version: 66.06
glider: 143
mission: 8
dive: 41
start: 10 14 109 18 35 12
data:
$ID,143
$MISSION,8
$DIVE,41
$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,-20920.258
$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,20
$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
$GPS1,182836,6627.998,-6033.882,36,1.3,41,-37.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-70.2
$GPS2,183452,6627.961,-6033.917,10,2.7,29,-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,30.8,44828,-18.3,-10.000
$D_GRID,442
$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,16,-1.05,-146.0,0.0,0.0,0,96,0.00,0.00,-77.28,0.000,2,0.000,0.000,127,2305,2874,0,0,0,0,0,0
$GC,98,-1.05,-146.0,3.6,-5.0,15,130,10.50,0.00,-15.48,0.000,6,0.329,0.000,2134,2305,3398,0,0,0,0,0,0
$GC,469,-0.79,-146.0,77.0,-17.6,81,475,0.32,2.70,0.00,0.000,4,0.236,0.100,2206,3891,3402,0,0,0,0,0,0
$GC,632,-0.79,-146.0,99.0,-12.1,110,638,0.00,2.62,0.00,0.000,6,0.000,0.074,2205,2297,3402,0,0,0,0,0,0
$GC,962,-0.79,-146.0,138.4,-12.5,142,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2297,3402,0,0,0,0,0,0
$GC,1282,-0.79,-146.0,177.0,-12.0,172,1287,0.00,2.75,0.00,0.000,4,0.000,0.103,2206,3890,3402,0,0,0,0,0,0
$GC,1348,-0.79,-146.0,185.3,-12.0,177,1354,0.00,2.60,0.00,0.000,6,0.000,0.074,2206,2299,3402,0,0,0,0,0,0
$GC,1673,-0.79,-146.0,220.8,-10.6,208,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2299,3402,0,0,0,0,0,0
$GC,1992,-0.79,-146.0,253.7,-11.3,238,1997,0.00,2.72,0.00,0.000,4,0.000,0.104,2205,3887,3402,0,0,0,0,0,0
$GC,2091,-0.85,-146.0,265.4,-11.1,246,2097,0.00,2.60,0.00,0.000,6,0.000,0.075,2206,2298,3401,0,0,0,0,0,0
$GC,2416,-0.85,-146.0,299.3,-9.9,277,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2298,3401,0,0,0,0,0,0
$GC,2737,-0.90,-146.0,329.3,-9.0,307,2738,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2298,3401,0,0,0,0,0,0
$GC,3055,-0.96,-146.0,358.6,-8.9,337,3056,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2298,3401,0,0,0,0,0,0
$GC,3375,-1.02,-146.0,387.2,-8.9,367,3382,0.17,0.00,0.00,0.000,6,0.108,0.000,2144,2298,3400,0,0,0,0,0,0
$GC,3700,-0.90,-146.0,425.9,-11.2,398,3705,0.20,2.70,0.00,0.000,4,0.227,0.100,2180,3890,3400,0,0,0,0,0,0
$GC,3812,-0.90,-146.0,437.6,-10.1,407,3818,0.00,2.58,0.00,0.000,6,0.000,0.073,2180,2298,3400,0,0,0,0,0,0
$STATE,3858,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3858,begin apogee
$GC,3863,-0.24,0.0,442.2,9.8,412,3985,0.80,0.00,117.93,1.088,6,0.202,0.000,2398,2103,2799,0,0,0,0,0,0
$STATE,3986,end apogee,CONTROL_FINISHED_OK
$STATE,3986,begin climb
$GC,3988,1.05,146.0,445.4,0.0,424,4115,1.40,0.00,122.28,1.029,6,0.140,0.000,2806,2103,2204,0,0,0,0,0,0
$GC,4433,0.70,146.0,383.6,15.6,467,4439,0.38,2.78,0.00,0.000,4,0.218,0.097,2723,512,2192,0,0,0,0,0,0
$GC,4451,0.44,146.0,381.2,14.7,468,4456,0.40,2.67,0.00,0.000,6,0.196,0.075,2622,2097,2192,0,0,0,0,0,0
$GC,4777,0.69,203.5,356.1,7.4,498,4833,0.25,2.90,46.75,0.981,4,0.104,0.097,2720,519,1968,0,0,0,0,0,0
