version: 66.06
glider: 143
mission: 8
dive: 46
start: 10 15 109 6 50 29
data:
$ID,143
$MISSION,8
$DIVE,46
$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,-21011.381
$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,19
$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
$GPS1,064424,6625.346,-6030.837,33,2.0,44,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-70.7
$GPS2,065008,6625.269,-6030.846,13,1.8,13,-37.6
$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,59.1,175444,-18.3,-10.000
$D_GRID,444
$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,-72.00,0.000,2,0.000,0.000,123,2296,2784,0,0,0,0,0,0
$GC,92,-1.05,-146.0,3.1,-3.8,14,130,10.77,2.83,-19.77,0.000,4,0.337,0.115,2135,3888,3398,0,0,0,0,0,0
$GC,340,-0.73,-146.0,52.1,-20.4,58,346,0.45,2.65,0.00,0.000,6,0.232,0.074,2243,2296,3401,0,0,0,0,0,0
$GC,684,-0.80,-146.0,92.9,-10.1,119,690,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2296,3402,0,0,0,0,0,0
$GC,1018,-0.90,-146.0,130.8,-11.8,156,1023,0.17,2.67,0.00,0.000,4,0.114,0.098,2188,710,3402,0,0,0,0,0,0
$GC,1073,-0.80,-146.0,138.5,-13.9,160,1080,0.15,2.65,0.00,0.000,6,0.247,0.086,2220,2313,3402,0,0,0,0,0,0
$GC,1398,-0.85,-146.0,174.4,-10.7,191,1399,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2313,3402,0,0,0,0,0,0
$GC,1718,-0.91,-146.0,207.1,-9.7,221,1723,0.00,2.70,0.00,0.000,4,0.000,0.098,2220,703,3402,0,0,0,0,0,0
$GC,1795,-0.91,-146.0,215.4,-11.1,227,1802,0.00,2.65,0.00,0.000,6,0.000,0.085,2221,2310,3402,0,0,0,0,0,0
$GC,2120,-0.98,-146.0,248.6,-10.3,258,2126,0.17,2.70,0.00,0.000,4,0.110,0.102,2150,3894,3401,0,0,0,0,0,0
$GC,2205,-0.82,-146.0,260.0,-14.3,265,2210,0.25,2.60,0.00,0.000,6,0.232,0.077,2207,2305,3401,0,0,0,0,0,0
$GC,2529,-0.82,-146.0,295.3,-9.8,295,2530,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2305,3400,0,0,0,0,0,0
$GC,2849,-0.88,-146.0,325.2,-9.1,325,2854,0.00,2.72,0.00,0.000,4,0.000,0.104,2207,3895,3400,0,0,0,0,0,0
$GC,2949,-0.96,-146.0,335.0,-9.8,333,2955,0.12,2.58,0.00,0.000,6,0.127,0.076,2167,2313,3400,0,0,0,0,0,0
$GC,3275,-0.89,-146.0,371.1,-11.6,364,3276,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2313,3400,0,0,0,0,0,0
$GC,3593,-0.83,-146.0,407.5,-11.6,394,3599,0.17,2.70,0.00,0.000,4,0.228,0.100,2196,3894,3400,0,0,0,0,0,0
$GC,3633,-0.88,-146.0,411.8,-10.2,397,3637,0.00,2.58,0.00,0.000,6,0.000,0.074,2196,2305,3400,0,0,0,0,0,0
$GC,3958,-0.93,-146.0,442.2,-9.3,427,3962,0.00,2.67,0.00,0.000,4,0.000,0.101,2196,3886,3399,0,0,0,0,0,0
$STATE,3976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3976,begin apogee
$GC,3984,-0.24,0.0,444.4,9.7,428,4110,0.70,0.00,117.90,1.093,6,0.203,0.000,2391,2103,2799,0,0,0,0,0,0
$STATE,4110,end apogee,CONTROL_FINISHED_OK
$STATE,4111,begin climb
$GC,4112,1.05,146.0,447.3,0.0,441,4245,1.42,0.00,122.38,1.033,6,0.141,0.000,2805,2103,2202,0,0,0,0,0,0
$GC,4562,0.71,146.0,381.7,16.1,484,4568,0.35,2.80,0.00,0.000,4,0.222,0.093,2707,3686,2192,0,0,0,0,0,0
$GC,4820,0.55,146.0,346.9,13.1,506,4827,0.25,2.67,0.00,0.000,6,0.221,0.077,2660,2104,2190,0,0,0,0,0,0
