version: 66.06
glider: 143
mission: 8
dive: 44
start: 10 15 109 1 59 53
data:
$ID,143
$MISSION,8
$DIVE,44
$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,-20977.994
$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,14
$R_STBD_OVSHOOT,17
$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
$GPS1,015404,6628.574,-6032.344,12,99.0,31,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-69.9
$GPS2,015932,6628.506,-6032.393,12,1.1,12,-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,61.2,174182,-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,-146.0,0.0,0.0,0,90,0.00,0.00,-72.12,0.000,2,0.000,0.000,127,2304,2779,0,0,0,0,0,0
$GC,92,-1.05,-146.0,3.0,-4.0,14,129,10.38,0.00,-20.23,0.000,6,0.326,0.000,2132,2304,3399,0,0,0,0,0,0
$GC,468,-0.78,-146.0,73.2,-16.9,81,475,0.35,2.75,0.00,0.000,4,0.239,0.100,2210,3891,3402,0,0,0,0,0,0
$GC,559,-0.78,-146.0,85.7,-12.9,97,565,0.00,2.65,0.00,0.000,6,0.000,0.074,2210,2293,3402,0,0,0,0,0,0
$GC,890,-0.78,-146.0,127.9,-12.5,138,894,0.00,2.67,0.00,0.000,4,0.000,0.099,2210,710,3403,0,0,0,0,0,0
$GC,930,-0.73,-146.0,132.8,-12.6,141,935,0.15,2.67,0.00,0.000,6,0.239,0.085,2241,2318,3404,0,0,0,0,0,0
$GC,1255,-0.85,-146.0,166.4,-10.5,171,1259,0.00,2.70,0.00,0.000,4,0.000,0.104,2241,3891,3403,0,0,0,0,0,0
$GC,1418,-0.99,-146.0,183.3,-10.4,185,1423,0.25,2.62,0.00,0.000,6,0.104,0.075,2157,2297,3403,0,0,0,0,0,0
$GC,1744,-0.83,-146.0,227.0,-12.8,215,1750,0.22,2.72,0.00,0.000,4,0.229,0.099,2199,3888,3403,0,0,0,0,0,0
$GC,1868,-0.83,-146.0,241.1,-10.8,225,1874,0.00,2.60,0.00,0.000,6,0.000,0.076,2199,2304,3402,0,0,0,0,0,0
$GC,2192,-0.83,-146.0,275.1,-10.9,256,2196,0.00,2.65,0.00,0.000,4,0.000,0.100,2199,715,3402,0,0,0,0,0,0
$GC,2264,-0.83,-146.0,283.5,-11.8,262,2268,0.00,2.65,0.00,0.000,6,0.000,0.087,2199,2320,3402,0,0,0,0,0,0
$GC,2588,-0.83,-146.0,318.2,-10.5,292,2589,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2320,3402,0,0,0,0,0,0
$GC,2908,-0.83,-146.0,351.0,-9.9,322,2912,0.00,2.67,0.00,0.000,4,0.000,0.106,2198,3893,3401,0,0,0,0,0,0
$GC,2985,-0.83,-146.0,358.9,-9.9,328,2991,0.00,2.60,0.00,0.000,6,0.000,0.077,2198,2300,3400,0,0,0,0,0,0
$GC,3310,-0.83,-146.0,389.0,-9.2,359,3311,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2300,3400,0,0,0,0,0,0
$GC,3630,-0.88,-146.0,417.7,-8.7,389,3634,0.00,2.72,0.00,0.000,4,0.000,0.102,2198,3888,3400,0,0,0,0,0,0
$GC,3725,-0.94,-146.0,426.8,-9.4,397,3730,0.00,2.58,0.00,0.000,6,0.000,0.075,2198,2304,3400,0,0,0,0,0,0
$STATE,3984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3985,begin apogee
$GC,3990,-0.24,0.0,450.1,8.7,421,4112,0.73,0.00,118.20,1.095,6,0.198,0.000,2397,2092,2800,0,0,0,0,0,0
$STATE,4112,end apogee,CONTROL_FINISHED_OK
$STATE,4113,begin climb
$GC,4115,1.05,146.0,452.2,0.0,433,4249,1.40,3.03,121.55,1.034,4,0.140,0.091,2806,3686,2202,0,0,0,0,0,0
