version: 66.06
glider: 143
mission: 8
dive: 42
start: 10 14 109 20 59 15
data:
$ID,143
$MISSION,8
$DIVE,42
$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,-20952.559
$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,18
$R_STBD_OVSHOOT,21
$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
$GPS1,205304,6629.113,-6033.038,5,99.0,24,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-69.9
$GPS2,205855,6629.128,-6033.149,13,1.7,30,-37.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,99.2,174272,-18.3,-10.000
$D_GRID,450
$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,15,-1.05,-146.0,0.0,0.0,0,94,0.00,0.00,-76.68,0.000,2,0.000,0.000,129,2304,2843,0,0,0,0,0,0
$GC,97,-1.05,-146.0,3.3,-5.1,15,131,10.52,2.80,-16.90,0.000,4,0.331,0.108,2133,714,3399,0,0,0,0,0,0
$GC,255,-0.72,-146.0,36.1,-20.8,43,261,0.45,2.67,0.00,0.000,6,0.239,0.086,2240,2302,3402,0,0,0,0,0,0
$GC,599,-0.77,-146.0,77.7,-10.7,104,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2302,3402,0,0,0,0,0,0
$GC,935,-0.83,-146.0,114.6,-11.8,153,940,0.00,2.72,0.00,0.000,4,0.000,0.105,2240,3886,3403,0,0,0,0,0,0
$GC,945,-0.89,-146.0,115.9,-11.7,153,951,0.15,2.62,0.00,0.000,6,0.121,0.073,2193,2288,3403,0,0,0,0,0,0
$GC,1270,-0.82,-146.0,155.9,-11.6,184,1274,0.00,2.75,0.00,0.000,4,0.000,0.103,2192,3887,3403,0,0,0,0,0,0
$GC,1302,-0.72,-146.0,159.9,-12.4,186,1308,0.22,2.60,0.00,0.000,6,0.223,0.074,2244,2300,3403,0,0,0,0,0,0
$GC,1627,-0.84,-146.0,191.4,-9.9,217,1633,0.12,2.67,0.00,0.000,4,0.127,0.098,2205,705,3403,0,0,0,0,0,0
$GC,1682,-0.84,-146.0,198.2,-12.5,221,1688,0.00,2.62,0.00,0.000,6,0.000,0.086,2205,2297,3403,0,0,0,0,0,0
$GC,2007,-0.84,-146.0,232.7,-10.1,252,2011,0.00,2.65,0.00,0.000,4,0.000,0.098,2205,716,3403,0,0,0,0,0,0
$GC,2023,-0.84,-146.0,234.4,-10.5,253,2028,0.00,2.62,0.00,0.000,6,0.000,0.085,2205,2301,3403,0,0,0,0,0,0
$GC,2347,-0.84,-146.0,268.2,-10.8,283,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2301,3402,0,0,0,0,0,0
$GC,2667,-0.84,-146.0,301.6,-10.2,313,2672,0.00,2.67,0.00,0.000,4,0.000,0.100,2205,717,3402,0,0,0,0,0,0
$GC,2924,-0.84,-146.0,330.3,-10.9,335,2931,0.00,2.62,0.00,0.000,6,0.000,0.086,2205,2290,3401,0,0,0,0,0,0
$GC,3250,-0.90,-146.0,360.7,-9.2,366,3254,0.00,2.62,0.00,0.000,4,0.000,0.098,2205,711,3401,0,0,0,0,0,0
$GC,3440,-0.95,-146.0,379.1,-9.7,382,3445,0.00,2.60,0.00,0.000,6,0.000,0.084,2205,2301,3401,0,0,0,0,0,0
$GC,3765,-1.02,-146.0,406.4,-8.2,413,3771,0.17,2.70,0.00,0.000,4,0.108,0.103,2142,3894,3401,0,0,0,0,0,0
$GC,3843,-0.87,-146.0,415.4,-11.3,419,3850,0.22,2.55,0.00,0.000,6,0.230,0.075,2193,2314,3400,0,0,0,0,0,0
$GC,4170,-0.92,-146.0,444.9,-9.3,450,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2314,3401,0,0,0,0,0,0
$STATE,4231,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4231,begin apogee
