version: 66.06
glider: 143
mission: 8
dive: 43
start: 10 14 109 23 31 12
data:
$ID,143
$MISSION,8
$DIVE,43
$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,-20963.848
$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
$GPS1,232527,6629.343,-6032.688,38,99.0,57,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-70.5
$GPS2,233050,6629.344,-6032.758,9,1.9,9,-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,83.0,173866,-18.3,-10.000
$D_GRID,452
$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,14,-1.05,-146.0,0.0,0.0,0,91,0.00,0.00,-74.28,0.000,2,0.000,0.000,127,2301,2755,0,0,0,0,0,0
$GC,94,-1.05,-146.0,3.1,-4.6,14,132,10.35,2.75,-21.23,0.000,4,0.326,0.107,2134,701,3398,0,0,0,0,0,0
$GC,228,-0.72,-146.0,29.4,-20.7,38,234,0.45,2.70,0.00,0.000,6,0.238,0.086,2241,2304,3401,0,0,0,0,0,0
$GC,572,-0.78,-146.0,73.2,-11.6,99,578,0.00,2.70,0.00,0.000,4,0.000,0.095,2241,710,3401,0,0,0,0,0,0
$GC,624,-0.83,-146.0,79.6,-12.1,108,629,0.00,2.62,0.00,0.000,6,0.000,0.084,2242,2287,3402,0,0,0,0,0,0
$GC,958,-0.89,-146.0,117.0,-11.2,155,963,0.15,2.67,0.00,0.000,4,0.120,0.097,2193,710,3402,0,0,0,0,0,0
$GC,1215,-0.82,-146.0,152.4,-13.3,177,1221,0.00,2.70,0.00,0.000,6,0.000,0.084,2193,2342,3402,0,0,0,0,0,0
$GC,1540,-0.77,-146.0,192.6,-12.3,208,1546,0.15,2.78,0.00,0.000,4,0.238,0.097,2226,700,3402,0,0,0,0,0,0
$GC,1579,-0.77,-146.0,197.4,-11.9,211,1584,0.00,2.72,0.00,0.000,6,0.000,0.084,2226,2349,3402,0,0,0,0,0,0
$GC,1904,-0.83,-146.0,231.3,-10.2,241,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2348,3402,0,0,0,0,0,0
$GC,2224,-0.92,-146.0,262.3,-9.1,271,2229,0.15,2.65,0.00,0.000,4,0.115,0.104,2165,3892,3401,0,0,0,0,0,0
$GC,2290,-0.80,-146.0,270.5,-12.2,276,2297,0.22,2.53,0.00,0.000,6,0.231,0.076,2216,2340,3401,0,0,0,0,0,0
$GC,2617,-0.88,-146.0,300.8,-8.6,307,2621,0.00,2.70,0.00,0.000,4,0.000,0.098,2216,715,3401,0,0,0,0,0,0
$GC,2701,-0.94,-146.0,309.0,-9.3,314,2706,0.12,2.67,0.00,0.000,6,0.124,0.085,2176,2341,3400,0,0,0,0,0,0
$GC,3026,-0.89,-146.0,342.8,-11.1,344,3031,0.00,2.62,0.00,0.000,4,0.000,0.105,2175,3891,3400,0,0,0,0,0,0
$GC,3059,-0.84,-146.0,346.7,-11.5,346,3065,0.15,2.55,0.00,0.000,6,0.228,0.076,2208,2325,3400,0,0,0,0,0,0
$GC,3384,-0.91,-146.0,376.6,-9.0,377,3389,0.00,2.67,0.00,0.000,4,0.000,0.098,2208,716,3400,0,0,0,0,0,0
$GC,3462,-0.96,-146.0,384.4,-9.7,383,3469,0.12,2.65,0.00,0.000,6,0.122,0.084,2167,2335,3399,0,0,0,0,0,0
$GC,3786,-0.90,-146.0,419.4,-10.5,414,3788,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2335,3399,0,0,0,0,0,0
$STATE,4105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4105,begin apogee
$GC,4109,-0.24,0.0,453.0,11.2,444,4235,0.82,0.00,117.97,1.097,6,0.208,0.000,2392,2104,2799,0,0,0,0,0,0
$STATE,4236,end apogee,CONTROL_FINISHED_OK
$STATE,4236,begin climb
$GC,4238,1.05,146.0,456.5,0.0,457,4372,1.42,3.00,121.80,1.039,4,0.142,0.094,2806,3682,2201,0,0,0,0,0,0
$GC,4625,0.61,146.0,398.4,17.6,492,4632,0.57,2.72,0.00,0.000,6,0.226,0.079,2682,2104,2192,0,0,0,0,0,0