$GC,4255,0.64,146.0,438.4,15.6,446,4262,0.57,2.83,0.00,0.000,6,0.235,0.077,2694,2107,2200,0,0,0,0,0,0
$GC,4579,0.59,146.0,399.6,11.6,477,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2107,2192,0,0,0,0,0,0
$GC,4900,0.55,146.0,362.1,12.0,507,4905,0.15,2.75,0.00,0.000,4,0.214,0.095,2659,3690,2191,0,0,0,0,0,0
$GC,5130,0.55,146.0,335.0,11.8,527,5134,0.00,2.67,0.00,0.000,6,0.000,0.077,2668,2095,2190,0,0,0,0,0,0
$GC,5454,0.61,156.0,302.4,9.5,557,5464,0.00,0.00,7.47,0.859,6,0.000,0.000,2668,2095,2164,0,0,0,0,0,0
$GC,5783,0.72,185.4,272.8,8.6,588,5816,0.12,2.80,25.92,0.953,4,0.123,0.094,2710,3687,2043,0,0,0,0,0,0
$GC,6042,0.62,185.4,242.0,11.8,611,6048,0.17,2.70,0.00,0.000,6,0.210,0.078,2683,2086,2037,0,0,0,0,0,0
$GC,6367,0.68,185.4,210.6,10.1,641,6368,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2087,2036,0,0,0,0,0,0
$GC,6687,0.79,199.5,179.7,9.4,671,6709,0.17,2.83,12.02,0.885,4,0.114,0.097,2739,3690,1985,0,0,0,0,0,0
$GC,6934,0.67,199.5,146.7,13.1,693,6939,0.22,2.67,0.00,0.000,6,0.209,0.081,2699,2095,1983,0,0,0,0,0,0
$GC,7259,0.79,222.4,117.0,8.9,723,7282,0.12,0.00,19.95,0.886,6,0.128,0.000,2738,2094,1893,0,0,0,0,0,0
$GC,7606,0.79,222.4,80.4,10.9,771,7612,0.00,2.75,0.00,0.000,4,0.000,0.097,2738,3694,1887,0,0,0,0,0,0
$GC,7825,0.79,222.4,56.5,10.8,810,7832,0.00,2.62,0.00,0.000,6,0.000,0.081,2750,2121,1886,0,0,0,0,0,0
$GC,8170,0.80,230.7,23.7,9.6,871,8186,0.00,2.75,7.38,0.789,4,0.000,0.097,2749,3691,1857,0,0,0,0,0,0
$STATE,8364,end climb,SURFACE_DEPTH_REACHED
$STATE,8364,begin surface coast
$FINISH,0.9,1.015327
$STATE,8382,end surface coast,CONTROL_FINISHED_OK
$STATE,8382,begin surface
$SM_CCo,8400,35.20,0.833,0,0,1677,275.23
$SM_GC,2.29,0.00,0.00,35.20,0.000,0.000,0.833,127,2288,1677,-7.35,-0.34,275.23
$RAFOS_CLK,567
$RAFOS,1,1255579744,4.166667,4.151111,44,41,40,0,0,0,1620,1681,1769,0,0,0
$RAFOS,0,1255579269,4.033333,4.019166,41,40,40,0,0,0,891,960,1583,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6604.29,-6030.02,080199,232346
$TT8_MAMPS,0.028379
$HUMID,52.83
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.30
$XPDR_PINGS,6
$24V_AH,23.3,9.676
$10V_AH,10.3,3.723
$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,22.725,70.400,312.500,35.200,0.000,23.119,31.204,167.345,1.500,0.000,13.518,1620.723,4839.906,436.551,1514.547,353.872,0.000,1224.578,0.000,1494.955,1080.000,0.529,0.000
$DEVICE_MAMPS,325.975,105.846,1094.509,832.962,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,667.520,627.111,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150964
$DATA_FILE_SIZE,34768,909
$CAP_FILE_SIZE,97584,0
$CFSIZE,260165632,248340480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.4
$CURRENT,0.614,177.4,1
$GPS,151009,042154,6626.712,-6031.573,22,1.6,40,-37.7