version: 66.06
glider: 143
mission: 8
dive: 50
start: 10 15 109 16 48 13
data:
$ID,143
$MISSION,8
$DIVE,50
$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,-21155.926
$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,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
$GPS1,163658,6625.463,-6027.948,10,99.0,29,-37.6
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-65.8
$GPS2,164752,6625.268,-6028.086,36,5.7,55,-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,58.9,173618,-18.3,-10.000
$D_GRID,453
$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,12,begin dive
$GC,15,-1.05,-146.0,0.0,0.0,0,93,0.00,0.00,-75.28,0.000,2,0.000,0.000,123,2305,2858,0,0,0,0,0,0
$GC,95,-1.05,-146.0,3.4,-5.4,14,128,10.35,2.75,-15.75,0.000,4,0.325,0.107,2131,713,3398,0,0,0,0,0,0
$GC,230,-0.73,-146.0,32.5,-21.0,38,236,0.45,2.67,0.00,0.000,6,0.237,0.087,2238,2297,3401,0,0,0,0,0,0
$GC,575,-0.73,-146.0,76.6,-10.9,99,579,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2297,3402,0,0,0,0,0,0
$GC,915,-0.79,-146.0,114.8,-11.2,149,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2297,3402,0,0,0,0,0,0
$GC,1235,-0.88,-146.0,149.2,-10.3,179,1240,0.15,2.70,0.00,0.000,4,0.117,0.098,2189,705,3402,0,0,0,0,0,0
$GC,1279,-0.80,-146.0,155.3,-14.2,182,1286,0.12,2.65,0.00,0.000,6,0.246,0.086,2215,2307,3402,0,0,0,0,0,0
$GC,1604,-0.80,-146.0,192.1,-11.5,213,1608,0.00,2.70,0.00,0.000,4,0.000,0.106,2215,3885,3402,0,0,0,0,0,0
$GC,1767,-0.86,-146.0,211.0,-12.0,227,1772,0.00,2.62,0.00,0.000,6,0.000,0.077,2215,2298,3401,0,0,0,0,0,0
$GC,2092,-0.91,-146.0,243.6,-9.5,257,2096,0.00,2.65,0.00,0.000,4,0.000,0.100,2215,706,3401,0,0,0,0,0,0
$GC,2157,-0.91,-146.0,250.5,-10.4,262,2163,0.00,2.62,0.00,0.000,6,0.000,0.086,2215,2304,3401,0,0,0,0,0,0
$GC,2484,-0.98,-146.0,280.5,-9.4,293,2486,0.17,0.00,0.00,0.000,6,0.114,0.000,2157,2304,3401,0,0,0,0,0,0
$GC,2801,-0.87,-146.0,319.2,-11.9,323,2806,0.17,2.70,0.00,0.000,4,0.234,0.102,2185,3892,3400,0,0,0,0,0,0
$GC,2919,-0.87,-146.0,332.2,-10.3,333,2923,0.00,2.58,0.00,0.000,6,0.000,0.077,2185,2310,3400,0,0,0,0,0,0
$GC,3244,-0.87,-146.0,366.4,-10.1,363,3249,0.00,2.70,0.00,0.000,4,0.000,0.105,2185,3892,3400,0,0,0,0,0,0
$GC,3321,-0.87,-146.0,374.6,-10.8,369,3328,0.00,2.60,0.00,0.000,6,0.000,0.077,2185,2322,3399,0,0,0,0,0,0
$GC,3646,-0.87,-146.0,406.8,-9.9,400,3651,0.00,2.65,0.00,0.000,4,0.000,0.103,2185,3885,3399,0,0,0,0,0,0
$GC,3712,-0.87,-146.0,413.7,-10.1,405,3719,0.00,2.55,0.00,0.000,6,0.000,0.076,2185,2310,3399,0,0,0,0,0,0
$GC,4039,-0.87,-146.0,444.8,-9.6,436,4040,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2310,3399,0,0,0,0,0,0
$STATE,4120,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4120,begin apogee
