version: 66.06
glider: 143
mission: 8
dive: 49
start: 10 15 109 14 13 23
data:
$ID,143
$MISSION,8
$DIVE,49
$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,-21097.102
$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,16
$R_STBD_OVSHOOT,20
$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
$GPS1,140705,6626.592,-6028.501,33,1.8,44,-37.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-67.6
$GPS2,141302,6626.559,-6028.535,12,1.7,12,-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,66.4,172969,-18.3,-10.000
$D_GRID,457
$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,-146.0,0.0,0.0,0,97,0.00,0.00,-79.30,0.000,2,0.000,0.000,129,2304,2833,0,0,0,0,0,0
$GC,100,-1.05,-146.0,3.4,-5.3,15,131,10.43,0.00,-17.27,0.000,6,0.328,0.000,2132,2304,3398,0,0,0,0,0,0
$GC,470,-0.77,-146.0,73.9,-18.1,81,475,0.35,0.00,0.00,0.000,6,0.235,0.000,2220,2304,3402,0,0,0,0,0,0
$GC,810,-0.77,-146.0,117.4,-12.0,130,815,0.00,2.72,0.00,0.000,4,0.000,0.106,2220,3884,3403,0,0,0,0,0,0
$GC,876,-0.77,-146.0,125.4,-12.5,135,882,0.00,2.62,0.00,0.000,6,0.000,0.075,2220,2296,3403,0,0,0,0,0,0
$GC,1200,-0.77,-146.0,164.0,-11.8,166,1205,0.00,2.75,0.00,0.000,4,0.000,0.104,2220,3886,3403,0,0,0,0,0,0
$GC,1296,-0.85,-146.0,175.0,-11.9,174,1300,0.00,2.62,0.00,0.000,6,0.000,0.075,2221,2294,3403,0,0,0,0,0,0
$GC,1620,-0.92,-146.0,209.3,-9.8,204,1626,0.12,2.75,0.00,0.000,4,0.125,0.102,2170,3887,3403,0,0,0,0,0,0
$GC,1721,-0.82,-146.0,221.8,-12.7,212,1727,0.20,2.60,0.00,0.000,6,0.231,0.076,2214,2301,3402,0,0,0,0,0,0
$GC,2047,-0.87,-146.0,250.4,-8.4,243,2051,0.00,2.72,0.00,0.000,4,0.000,0.104,2214,3888,3403,0,0,0,0,0,0
$GC,2131,-0.95,-146.0,257.4,-8.6,250,2136,0.12,2.58,0.00,0.000,6,0.130,0.076,2176,2313,3402,0,0,0,0,0,0
$GC,2455,-0.89,-146.0,291.7,-10.8,280,2460,0.00,2.65,0.00,0.000,4,0.000,0.100,2176,717,3402,0,0,0,0,0,0
$GC,2539,-0.80,-146.0,301.4,-11.7,287,2545,0.17,2.62,0.00,0.000,6,0.239,0.088,2213,2308,3402,0,0,0,0,0,0
$GC,2866,-0.88,-146.0,330.8,-8.9,317,2870,0.00,2.67,0.00,0.000,4,0.000,0.107,2213,3885,3401,0,0,0,0,0,0
$GC,2916,-0.97,-146.0,335.6,-9.4,321,2921,0.15,2.58,0.00,0.000,6,0.120,0.077,2163,2307,3401,0,0,0,0,0,0
$GC,3241,-0.90,-146.0,370.5,-10.6,351,3242,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2307,3401,0,0,0,0,0,0
$GC,3560,-0.83,-146.0,403.9,-10.4,381,3566,0.20,2.70,0.00,0.000,4,0.222,0.101,2200,3893,3400,0,0,0,0,0,0
$GC,3638,-0.89,-146.0,411.6,-9.5,387,3644,0.00,2.58,0.00,0.000,6,0.000,0.075,2200,2301,3400,0,0,0,0,0,0
$GC,3963,-0.96,-146.0,441.4,-8.8,418,3968,0.00,2.62,0.00,0.000,4,0.000,0.098,2200,709,3400,0,0,0,0,0,0
$GC,4059,-0.96,-146.0,450.9,-9.9,426,4063,0.00,2.62,0.00,0.000,6,0.000,0.086,2200,2315,3400,0,0,0,0,0,0
$STATE,4126,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4126,begin apogee
$GC,4131,-0.24,0.0,457.1,8.6,432,4253,0.73,0.00,118.22,1.096,6,0.200,0.000,2398,2103,2800,0,0,0,0,0,0
$STATE,4254,end apogee,CONTROL_FINISHED_OK
$STATE,4254,begin climb
