version: 66.06
glider: 143
mission: 8
dive: 39
start: 10 14 109 13 54 28
data:
$ID,143
$MISSION,8
$DIVE,39
$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,-20866.76
$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,16
$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
$GPS1,134836,6628.454,-6034.738,38,0.9,38,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-69.6
$GPS2,135407,6628.408,-6034.758,9,1.1,14,-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,32.1,44567,-18.3,-10.000
$D_GRID,440
$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,-146.0,0.0,0.0,0,93,0.00,0.00,-75.32,0.000,2,0.000,0.000,125,2302,2796,0,0,0,0,0,0
$GC,96,-1.05,-146.0,3.0,-2.7,14,132,10.38,0.00,-19.52,0.000,6,0.328,0.000,2129,2302,3399,0,0,0,0,0,0
$GC,471,-0.76,-146.0,76.9,-16.8,81,478,0.38,2.75,0.00,0.000,4,0.237,0.101,2214,3887,3402,0,0,0,0,0,0
$GC,579,-0.76,-146.0,90.8,-11.9,100,584,0.00,2.65,0.00,0.000,6,0.000,0.073,2214,2285,3402,0,0,0,0,0,0
$GC,913,-0.76,-146.0,128.3,-10.7,138,917,0.00,2.78,0.00,0.000,4,0.000,0.103,2214,3884,3402,0,0,0,0,0,0
$GC,985,-0.76,-146.0,136.0,-10.9,144,989,0.00,2.60,0.00,0.000,6,0.000,0.073,2215,2305,3402,0,0,0,0,0,0
$GC,1309,-0.76,-146.0,172.1,-11.9,174,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2305,3402,0,0,0,0,0,0
$GC,1629,-0.76,-146.0,211.2,-12.6,204,1633,0.00,2.72,0.00,0.000,4,0.000,0.104,2214,3888,3402,0,0,0,0,0,0
$GC,1717,-0.82,-146.0,222.2,-12.2,211,1723,0.00,2.60,0.00,0.000,6,0.000,0.074,2214,2298,3402,0,0,0,0,0,0
$GC,2042,-0.82,-146.0,258.2,-9.4,242,2047,0.00,2.65,0.00,0.000,4,0.000,0.100,2214,707,3402,0,0,0,0,0,0
$GC,2148,-0.82,-146.0,269.5,-10.9,251,2153,0.00,2.65,0.00,0.000,6,0.000,0.088,2214,2311,3401,0,0,0,0,0,0
$GC,2473,-0.88,-146.0,302.3,-9.1,281,2477,0.00,2.70,0.00,0.000,4,0.000,0.106,2214,3893,3401,0,0,0,0,0,0
$GC,2546,-0.96,-146.0,309.2,-9.1,287,2551,0.12,2.60,0.00,0.000,6,0.127,0.076,2171,2302,3401,0,0,0,0,0,0
$GC,2870,-0.96,-146.0,344.6,-11.3,317,2871,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2302,3400,0,0,0,0,0,0
$GC,3190,-0.96,-146.0,377.9,-10.4,347,3194,0.00,2.70,0.00,0.000,4,0.000,0.104,2171,3885,3400,0,0,0,0,0,0
$GC,3346,-0.91,-146.0,394.6,-10.6,360,3352,0.00,2.58,0.00,0.000,6,0.000,0.076,2171,2305,3400,0,0,0,0,0,0
$GC,3670,-0.91,-146.0,428.0,-10.7,391,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2304,3400,0,0,0,0,0,0
$STATE,3786,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3786,begin apogee
$GC,3791,-0.24,0.0,440.1,10.2,402,3913,0.82,0.00,118.22,1.090,6,0.206,0.000,2394,2095,2800,0,0,0,0,0,0
$STATE,3914,end apogee,CONTROL_FINISHED_OK
$STATE,3914,begin climb
$GC,3916,1.05,146.0,443.5,0.0,414,4043,1.42,0.00,122.35,1.029,6,0.143,0.000,2806,2095,2204,0,0,0,0,0,0
$GC,4361,0.69,146.0,381.2,15.6,457,4366,0.40,2.75,0.00,0.000,4,0.224,0.097,2718,515,2193,0,0,0,0,0,0
