version: 66.06
glider: 143
mission: 8
dive: 47
start: 10 15 109 9 17 54
data:
$ID,143
$MISSION,8
$DIVE,47
$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,-21049.359
$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,17
$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
$GPS1,090822,6625.582,-6029.655,9,3.3,28,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-69.9
$GPS2,091734,6625.602,-6029.679,16,3.3,35,-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,61.8,174426,-18.3,-10.000
$D_GRID,448
$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,13,begin dive
$GC,15,-1.05,-146.0,0.0,0.0,0,89,0.00,0.00,-71.78,0.000,2,0.000,0.000,124,2301,2782,0,0,0,0,0,0
$GC,92,-1.05,-146.0,3.0,-3.4,14,130,10.52,2.80,-20.40,0.000,4,0.330,0.118,2132,3885,3399,0,0,0,0,0,0
$GC,384,-0.73,-146.0,61.7,-20.5,66,390,0.43,2.65,0.00,0.000,6,0.230,0.075,2235,2296,3401,0,0,0,0,0,0
$GC,726,-0.73,-146.0,104.1,-11.4,124,730,0.00,2.75,0.00,0.000,4,0.000,0.102,2235,3885,3402,0,0,0,0,0,0
$GC,810,-0.81,-146.0,113.3,-11.1,131,814,0.00,2.62,0.00,0.000,6,0.000,0.074,2235,2295,3402,0,0,0,0,0,0
$GC,1134,-0.90,-146.0,149.4,-11.2,161,1136,0.15,0.00,0.00,0.000,6,0.116,0.000,2187,2296,3403,0,0,0,0,0,0
$GC,1452,-0.83,-146.0,187.7,-12.4,191,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2295,3403,0,0,0,0,0,0
$GC,1773,-0.78,-146.0,226.4,-12.3,221,1775,0.17,0.00,0.00,0.000,6,0.230,0.000,2225,2295,3402,0,0,0,0,0,0
$GC,2090,-0.87,-146.0,256.2,-9.0,251,2094,0.00,2.72,0.00,0.000,4,0.000,0.104,2225,3884,3402,0,0,0,0,0,0
$GC,2185,-0.99,-146.0,264.7,-9.2,259,2190,0.20,2.58,0.00,0.000,6,0.111,0.077,2158,2308,3402,0,0,0,0,0,0
$GC,2509,-0.86,-146.0,302.8,-11.8,289,2515,0.17,2.72,0.00,0.000,4,0.229,0.105,2194,3887,3401,0,0,0,0,0,0
$GC,2576,-0.86,-146.0,310.0,-10.3,294,2582,0.00,2.58,0.00,0.000,6,0.000,0.076,2195,2306,3401,0,0,0,0,0,0
$GC,2901,-0.86,-146.0,341.6,-9.8,325,2902,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2306,3401,0,0,0,0,0,0
$GC,3220,-0.86,-146.0,371.9,-9.4,355,3225,0.00,2.62,0.00,0.000,4,0.000,0.099,2194,716,3400,0,0,0,0,0,0
$GC,3282,-0.86,-146.0,378.1,-10.5,360,3286,0.00,2.62,0.00,0.000,6,0.000,0.085,2195,2318,3400,0,0,0,0,0,0
$GC,3606,-0.86,-146.0,408.4,-9.7,390,3611,0.00,2.65,0.00,0.000,4,0.000,0.105,2195,3885,3400,0,0,0,0,0,0
$GC,3673,-0.91,-146.0,415.3,-10.6,395,3679,0.00,2.55,0.00,0.000,6,0.000,0.076,2194,2312,3400,0,0,0,0,0,0
$GC,3998,-0.95,-146.0,446.2,-9.3,426,4002,0.00,2.67,0.00,0.000,4,0.000,0.103,2194,3887,3400,0,0,0,0,0,0
$STATE,4017,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4017,begin apogee
$GC,4025,-0.24,0.0,448.3,9.7,427,4151,0.70,0.00,118.22,1.095,6,0.198,0.000,2391,2103,2798,0,0,0,0,0,0