$GC,4256,1.05,146.0,459.7,0.0,444,4386,1.40,0.00,122.20,1.039,6,0.141,0.000,2804,2103,2203,0,0,0,0,0,0
$GC,4705,0.70,146.0,396.2,15.5,487,4711,0.38,2.80,0.00,0.000,4,0.222,0.093,2701,3687,2193,0,0,0,0,0,0
$GC,4963,0.58,146.0,363.1,13.0,509,4969,0.17,2.62,0.00,0.000,6,0.221,0.077,2673,2138,2192,0,0,0,0,0,0
$GC,5287,0.58,146.0,330.2,10.2,540,5288,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2137,2192,0,0,0,0,0,0
$GC,5607,0.58,146.0,298.2,10.0,570,5611,0.00,2.65,0.00,0.000,4,0.000,0.094,2673,3689,2192,0,0,0,0,0,0
$GC,5848,0.58,146.0,271.8,10.3,591,5853,0.00,2.58,0.00,0.000,6,0.000,0.077,2682,2137,2191,0,0,0,0,0,0
$GC,6174,0.63,186.9,242.5,8.1,621,6216,0.00,2.78,32.42,0.940,4,0.000,0.096,2682,3689,2036,0,0,0,0,0,0
$GC,6467,0.63,186.9,213.6,10.2,647,6473,0.00,2.55,0.00,0.000,6,0.000,0.078,2694,2174,2031,0,0,0,0,0,0
$GC,6792,0.68,186.9,180.0,10.9,678,6793,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2174,2030,0,0,0,0,0,0
$GC,7112,0.74,186.9,146.1,10.0,708,7113,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2173,2030,0,0,0,0,0,0
$GC,7434,0.89,238.4,118.7,7.6,738,7487,0.22,2.72,42.53,0.890,4,0.096,0.098,2771,3685,1826,0,0,0,0,0,0
$GC,7742,0.76,238.4,77.8,14.3,779,7748,0.22,2.58,0.00,0.000,6,0.205,0.082,2730,2166,1819,0,0,0,0,0,0
$GC,8086,0.84,238.4,42.1,10.1,840,8092,0.00,2.62,0.00,0.000,4,0.000,0.099,2730,3690,1816,0,0,0,0,0,0
$GC,8345,0.84,238.4,15.1,10.0,886,8351,0.00,2.47,0.00,0.000,6,0.000,0.081,2739,2207,1815,0,0,0,0,0,0
$STATE,8479,end climb,SURFACE_DEPTH_REACHED
$STATE,8479,begin surface coast
$FINISH,0.9,1.013209
$STATE,8496,end surface coast,CONTROL_FINISHED_OK
$STATE,8497,begin surface
$SM_CCo,8513,27.08,0.828,0,0,1677,275.23
$SM_GC,1.96,0.00,0.00,27.08,0.000,0.000,0.828,124,2303,1677,-7.36,0.08,275.23
$RAFOS_CLK,578
$RAFOS,3,1255623901,16.433332,16.416945,47,47,44,0,0,0,367,1918,907,0,0,0
$RAFOS,2,1255623430,16.299999,16.286112,44,42,42,0,0,0,948,1777,1840,0,0,0
$RAFOS,1,1255622942,16.166666,16.150555,45,42,42,0,0,0,1747,307,1903,0,0,0
$RAFOS,0,1255622464,16.033333,16.017778,46,44,43,0,0,0,1587,1605,1455,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6558.99,-6030.63,090199,111153
$TT8_MAMPS,0.028379
$HUMID,53.11
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.40
$XPDR_PINGS,4
$24V_AH,23.3,10.251
$10V_AH,10.3,3.993
$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,22.475,69.350,315.375,27.075,0.000,28.653,35.133,186.651,1.000,0.000,13.723,1617.694,4907.917,447.833,1540.993,384.269,0.000,1240.136,0.000,1522.225,1800.000,0.530,0.000
$DEVICE_MAMPS,327.509,112.749,1096.043,828.360,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,669.948,631.178,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150876
$DATA_FILE_SIZE,34725,913
$CAP_FILE_SIZE,99809,0
$CFSIZE,260165632,248078336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.4
$CURRENT,0.457,181.9,1
$GPS,151009,163658,6625.463,-6027.948,10,99.0,29,-37.6