version: 66.06
glider: 143
mission: 8
dive: 45
start: 10 15 109 4 27 34
data:
$ID,143
$MISSION,8
$DIVE,45
$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,-20995.865
$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,20
$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
$GPS1,042154,6626.712,-6031.573,22,1.6,40,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-69.9
$GPS2,042713,6626.609,-6031.601,10,1.3,15,-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,60.0,174973,-18.3,-10.000
$D_GRID,445
$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,-146.0,0.0,0.0,0,91,0.00,0.00,-73.45,0.000,2,0.000,0.000,127,2288,2805,0,0,0,0,0,0
$GC,94,-1.05,-146.0,3.1,-3.0,14,131,10.75,2.85,-18.67,0.000,4,0.335,0.116,2131,3886,3398,0,0,0,0,0,0
$GC,351,-0.75,-146.0,54.4,-19.6,60,357,0.43,2.65,0.00,0.000,6,0.230,0.075,2234,2301,3401,0,0,0,0,0,0
$GC,694,-0.75,-146.0,95.3,-10.6,121,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2300,3402,0,0,0,0,0,0
$GC,1021,-0.81,-146.0,129.1,-10.0,156,1025,0.00,2.75,0.00,0.000,4,0.000,0.102,2234,3886,3402,0,0,0,0,0,0
$GC,1140,-0.92,-146.0,141.0,-10.0,166,1146,0.17,2.62,0.00,0.000,6,0.115,0.074,2177,2291,3402,0,0,0,0,0,0
$GC,1465,-0.82,-146.0,182.8,-13.1,196,1470,0.15,2.65,0.00,0.000,4,0.228,0.097,2209,714,3402,0,0,0,0,0,0
$GC,1549,-0.82,-146.0,193.1,-12.0,203,1553,0.00,2.60,0.00,0.000,6,0.000,0.085,2209,2290,3402,0,0,0,0,0,0
$GC,1873,-0.82,-146.0,226.3,-9.4,233,1878,0.00,2.72,0.00,0.000,4,0.000,0.104,2209,3888,3402,0,0,0,0,0,0
$GC,1973,-0.82,-146.0,236.0,-9.7,241,1979,0.00,2.62,0.00,0.000,6,0.000,0.074,2209,2280,3401,0,0,0,0,0,0
$GC,2297,-0.82,-146.0,266.9,-10.0,272,2299,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2280,3401,0,0,0,0,0,0
$GC,2618,-0.88,-146.0,299.6,-10.1,302,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2280,3401,0,0,0,0,0,0
$GC,2936,-0.94,-146.0,331.7,-9.4,332,2941,0.00,2.75,0.00,0.000,4,0.000,0.103,2209,3892,3400,0,0,0,0,0,0
$GC,3082,-1.02,-146.0,346.1,-10.1,344,3088,0.17,2.62,0.00,0.000,6,0.111,0.075,2150,2281,3400,0,0,0,0,0,0
$GC,3406,-0.90,-146.0,385.2,-12.0,375,3411,0.17,2.72,0.00,0.000,4,0.227,0.100,2179,3885,3400,0,0,0,0,0,0
$GC,3557,-0.90,-146.0,401.8,-10.6,388,3562,0.00,2.58,0.00,0.000,6,0.000,0.074,2179,2297,3399,0,0,0,0,0,0
$GC,3882,-0.90,-146.0,434.4,-9.5,418,3887,0.00,2.60,0.00,0.000,4,0.000,0.097,2178,718,3400,0,0,0,0,0,0
$GC,3949,-0.85,-146.0,441.7,-10.9,423,3955,0.00,2.60,0.00,0.000,6,0.000,0.083,2179,2314,3400,0,0,0,0,0,0
$STATE,3985,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3985,begin apogee
$GC,3990,-0.24,0.0,445.7,10.9,427,4112,0.80,0.00,117.85,1.090,6,0.201,0.000,2398,2100,2800,0,0,0,0,0,0
$STATE,4112,end apogee,CONTROL_FINISHED_OK
$STATE,4113,begin climb