$GC,4899,0.59,203.5,341.4,13.3,509,4906,0.20,2.70,0.00,0.000,6,0.193,0.077,2675,2093,1965,0,0,0,0,0,0
$GC,5225,0.68,203.5,306.4,11.1,540,5229,0.00,2.72,0.00,0.000,4,0.000,0.097,2684,516,1962,0,0,0,0,0,0
$GC,5336,0.73,203.5,293.7,10.8,549,5341,0.00,2.62,0.00,0.000,6,0.000,0.077,2684,2092,1961,0,0,0,0,0,0
$GC,5661,0.79,203.5,260.1,10.2,580,5666,0.15,2.70,0.00,0.000,4,0.114,0.098,2745,509,1961,0,0,0,0,0,0
$GC,5679,0.79,203.5,258.1,11.2,581,5683,0.00,2.62,0.00,0.000,6,0.000,0.078,2745,2094,1961,0,0,0,0,0,0
$GC,6003,0.68,203.5,217.7,10.7,611,6008,0.17,2.62,0.00,0.000,4,0.209,0.098,2715,514,1961,0,0,0,0,0,0
$GC,6171,0.69,206.1,201.8,9.9,626,6175,0.00,2.60,0.00,0.000,6,0.000,0.078,2715,2096,1960,0,0,0,0,0,0
$GC,6496,0.69,209.4,172.3,9.8,656,6507,0.00,2.70,4.75,0.729,4,0.000,0.100,2727,511,1946,0,0,0,0,0,0
$GC,6512,0.69,210.2,170.5,10.0,657,6518,0.00,2.60,0.00,0.000,6,0.000,0.077,2727,2099,1946,0,0,0,0,0,0
$GC,6837,0.69,210.2,134.2,11.1,688,6841,0.00,2.67,0.00,0.000,4,0.000,0.098,2727,3686,1945,0,0,0,0,0,0
$GC,7015,0.64,210.2,113.0,11.2,703,7022,0.20,2.65,0.00,0.000,6,0.205,0.081,2691,2089,1944,0,0,0,0,0,0
$GC,7350,0.84,271.8,88.7,7.2,748,7406,0.17,0.00,52.88,0.877,6,0.111,0.000,2749,2088,1690,0,0,0,0,0,0
$GC,7744,0.90,271.8,46.0,11.4,819,7750,0.00,2.70,0.00,0.000,4,0.000,0.104,2760,517,1680,0,0,0,0,0,0
$GC,7890,0.90,271.8,28.0,12.5,845,7896,0.00,2.62,0.00,0.000,6,0.000,0.081,2761,2092,1679,0,0,0,0,0,0
$STATE,8107,end climb,SURFACE_DEPTH_REACHED
$STATE,8107,begin surface coast
$FINISH,0.8,1.025185
$STATE,8127,end surface coast,CONTROL_FINISHED_OK
$STATE,8127,begin surface
$SM_CCo,8203,0.00,0.000,0,0,1673,276.45
$SM_GC,1.77,7.78,0.00,0.00,0.090,0.000,0.000,129,2304,1673,-7.31,0.11,276.45
$RAFOS_CLK,554
$RAFOS,5,1255552863,20.700001,20.684166,54,42,39,0,0,0,1093,1695,214,0,0,0
$RAFOS,4,1255552384,20.566668,20.551111,43,42,41,0,0,0,769,881,1062,0,0,0
$RAFOS,3,1255551902,20.433332,20.417223,43,42,40,0,0,0,869,394,1682,0,0,0
$RAFOS,2,1255551425,20.299999,20.284721,42,40,39,0,0,0,1684,367,884,0,0,0
$RAFOS,1,1255550949,20.166666,20.152500,48,43,41,0,0,0,139,423,1700,0,0,0
$RAFOS,0,1255550472,20.033333,20.020000,46,44,43,0,0,0,665,1687,418,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6558.99,-6035.31,080199,161658
$TT8_MAMPS,0.027612
$HUMID,53.18
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.40
$XPDR_PINGS,3
$24V_AH,23.3,9.333
$10V_AH,10.3,3.557
$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,23.100,64.850,344.575,0.000,0.000,27.275,31.351,195.513,0.750,0.000,32.335,1528.621,4805.466,437.041,1428.324,381.627,0.000,1178.796,0.000,1394.339,2520.000,0.530,0.000
$DEVICE_MAMPS,329.043,104.312,1088.373,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,652.906,609.983,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150984
$DATA_FILE_SIZE,34722,887
$CAP_FILE_SIZE,94404,0
$CFSIZE,260165632,248496128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.8
$CURRENT,0.081, 93.7,1
$GPS,141009,205304,6629.113,-6033.038,5,99.0,24,-37.7