version: 66.06
glider: 143
mission: 8
dive: 48
start: 10 15 109 11 43 36
data:
$ID,143
$MISSION,8
$DIVE,48
$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,-21082.752
$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
$GPS1,113729,6626.727,-6028.172,7,99.0,26,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-69.1
$GPS2,114316,6626.771,-6028.241,11,99.0,30,-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,101.8,172620,-18.3,-10.000
$D_GRID,459
$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,-73.03,0.000,2,0.000,0.000,125,2290,2806,0,0,0,0,0,0
$GC,93,-1.05,-146.0,3.1,-3.7,14,131,10.65,2.72,-18.88,0.000,4,0.334,0.110,2131,704,3399,0,0,0,0,0,0
$GC,232,-0.70,-146.0,30.9,-20.3,39,238,0.50,2.70,0.00,0.000,6,0.240,0.088,2249,2300,3402,0,0,0,0,0,0
$GC,576,-0.77,-146.0,75.7,-12.4,100,582,0.00,2.78,0.00,0.000,4,0.000,0.104,2249,3891,3402,0,0,0,0,0,0
$GC,593,-0.84,-146.0,77.7,-11.8,103,600,0.15,2.58,0.00,0.000,6,0.115,0.074,2202,2336,3402,0,0,0,0,0,0
$GC,928,-0.79,-146.0,120.3,-13.2,149,933,0.00,2.72,0.00,0.000,4,0.000,0.098,2201,714,3403,0,0,0,0,0,0
$GC,1185,-0.72,-146.0,155.0,-13.0,171,1192,0.17,2.70,0.00,0.000,6,0.232,0.087,2239,2342,3403,0,0,0,0,0,0
$GC,1511,-0.83,-146.0,187.2,-9.8,202,1515,0.00,2.75,0.00,0.000,4,0.000,0.100,2239,710,3403,0,0,0,0,0,0
$GC,1565,-0.92,-146.0,192.9,-10.8,206,1572,0.17,2.70,0.00,0.000,6,0.110,0.087,2181,2339,3403,0,0,0,0,0,0
$GC,1890,-0.85,-146.0,231.0,-11.4,237,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2339,3402,0,0,0,0,0,0
$GC,2209,-0.79,-146.0,266.0,-10.7,267,2214,0.17,2.65,0.00,0.000,4,0.228,0.104,2210,3891,3402,0,0,0,0,0,0
$GC,2249,-0.85,-146.0,270.0,-9.7,270,2254,0.00,2.55,0.00,0.000,6,0.000,0.077,2210,2333,3401,0,0,0,0,0,0
$GC,2574,-0.90,-146.0,301.3,-10.0,300,2579,0.00,2.67,0.00,0.000,4,0.000,0.105,2210,3895,3401,0,0,0,0,0,0
$GC,2591,-0.90,-146.0,303.0,-10.2,301,2595,0.00,2.50,0.00,0.000,6,0.000,0.077,2210,2366,3402,0,0,0,0,0,0
$GC,2916,-0.97,-146.0,334.0,-9.3,331,2921,0.12,2.78,0.00,0.000,4,0.125,0.100,2168,707,3401,0,0,0,0,0,0
$GC,2927,-0.97,-146.0,335.2,-9.5,331,2932,0.00,2.75,0.00,0.000,6,0.000,0.088,2168,2378,3400,0,0,0,0,0,0
$GC,3252,-0.91,-146.0,371.6,-10.9,362,3256,0.00,2.78,0.00,0.000,4,0.000,0.099,2168,715,3400,0,0,0,0,0,0
$GC,3508,-0.82,-146.0,401.6,-11.3,384,3515,0.20,2.72,0.00,0.000,6,0.235,0.087,2214,2378,3400,0,0,0,0,0,0
$GC,3834,-0.93,-146.0,429.1,-8.8,415,3838,0.00,2.78,0.00,0.000,4,0.000,0.097,2214,708,3400,0,0,0,0,0,0
$GC,4013,-1.04,-146.0,445.8,-9.2,430,4019,0.22,2.72,0.00,0.000,6,0.100,0.085,2137,2375,3400,0,0,0,0,0,0
$STATE,4133,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4133,begin apogee
$GC,4138,-0.24,0.0,459.8,11.8,442,4260,0.98,0.00,118.18,1.101,6,0.219,0.000,2394,2102,2799,0,0,0,0,0,0
$STATE,4261,end apogee,CONTROL_FINISHED_OK
$STATE,4261,begin climb
$GC,4263,1.05,146.0,462.6,0.0,454,4396,1.42,3.00,121.70,1.039,4,0.142,0.094,2808,3682,2201,0,0,0,0,0,0