$GC,4236,-0.24,0.0,450.7,8.9,456,4362,0.70,0.00,118.07,1.097,6,0.198,0.000,2392,2104,2799,0,0,0,0,0,0
$STATE,4362,end apogee,CONTROL_FINISHED_OK
$STATE,4363,begin climb
$GC,4365,1.05,146.0,454.1,0.0,469,4499,1.42,3.00,121.72,1.039,4,0.139,0.094,2809,3683,2201,0,0,0,0,0,0
$GC,4751,0.59,146.0,396.1,17.2,504,4759,0.62,2.72,0.00,0.000,6,0.231,0.078,2675,2105,2192,0,0,0,0,0,0
$GC,5076,0.60,151.3,363.9,9.8,535,5081,0.00,2.75,0.00,0.000,4,0.000,0.095,2674,3686,2189,0,0,0,0,0,0
$GC,5332,0.60,151.3,336.2,10.8,557,5338,0.00,2.70,0.00,0.000,6,0.000,0.078,2684,2083,2189,0,0,0,0,0,0
$GC,5657,0.64,180.7,306.4,8.6,588,5692,0.00,2.88,27.52,0.963,4,0.000,0.096,2685,3683,2062,0,0,0,0,0,0
$GC,5944,0.64,180.7,275.9,11.2,614,5949,0.00,2.72,0.00,0.000,6,0.000,0.078,2696,2076,2057,0,0,0,0,0,0
$GC,6268,0.64,181.2,243.5,10.0,644,6273,0.00,2.78,0.00,0.000,4,0.000,0.097,2696,3690,2056,0,0,0,0,0,0
$GC,6525,0.64,181.2,214.8,10.9,666,6531,0.00,2.67,0.00,0.000,6,0.000,0.079,2708,2080,2056,0,0,0,0,0,0
$GC,6850,0.64,181.2,181.9,10.3,697,6855,0.00,2.75,0.00,0.000,4,0.000,0.097,2708,3693,2055,0,0,0,0,0,0
$GC,7108,0.59,187.0,155.2,9.7,719,7120,0.20,2.67,5.60,0.775,6,0.207,0.081,2673,2081,2037,0,0,0,0,0,0
$GC,7438,0.82,262.3,133.7,6.5,750,7512,0.22,2.90,63.62,0.898,4,0.104,0.097,2748,3693,1728,0,0,0,0,0,0
$GC,7766,0.77,262.3,92.9,12.9,784,7774,0.12,2.72,0.00,0.000,6,0.202,0.081,2734,2084,1719,0,0,0,0,0,0
$GC,8114,0.90,284.3,59.3,9.0,845,8141,0.12,2.88,17.62,0.840,4,0.123,0.098,2771,3686,1639,0,0,0,0,0,0
$GC,8395,0.83,284.3,23.4,13.2,895,8401,0.15,2.72,0.00,0.000,6,0.202,0.082,2751,2076,1633,0,0,0,0,0,0
$STATE,8580,end climb,SURFACE_DEPTH_REACHED
$STATE,8580,begin surface coast
$FINISH,0.8,1.012971
$STATE,8597,end surface coast,CONTROL_FINISHED_OK
$STATE,8597,begin surface
$SM_CCo,8673,0.00,0.000,0,0,1627,287.49
$SM_GC,1.69,7.70,0.00,0.00,0.085,0.000,0.000,127,2300,1627,-7.32,0.00,287.49
$RAFOS_CLK,580
$RAFOS,6,1255553347,20.833334,20.818611,41,40,39,0,0,0,497,1022,170,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6558.99,-6040.00,080199,181856
$TT8_MAMPS,0.026845
$HUMID,53.38
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.30
$XPDR_PINGS,5
$24V_AH,23.3,9.449
$10V_AH,10.3,3.613
$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,23.150,82.150,354.175,0.000,0.000,29.489,38.729,164.975,1.250,0.000,31.672,1628.682,4900.098,443.751,1685.855,367.132,0.000,1313.594,0.000,1643.633,0.000,0.530,0.000
$DEVICE_MAMPS,330.577,108.147,1096.810,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,681.361,639.409,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151072
$DATA_FILE_SIZE,34745,931
$CAP_FILE_SIZE,103943,0
$CFSIZE,260165632,248438784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.8
$CURRENT,0.107,171.3,1
$GPS,141009,232527,6629.343,-6032.688,38,99.0,57,-37.7