version: 66.06
glider: 143
mission: 8
dive: 40
start: 10 14 109 16 14 33
data:
$ID,143
$MISSION,8
$DIVE,40
$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,-20887.293
$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,15
$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
$GPS1,160836,6627.943,-6034.649,33,1.2,33,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-68.9
$GPS2,161413,6627.878,-6034.645,13,2.0,18,-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,31.2,45279,-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,12,begin dive
$GC,15,-1.05,-146.0,0.0,0.0,0,92,0.00,0.00,-74.50,0.000,2,0.000,0.000,131,2306,2799,0,0,0,0,0,0
$GC,95,-1.05,-146.0,3.3,-4.2,14,127,10.45,0.00,-19.05,0.000,6,0.330,0.000,2135,2306,3399,0,0,0,0,0,0
$GC,466,-0.78,-146.0,78.7,-18.2,80,472,0.32,2.72,0.00,0.000,4,0.238,0.100,2208,3883,3402,0,0,0,0,0,0
$GC,608,-0.78,-146.0,97.6,-12.4,105,613,0.00,2.62,0.00,0.000,6,0.000,0.073,2208,2292,3402,0,0,0,0,0,0
$GC,938,-0.78,-146.0,136.7,-11.4,138,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2292,3403,0,0,0,0,0,0
$GC,1258,-0.78,-146.0,171.3,-10.9,168,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2292,3403,0,0,0,0,0,0
$GC,1577,-0.78,-146.0,207.4,-10.9,198,1581,0.00,2.65,0.00,0.000,4,0.000,0.100,2208,707,3403,0,0,0,0,0,0
$GC,1641,-0.78,-146.0,215.1,-11.5,203,1648,0.00,2.65,0.00,0.000,6,0.000,0.087,2208,2310,3403,0,0,0,0,0,0
$GC,1967,-0.78,-146.0,250.8,-11.1,234,1971,0.00,2.70,0.00,0.000,4,0.000,0.106,2208,3889,3402,0,0,0,0,0,0
$GC,2051,-0.78,-146.0,260.3,-11.3,241,2055,0.00,2.60,0.00,0.000,6,0.000,0.077,2208,2302,3402,0,0,0,0,0,0
$GC,2375,-0.78,-146.0,295.0,-9.8,271,2376,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2302,3402,0,0,0,0,0,0
$GC,2695,-0.83,-146.0,325.9,-9.4,301,2696,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2302,3402,0,0,0,0,0,0
$GC,3014,-0.90,-146.0,357.4,-9.7,331,3019,0.00,2.70,0.00,0.000,4,0.000,0.104,2208,3885,3401,0,0,0,0,0,0
$GC,3215,-0.98,-146.0,377.4,-9.6,348,3222,0.12,2.58,0.00,0.000,6,0.123,0.076,2164,2305,3401,0,0,0,0,0,0
$GC,3540,-0.90,-146.0,414.3,-11.6,379,3545,0.00,2.70,0.00,0.000,4,0.000,0.103,2164,3892,3401,0,0,0,0,0,0
$GC,3704,-0.84,-146.0,433.0,-10.4,393,3709,0.17,2.55,0.00,0.000,6,0.228,0.074,2202,2317,3401,0,0,0,0,0,0
$STATE,3782,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3782,begin apogee
$GC,3787,-0.24,0.0,440.8,9.4,400,3909,0.70,0.00,118.18,1.089,6,0.195,0.000,2398,2104,2800,0,0,0,0,0,0
$STATE,3910,end apogee,CONTROL_FINISHED_OK
$STATE,3910,begin climb
$GC,3912,1.05,146.0,443.8,0.0,412,4040,1.40,0.00,122.03,1.029,6,0.136,0.000,2808,2104,2203,0,0,0,0,0,0
$GC,4354,0.68,146.0,381.8,15.7,454,4356,0.45,0.00,0.00,0.000,6,0.217,0.000,2701,2104,2192,0,0,0,0,0,0
$GC,4673,0.62,146.0,346.9,10.6,484,4677,0.00,2.75,0.00,0.000,4,0.000,0.099,2711,509,2191,0,0,0,0,0,0
$GC,4700,0.54,146.0,343.8,11.5,486,4705,0.22,2.67,0.00,0.000,6,0.202,0.077,2658,2110,2191,0,0,0,0,0,0
