CLK,567
$RAFOS,6,1255510143,8.833333,8.817500,42,42,41,0,0,0,1423,1489,346,0,0,0
$RAFOS,5,1255509662,8.700000,8.683888,42,42,41,0,0,0,1067,1532,1789,0,0,0
$RAFOS,4,1255509189,8.566667,8.552500,45,43,40,0,0,0,1116,392,1552,0,0,0
$RAFOS,3,1255508705,8.433333,8.418056,51,43,43,0,0,0,610,701,1796,0,0,0
$RAFOS,2,1255508230,8.300000,8.286111,46,42,40,0,0,0,803,1814,608,0,0,0
$RAFOS,1,1255507748,8.166667,8.152223,47,43,43,0,0,0,1194,430,1716,0,0,0
$RAFOS,0,1255507271,8.033334,8.019722,49,42,38,0,0,0,636,402,1411,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6558.99,-6040.00,080199,040438
$TT8_MAMPS,0.026845
$HUMID,52.71
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,16.50
$XPDR_PINGS,3
$24V_AH,23.3,8.763
$10V_AH,10.3,3.300
$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,23.575,98.250,377.850,0.000,0.000,31.015,37.767,166.933,0.750,0.000,47.786,1597.498,4719.390,477.886,1553.949,371.993,0.000,1295.812,0.000,1496.939,2520.000,0.529,0.000
$DEVICE_MAMPS,329.043,116.584,1092.208,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,665.123,623.200,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150944
$DATA_FILE_SIZE,34668,909
$CAP_FILE_SIZE,104288,0
$CFSIZE,260165632,248741888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.8
$CURRENT,0.107,117.6,1
$GPS,141009,090206,6627.615,-6037.246,10,1.0,26,-37.7