$GC,5145,0.68,186.4,318.6,8.1,537,5184,0.12,0.00,32.50,0.967,6,0.130,0.000,2697,2104,2039,0,0,0,0,0,0
$GC,5502,0.68,186.4,283.2,10.4,571,5503,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2104,2034,0,0,0,0,0,0
$GC,5822,0.68,186.4,250.2,10.6,601,5827,0.00,2.72,0.00,0.000,4,0.000,0.094,2697,3689,2033,0,0,0,0,0,0
$GC,6022,0.68,186.4,226.2,12.4,618,6029,0.00,2.70,0.00,0.000,6,0.000,0.077,2710,2065,2032,0,0,0,0,0,0
$GC,6347,0.68,186.4,191.8,10.6,649,6351,0.00,2.62,0.00,0.000,4,0.000,0.100,2721,509,2032,0,0,0,0,0,0
$GC,6356,0.68,186.4,190.9,10.4,649,6362,0.00,2.60,0.00,0.000,6,0.000,0.077,2721,2097,2032,0,0,0,0,0,0
$GC,6682,0.68,186.4,156.3,10.5,680,6686,0.00,2.70,0.00,0.000,4,0.000,0.097,2721,3696,2032,0,0,0,0,0,0
$GC,6916,0.61,186.4,129.8,11.7,700,6923,0.22,2.62,0.00,0.000,6,0.207,0.081,2679,2112,2031,0,0,0,0,0,0
$GC,7241,0.81,233.4,102.7,7.8,731,7287,0.20,2.78,38.58,0.886,4,0.110,0.098,2745,3686,1847,0,0,0,0,0,0
$GC,7293,0.81,233.4,97.1,11.6,738,7299,0.00,2.67,0.00,0.000,6,0.000,0.081,2756,2117,1846,0,0,0,0,0,0
$GC,7637,0.85,268.6,61.0,8.4,799,7673,0.00,2.80,29.75,0.854,4,0.000,0.098,2757,3690,1703,0,0,0,0,0,0
$GC,7785,0.85,268.6,44.6,12.6,826,7791,0.00,2.70,0.00,0.000,6,0.000,0.081,2768,2108,1699,0,0,0,0,0,0
$GC,8128,0.85,268.6,5.7,11.4,887,8134,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2108,1694,0,0,0,0,0,0
$STATE,8160,end climb,SURFACE_DEPTH_REACHED
$STATE,8160,begin surface coast
$FINISH,0.9,1.013636
$STATE,8179,end surface coast,CONTROL_FINISHED_OK
$STATE,8179,begin surface
$SM_CCo,8195,2.62,0.394,0,0,1678,275.23
$SM_GC,2.67,0.00,0.00,2.62,0.000,0.000,0.394,124,2300,1678,-7.37,0.00,275.23
$RAFOS_CLK,549
$RAFOS,6,1255596551,8.833333,8.819722,41,41,40,0,0,0,569,901,449,0,0,0
$RAFOS,5,1255596066,8.700000,8.685000,45,39,38,0,0,0,1112,660,1189,0,0,0
$RAFOS,4,1255595583,8.566667,8.550834,40,40,39,0,0,0,670,1080,1268,0,0,0
$RAFOS,3,1255595110,8.433333,8.419444,47,43,41,0,0,0,1550,449,618,0,0,0
$RAFOS,2,1255594621,8.300000,8.283611,50,50,43,0,0,0,301,1942,877,0,0,0
$RAFOS,1,1255594141,8.166667,8.150278,44,38,37,0,0,0,958,794,1358,0,0,0
$RAFOS,0,1255593670,8.033334,8.019444,45,45,43,0,0,0,562,1644,870,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6558.99,-6030.63,090199,040412
$TT8_MAMPS,0.027612
$HUMID,53.38
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.40
$XPDR_PINGS,4
$24V_AH,23.3,9.901
$10V_AH,10.3,3.828
$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,23.300,70.400,341.100,2.625,0.000,31.505,44.583,163.435,1.000,0.000,14.889,1568.381,4705.602,458.144,1450.380,363.540,0.000,1212.311,0.000,1430.499,2520.000,0.531,0.000
$DEVICE_MAMPS,336.713,115.050,1092.975,394.238,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,655.014,616.880,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150924
$DATA_FILE_SIZE,34746,896
$CAP_FILE_SIZE,95919,0
$CFSIZE,260165632,248233984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.8
$CURRENT,0.176,160.2,1
$GPS,151009,090822,6625.582,-6029.655,9,3.3,28,-37.6