$GC,4648,0.60,146.0,401.7,18.1,489,4656,0.62,2.72,0.00,0.000,6,0.232,0.079,2675,2106,2192,0,0,0,0,0,0
$GC,4973,0.60,146.0,368.4,10.0,520,4977,0.00,2.78,0.00,0.000,4,0.000,0.096,2675,3696,2190,0,0,0,0,0,0
$GC,5230,0.53,146.0,341.0,10.4,542,5237,0.15,2.70,0.00,0.000,6,0.202,0.078,2652,2093,2190,0,0,0,0,0,0
$GC,5555,0.68,185.6,315.4,8.2,573,5597,0.15,2.83,31.73,0.973,4,0.120,0.094,2698,3687,2041,0,0,0,0,0,0
$GC,5849,0.60,185.6,279.0,12.6,599,5856,0.15,2.70,0.00,0.000,6,0.204,0.079,2677,2090,2035,0,0,0,0,0,0
$GC,6175,0.72,203.0,246.6,9.2,630,6197,0.12,2.80,14.82,0.912,4,0.124,0.097,2716,3687,1971,0,0,0,0,0,0
$GC,6449,0.64,203.0,213.0,12.4,654,6456,0.17,2.67,0.00,0.000,6,0.201,0.081,2687,2098,1968,0,0,0,0,0,0
$GC,6774,0.75,215.9,183.7,9.4,685,6796,0.10,2.83,11.85,0.885,4,0.137,0.097,2718,3688,1918,0,0,0,0,0,0
$GC,7048,0.69,215.9,151.5,11.9,709,7055,0.00,2.60,0.00,0.000,6,0.000,0.081,2729,2134,1915,0,0,0,0,0,0
$GC,7373,0.69,215.9,115.0,10.8,740,7377,0.00,2.67,0.00,0.000,4,0.000,0.098,2729,3696,1914,0,0,0,0,0,0
$GC,7632,0.63,215.9,84.0,12.1,774,7638,0.22,2.62,0.00,0.000,6,0.205,0.082,2687,2121,1914,0,0,0,0,0,0
$GC,7977,0.89,288.1,57.7,6.7,835,8045,0.25,2.80,60.33,0.857,4,0.100,0.098,2777,3687,1623,0,0,0,0,0,0
$GC,8298,0.80,288.1,16.3,13.8,893,8305,0.20,2.67,0.00,0.000,6,0.202,0.084,2744,2122,1613,0,0,0,0,0,0
$STATE,8427,end climb,SURFACE_DEPTH_REACHED
$STATE,8428,begin surface coast
$FINISH,0.9,1.004817
$STATE,8445,end surface coast,CONTROL_FINISHED_OK
$STATE,8446,begin surface
$SM_CCo,8522,0.00,0.000,0,0,1607,292.89
$SM_GC,1.79,7.82,0.00,0.00,0.092,0.000,0.000,129,2304,1607,-7.31,0.11,292.89
$RAFOS_CLK,571
$RAFOS,6,1255610943,12.833333,12.817500,52,49,40,0,0,0,618,686,441,0,0,0
$RAFOS,5,1255610462,12.700000,12.683888,49,46,45,0,0,0,1931,1195,843,0,0,0
$RAFOS,4,1255609989,12.566667,12.552500,51,46,41,0,0,0,1215,1581,363,0,0,0
$RAFOS,3,1255609503,12.433333,12.417500,41,40,40,0,0,0,547,1213,1731,0,0,0
$RAFOS,2,1255609021,12.300000,12.283611,41,41,40,0,0,0,781,1002,1555,0,0,0
$RAFOS,1,1255608541,12.166667,12.150278,50,49,45,0,0,0,943,772,238,0,0,0
$RAFOS,0,1255608065,12.033333,12.018056,41,40,40,0,0,0,1321,106,776,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6558.99,-6030.63,090199,090908
$TT8_MAMPS,0.026845
$HUMID,53.54
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.40
$XPDR_PINGS,3
$24V_AH,23.3,10.138
$10V_AH,10.3,3.938
$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,24.750,87.750,358.600,0.000,0.000,30.867,30.840,163.753,0.750,0.000,32.763,1639.423,4745.060,449.074,1674.996,360.175,0.000,1312.166,0.000,1632.035,2520.000,0.530,0.000
$DEVICE_MAMPS,333.645,109.681,1100.645,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,672.805,631.496,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150860
$DATA_FILE_SIZE,34746,919
$CAP_FILE_SIZE,107176,0
$CFSIZE,260165632,248123392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.4
$CURRENT,0.171,176.2,1
$GPS,151009,140705,6626.592,-6028.501,33,1.8,44,-37.7