$GC,4371,0.37,146.0,379.4,15.7,457,4379,0.43,2.67,0.00,0.000,6,0.204,0.075,2602,2102,2192,0,0,0,0,0,0
$GC,4696,0.70,209.9,355.5,7.1,488,4760,0.30,2.90,52.30,0.979,4,0.101,0.094,2705,3687,1941,0,0,0,0,0,0
$GC,4884,0.62,209.9,331.1,14.5,505,4889,0.15,2.70,0.00,0.000,6,0.215,0.077,2686,2121,1936,0,0,0,0,0,0
$GC,5208,0.68,209.9,292.4,11.0,535,5213,0.00,2.75,0.00,0.000,4,0.000,0.097,2697,515,1933,0,0,0,0,0,0
$GC,5314,0.68,209.9,279.5,12.3,544,5319,0.00,2.67,0.00,0.000,6,0.000,0.077,2697,2114,1932,0,0,0,0,0,0
$GC,5639,0.68,209.9,242.5,11.2,574,5640,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2114,1932,0,0,0,0,0,0
$GC,5959,0.76,209.9,206.0,11.1,604,5963,0.00,2.67,0.00,0.000,4,0.000,0.097,2697,3689,1932,0,0,0,0,0,0
$GC,5975,0.81,209.9,203.9,11.3,605,5979,0.00,2.62,0.00,0.000,6,0.000,0.077,2708,2112,1932,0,0,0,0,0,0
$GC,6299,0.86,209.9,168.1,10.8,635,6305,0.15,2.70,0.00,0.000,4,0.115,0.097,2758,3698,1932,0,0,0,0,0,0
$GC,6456,0.68,209.9,145.9,13.4,648,6463,0.28,2.62,0.00,0.000,6,0.214,0.080,2704,2114,1931,0,0,0,0,0,0
$GC,6781,0.80,242.4,115.3,8.5,679,6814,0.12,2.83,26.55,0.880,4,0.129,0.101,2755,512,1809,0,0,0,0,0,0
$GC,6884,0.76,242.4,104.9,11.1,688,6889,0.12,2.67,0.00,0.000,6,0.206,0.080,2729,2111,1806,0,0,0,0,0,0
$GC,7225,0.84,263.2,72.8,9.0,744,7251,0.00,2.78,17.90,0.857,4,0.000,0.097,2730,3684,1724,0,0,0,0,0,0
$GC,7268,0.84,263.2,68.5,10.6,752,7273,0.00,2.67,0.00,0.000,6,0.000,0.081,2739,2111,1723,0,0,0,0,0,0
$GC,7611,0.94,275.2,34.6,9.4,813,7628,0.12,2.75,10.60,0.818,4,0.114,0.097,2781,3689,1677,0,0,0,0,0,0
$GC,7735,0.82,275.2,17.7,14.0,835,7742,0.20,2.67,0.00,0.000,6,0.206,0.081,2748,2107,1675,0,0,0,0,0,0
$STATE,7881,end climb,SURFACE_DEPTH_REACHED
$STATE,7881,begin surface coast
$FINISH,0.9,1.013307
$STATE,7898,end surface coast,CONTROL_FINISHED_OK
$STATE,7898,begin surface
$SM_CCo,7974,0.00,0.000,0,0,1669,277.19
$SM_GC,1.80,7.72,0.00,0.00,0.088,0.000,0.000,132,2306,1669,-7.31,0.17,277.19
$RAFOS_CLK,535
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6558.99,-6032.67,080199,111119
$TT8_MAMPS,0.027612
$HUMID,53.15
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.30
$XPDR_PINGS,3
$24V_AH,23.3,9.106
$10V_AH,10.3,3.454
$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,23.125,76.125,347.925,0.000,0.000,30.114,33.544,162.613,0.750,0.000,16.111,1507.842,4595.081,445.480,1402.935,353.521,0.000,1186.863,0.000,1386.286,360.000,0.530,0.000
$DEVICE_MAMPS,327.509,105.846,1089.907,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,635.744,594.533,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150996
$DATA_FILE_SIZE,31591,864
$CAP_FILE_SIZE,94964,0
$CFSIZE,260165632,248598528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.3
$CURRENT,0.363,172.1,1
$GPS,141009,160836,6627.943,-6034.649,33,1.2,33,-37.7