$GC,4949,0.62,156.4,364.1,9.5,523,4964,0.00,2.83,7.95,0.875,4,0.000,0.095,2682,3683,2162,0,0,0,0,0,0
$GC,5218,0.56,156.4,334.2,11.0,547,5223,0.12,2.72,0.00,0.000,6,0.207,0.078,2666,2081,2160,0,0,0,0,0,0
$GC,5543,0.67,181.7,306.8,8.8,577,5575,0.00,2.88,22.27,0.962,4,0.000,0.095,2666,3686,2058,0,0,0,0,0,0
$GC,5827,0.67,181.7,276.0,11.5,602,5833,0.00,2.70,0.00,0.000,6,0.000,0.077,2676,2084,2054,0,0,0,0,0,0
$GC,6152,0.78,193.6,242.9,9.5,633,6173,0.17,2.80,11.05,0.900,4,0.107,0.095,2735,3693,2008,0,0,0,0,0,0
$GC,6425,0.66,193.6,207.3,12.4,657,6432,0.22,2.72,0.00,0.000,6,0.212,0.080,2695,2069,2006,0,0,0,0,0,0
$GC,6751,0.73,208.8,177.1,9.3,688,6772,0.00,2.83,13.62,0.894,4,0.000,0.097,2695,3693,1947,0,0,0,0,0,0
$GC,7023,0.73,208.8,146.8,11.6,712,7030,0.00,2.75,0.00,0.000,6,0.000,0.081,2706,2057,1944,0,0,0,0,0,0
$GC,7349,0.84,230.7,115.8,9.0,743,7374,0.12,2.85,19.17,0.889,4,0.117,0.097,2747,3689,1857,0,0,0,0,0,0
$GC,7627,0.75,230.7,82.1,12.0,780,7634,0.15,2.75,0.00,0.000,6,0.207,0.082,2727,2058,1854,0,0,0,0,0,0
$GC,7973,0.87,256.4,50.1,8.8,841,8004,0.00,2.92,22.15,0.860,4,0.000,0.098,2727,3692,1753,0,0,0,0,0,0
$GC,8257,0.87,256.4,19.5,10.5,892,8263,0.00,2.78,0.00,0.000,6,0.000,0.083,2737,2051,1748,0,0,0,0,0,0
$STATE,8441,end climb,SURFACE_DEPTH_REACHED
$STATE,8441,begin surface coast
$FINISH,0.9,1.016636
$STATE,8465,end surface coast,CONTROL_FINISHED_OK
$STATE,8465,begin surface
$SM_CCo,8480,13.30,0.821,0,0,1678,275.23
$SM_GC,2.46,0.00,0.00,13.30,0.000,0.000,0.821,128,2304,1678,-7.35,0.11,275.23
$RAFOS_CLK,567
$RAFOS,6,1255567743,0.833333,0.817500,57,45,45,0,0,0,1249,861,1806,0,0,0
$RAFOS,5,1255567265,0.700000,0.684722,43,42,42,0,0,0,1775,277,922,0,0,0
$RAFOS,4,1255566783,0.566667,0.550833,42,41,41,0,0,0,1924,1517,1881,0,0,0
$RAFOS,3,1255566305,0.433333,0.418056,46,44,41,0,0,0,1571,907,599,0,0,0
$RAFOS,2,1255565830,0.300000,0.286111,40,40,38,0,0,0,1049,1159,1642,0,0,0
$RAFOS,1,1255565344,0.166667,0.151111,45,41,41,0,0,0,1303,237,1826,0,0,0
$RAFOS,0,1255564867,0.033333,0.018611,43,43,42,0,0,0,755,1612,1645,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6558.99,-6040.00,080199,212132
$TT8_MAMPS,0.026845
$HUMID,53.03
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.40
$XPDR_PINGS,6
$24V_AH,23.3,9.563
$10V_AH,10.3,3.670
$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,23.225,82.800,336.000,13.300,0.000,24.361,30.994,165.764,1.500,0.000,10.658,1664.170,4723.404,446.689,1634.065,352.320,0.000,1300.556,0.000,1615.204,2520.000,0.530,0.000
$DEVICE_MAMPS,325.975,106.613,1096.810,821.457,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,682.288,637.946,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150896
$DATA_FILE_SIZE,34751,929
$CAP_FILE_SIZE,105050,0
$CFSIZE,260165632,248385536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.7
$CURRENT,0.361,177.7,1
$GPS,151009,015404,6628.574,-6032.344,12,99.0,31,-37.7