$STATE,4152,end apogee,CONTROL_FINISHED_OK
$STATE,4152,begin climb
$GC,4153,1.05,146.0,452.2,0.0,440,4284,1.42,0.00,122.15,1.036,6,0.138,0.000,2808,2103,2203,0,0,0,0,0,0
$GC,4603,0.70,146.0,388.5,15.7,483,4608,0.40,2.80,0.00,0.000,4,0.220,0.092,2698,3689,2193,0,0,0,0,0,0
$GC,4860,0.58,146.0,356.5,12.2,505,4867,0.17,2.67,0.00,0.000,6,0.219,0.077,2670,2104,2191,0,0,0,0,0,0
$GC,5185,0.60,166.0,326.6,9.1,536,5205,0.00,0.00,15.95,0.946,6,0.000,0.000,2670,2103,2122,0,0,0,0,0,0
$GC,5524,0.67,166.0,292.8,10.5,568,5529,0.00,2.72,0.00,0.000,4,0.000,0.094,2670,3686,2119,0,0,0,0,0,0
$GC,5782,0.68,170.8,264.6,9.8,590,5792,0.00,2.67,5.00,0.758,6,0.000,0.077,2680,2081,2103,0,0,0,0,0,0
$GC,6117,0.78,198.6,234.6,8.7,622,6147,0.15,0.00,24.92,0.934,6,0.123,0.000,2728,2081,1989,0,0,0,0,0,0
$GC,6465,0.78,198.6,196.4,10.7,655,6470,0.00,2.78,0.00,0.000,4,0.000,0.096,2728,3692,1984,0,0,0,0,0,0
$GC,6722,0.69,198.6,165.3,11.9,677,6729,0.15,2.67,0.00,0.000,6,0.210,0.080,2708,2092,1982,0,0,0,0,0,0
$GC,7048,0.79,232.9,134.6,8.4,708,7082,0.00,2.85,28.42,0.897,4,0.000,0.097,2707,3690,1849,0,0,0,0,0,0
$GC,7115,0.79,232.9,127.9,11.3,714,7121,0.00,2.72,0.00,0.000,6,0.000,0.081,2718,2085,1846,0,0,0,0,0,0
$GC,7441,0.89,252.2,97.5,9.1,747,7470,0.15,2.88,17.10,0.867,4,0.114,0.097,2767,3688,1769,0,0,0,0,0,0
$GC,7722,0.80,252.2,58.1,14.0,797,7729,0.17,2.65,0.00,0.000,6,0.205,0.081,2740,2116,1766,0,0,0,0,0,0
$GC,8066,0.88,252.2,22.9,10.4,858,8072,0.00,2.70,0.00,0.000,4,0.000,0.097,2739,3690,1763,0,0,0,0,0,0
$STATE,8250,end climb,SURFACE_DEPTH_REACHED
$STATE,8250,begin surface coast
$FINISH,0.9,1.015398
$STATE,8268,end surface coast,CONTROL_FINISHED_OK
$STATE,8268,begin surface
$SM_CCo,8286,17.58,0.829,0,0,1677,275.23
$SM_GC,1.79,0.00,0.00,17.58,0.000,0.000,0.829,125,2290,1677,-7.36,-0.28,275.23
$RAFOS_CLK,570
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6558.99,-6025.96,090199,090944
$TT8_MAMPS,0.026845
$HUMID,53.26
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.50
$XPDR_PINGS,6
$24V_AH,23.3,10.021
$10V_AH,10.3,3.882
$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,22.625,70.000,331.775,17.575,0.000,59.384,62.725,227.545,1.500,0.000,37.352,1569.034,4853.877,457.396,1489.795,488.196,0.000,1213.290,0.000,1448.259,0.000,0.529,0.000
$DEVICE_MAMPS,329.810,118.118,1094.509,829.127,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,656.022,616.452,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150868
$DATA_FILE_SIZE,34757,894
$CAP_FILE_SIZE,96866,0
$CFSIZE,260165632,248184832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.5
$CURRENT,0.068, 78.5,1
$GPS,151009,113729,6626.727,-6028.172,7,99.0,26,-37.7