$GC,5025,0.66,182.3,316.0,8.3,516,5060,0.12,2.83,29.02,0.962,4,0.127,0.098,2708,514,2056,0,0,0,0,0,0
$GC,5113,0.66,182.3,306.6,12.4,524,5118,0.00,2.70,0.00,0.000,6,0.000,0.079,2708,2101,2053,0,0,0,0,0,0
$GC,5437,0.66,182.3,269.6,11.4,554,5442,0.00,2.75,0.00,0.000,4,0.000,0.099,2720,513,2050,0,0,0,0,0,0
$GC,5515,0.59,182.3,260.5,11.7,560,5522,0.20,2.65,0.00,0.000,6,0.196,0.080,2672,2101,2049,0,0,0,0,0,0
$GC,5841,0.72,199.8,230.0,9.2,591,5863,0.12,2.75,15.27,0.910,4,0.124,0.099,2722,518,1983,0,0,0,0,0,0
$GC,6066,0.67,199.8,203.1,13.0,611,6071,0.00,2.65,0.00,0.000,6,0.000,0.080,2723,2097,1981,0,0,0,0,0,0
$GC,6390,0.67,199.8,164.6,11.8,641,6395,0.00,2.70,0.00,0.000,4,0.000,0.100,2734,514,1980,0,0,0,0,0,0
$GC,6556,0.62,199.8,144.1,11.5,655,6563,0.20,2.60,0.00,0.000,6,0.196,0.080,2685,2091,1979,0,0,0,0,0,0
$GC,6882,0.83,265.1,118.7,7.0,686,6944,0.20,2.80,54.35,0.887,4,0.107,0.100,2763,516,1717,0,0,0,0,0,0
$GC,6950,0.83,265.1,111.5,11.1,692,6956,0.00,2.67,0.00,0.000,6,0.000,0.077,2763,2080,1716,0,0,0,0,0,0
$GC,7288,0.83,265.1,68.2,11.4,745,7293,0.00,2.78,0.00,0.000,4,0.000,0.099,2762,3691,1709,0,0,0,0,0,0
$GC,7390,0.78,265.1,55.6,11.9,763,7396,0.17,2.72,0.00,0.000,6,0.196,0.081,2734,2071,1707,0,0,0,0,0,0
$GC,7736,0.88,267.5,23.2,9.9,824,7742,0.00,2.65,0.00,0.000,4,0.000,0.102,2744,509,1705,0,0,0,0,0,0
$GC,7793,0.93,267.5,17.3,10.4,834,7800,0.12,2.58,0.00,0.000,6,0.127,0.080,2784,2066,1704,0,0,0,0,0,0
$STATE,7916,end climb,SURFACE_DEPTH_REACHED
$STATE,7916,begin surface coast
$FINISH,0.8,1.014028
$STATE,7935,end surface coast,CONTROL_FINISHED_OK
$STATE,7935,begin surface
$SM_CCo,7951,5.62,0.729,0,0,1678,275.23
$SM_GC,2.94,0.00,0.00,5.62,0.000,0.000,0.729,127,2305,1678,-7.36,0.14,275.23
$RAFOS_CLK,535
$RAFOS,6,1255538948,16.833334,16.818890,44,40,39,0,0,0,163,1939,1837,0,0,0
$RAFOS,5,1255538464,16.700001,16.684444,41,40,39,0,0,0,272,1775,1142,0,0,0
$RAFOS,4,1255537990,16.566668,16.552778,46,44,42,0,0,0,627,1438,1062,0,0,0
$RAFOS,3,1255537501,16.433332,16.416945,48,41,40,0,0,0,1578,917,237,0,0,0
$RAFOS,2,1255537026,16.299999,16.285000,43,42,41,0,0,0,1876,748,1740,0,0,0
$RAFOS,0,1255536065,16.033333,16.018055,47,45,43,0,0,0,1786,1776,1332,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6604.29,-6034.71,080199,131359
$TT8_MAMPS,0.026845
$HUMID,53.22
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.40
$XPDR_PINGS,4
$24V_AH,23.3,9.219
$10V_AH,10.3,3.505
$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,22.625,70.475,338.850,5.625,0.000,29.311,32.704,163.876,1.000,0.000,19.906,1506.656,4589.124,424.185,1424.110,352.653,0.000,1172.576,0.000,1399.056,1800.000,0.529,0.000
$DEVICE_MAMPS,329.810,105.846,1089.140,728.650,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,629.324,591.124,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150944
$DATA_FILE_SIZE,31667,859
$CAP_FILE_SIZE,95094,0
$CFSIZE,260165632,248549376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.7
$CURRENT,0.251,165.5,1
$GPS,141009,182836,6627.998,-6033.882,36,1.3,41,-37.7