$GC,4114,1.05,146.0,449.8,0.0,439,4241,1.40,0.00,122.30,1.035,6,0.140,0.000,2805,2100,2204,0,0,0,0,0,0
$GC,4560,0.69,146.0,384.9,16.4,482,4565,0.38,2.80,0.00,0.000,4,0.219,0.093,2700,3686,2192,0,0,0,0,0,0
$GC,4817,0.55,146.0,350.0,13.3,504,4824,0.22,2.62,0.00,0.000,6,0.217,0.077,2659,2132,2190,0,0,0,0,0,0
$GC,5142,0.62,146.5,317.3,10.0,535,5143,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2133,2191,0,0,0,0,0,0
$GC,5462,0.74,172.8,287.5,8.8,565,5486,0.20,0.00,21.25,0.948,6,0.114,0.000,2722,2133,2095,0,0,0,0,0,0
$GC,5801,0.67,172.8,248.5,11.7,597,5805,0.00,2.67,0.00,0.000,4,0.000,0.094,2722,3689,2092,0,0,0,0,0,0
$GC,6013,0.52,172.8,221.2,12.9,615,6019,0.32,2.60,0.00,0.000,6,0.209,0.078,2654,2127,2090,0,0,0,0,0,0
$GC,6338,0.74,229.6,194.6,7.4,646,6394,0.20,2.83,47.42,0.917,4,0.110,0.095,2719,3683,1861,0,0,0,0,0,0
$GC,6630,0.67,229.6,159.2,12.0,672,6636,0.15,2.62,0.00,0.000,6,0.206,0.079,2698,2136,1855,0,0,0,0,0,0
$GC,6955,0.80,239.4,126.8,9.5,703,6970,0.12,2.75,8.27,0.820,4,0.125,0.097,2737,3691,1822,0,0,0,0,0,0
$GC,7223,0.74,239.4,93.2,12.2,731,7228,0.00,2.53,0.00,0.000,6,0.000,0.080,2748,2185,1820,0,0,0,0,0,0
$GC,7566,0.77,263.0,55.8,8.9,792,7592,0.00,0.00,20.95,0.849,6,0.000,0.000,2748,2185,1725,0,0,0,0,0,0
$GC,7931,0.82,263.0,19.2,10.4,857,7937,0.00,2.60,0.00,0.000,4,0.000,0.099,2748,3691,1719,0,0,0,0,0,0
$STATE,8077,end climb,SURFACE_DEPTH_REACHED
$STATE,8077,begin surface coast
$FINISH,0.8,1.021420
$STATE,8095,end surface coast,CONTROL_FINISHED_OK
$STATE,8095,begin surface
$SM_CCo,8113,7.65,0.779,0,0,1678,275.23
$SM_GC,3.10,0.00,0.00,7.65,0.000,0.000,0.779,124,2297,1678,-7.36,-0.08,275.23
$RAFOS_CLK,541
$RAFOS,6,1255582146,4.833333,4.818333,50,43,42,0,0,0,562,1301,1310,0,0,0
$RAFOS,5,1255581671,4.700000,4.686389,48,43,42,0,0,0,1040,1131,1195,0,0,0
$RAFOS,4,1255581186,4.566667,4.551667,44,42,41,0,0,0,1189,209,1383,0,0,0
$RAFOS,2,1255580222,4.300000,4.283889,42,41,40,0,0,0,1854,794,388,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6558.99,-6035.31,090199,020222
$TT8_MAMPS,0.027612
$HUMID,52.83
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.40
$XPDR_PINGS,4
$24V_AH,23.3,9.788
$10V_AH,10.3,3.775
$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,23.400,64.125,338.050,7.650,0.000,24.391,31.642,156.574,1.000,0.000,17.244,1575.313,4583.649,438.730,1507.115,337.938,0.000,1212.992,0.000,1486.995,1080.000,0.531,0.000
$DEVICE_MAMPS,335.179,115.817,1089.907,778.505,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,650.672,611.860,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150944
$DATA_FILE_SIZE,34736,886
$CAP_FILE_SIZE,95777,0
$CFSIZE,260165632,248287232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.0
$CURRENT,0.525,177.7,1
$GPS,151009,064424,6625.346,-6030.837,33,2.0,44,-37.6