$GC,4126,-0.24,0.0,453.1,9.8,444,4247,0.77,0.00,117.97,1.095,6,0.201,0.000,2397,2100,2800,0,0,0,0,0,0
$STATE,4248,end apogee,CONTROL_FINISHED_OK
$STATE,4248,begin climb
$GC,4250,1.05,146.0,456.5,0.0,456,4385,1.40,3.00,121.80,1.039,4,0.139,0.094,2807,3681,2201,0,0,0,0,0,0
$GC,4390,0.64,146.0,442.5,16.0,469,4398,0.57,2.85,0.00,0.000,6,0.232,0.078,2693,2100,2200,0,0,0,0,0,0
$GC,4715,0.57,146.0,403.4,11.5,500,4720,0.00,2.80,0.00,0.000,4,0.000,0.095,2693,3689,2192,0,0,0,0,0,0
$GC,4972,0.44,146.0,371.7,12.3,522,4978,0.32,2.65,0.00,0.000,6,0.207,0.077,2624,2125,2190,0,0,0,0,0,0
$GC,5297,0.68,197.9,345.5,7.6,553,5349,0.25,2.85,41.90,0.986,4,0.104,0.096,2705,3681,1992,0,0,0,0,0,0
$GC,5361,0.62,197.9,338.4,12.1,559,5367,0.15,2.70,0.00,0.000,6,0.208,0.079,2686,2131,1990,0,0,0,0,0,0
$GC,5685,0.62,197.9,300.3,11.5,589,5690,0.00,2.72,0.00,0.000,4,0.000,0.097,2686,3687,1985,0,0,0,0,0,0
$GC,5802,0.62,197.9,285.5,12.9,599,5807,0.00,2.65,0.00,0.000,6,0.000,0.079,2696,2118,1984,0,0,0,0,0,0
$GC,6127,0.62,197.9,248.7,10.6,629,6131,0.00,2.70,0.00,0.000,4,0.000,0.096,2696,3690,1984,0,0,0,0,0,0
$GC,6350,0.62,197.9,221.1,11.9,648,6356,0.00,2.55,0.00,0.000,6,0.000,0.078,2707,2155,1984,0,0,0,0,0,0
$GC,6674,0.62,197.9,186.9,10.3,679,6679,0.00,2.62,0.00,0.000,4,0.000,0.097,2707,3687,1984,0,0,0,0,0,0
$GC,6684,0.62,197.9,185.7,10.2,679,6691,0.10,2.55,0.00,0.000,6,0.195,0.077,2681,2168,1984,0,0,0,0,0,0
$GC,7010,0.76,219.6,155.1,9.0,710,7035,0.15,2.67,18.10,0.892,4,0.117,0.097,2729,3684,1902,0,0,0,0,0,0
$GC,7289,0.70,219.6,123.2,11.0,735,7294,0.15,2.55,0.00,0.000,6,0.205,0.082,2707,2165,1899,0,0,0,0,0,0
$GC,7617,0.80,225.1,94.5,9.7,770,7628,0.00,2.62,5.10,0.737,4,0.000,0.097,2707,3692,1882,0,0,0,0,0,0
$GC,7881,0.85,225.1,65.4,11.0,817,7888,0.12,2.50,0.00,0.000,6,0.122,0.081,2757,2193,1881,0,0,0,0,0,0
$GC,8227,0.79,225.1,29.7,10.1,878,8232,0.00,2.55,0.00,0.000,4,0.000,0.100,2757,3689,1879,0,0,0,0,0,0
$STATE,8456,end climb,SURFACE_DEPTH_REACHED
$STATE,8456,begin surface coast
$FINISH,1.3,1.025760
$STATE,8468,end surface coast,CONTROL_FINISHED_OK
$STATE,8468,begin surface
$SM_CCo,8486,39.45,0.834,0,0,1678,275.23
$SM_GC,2.05,0.00,0.00,39.45,0.000,0.000,0.834,130,2293,1678,-7.35,-0.17,275.23
$RAFOS_CLK,589
$RAFOS,6,1255625346,16.833334,16.818333,44,43,41,0,0,0,1830,503,346,0,0,0
$RAFOS,4,1255624386,16.566668,16.551666,45,42,41,0,0,0,1094,1302,1711,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6558.99,-6025.33,090199,161628
$TT8_MAMPS,0.026845
$HUMID,52.67
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.40
$XPDR_PINGS,5
$24V_AH,23.3,10.375
$10V_AH,10.3,4.050
$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,23.075,85.400,304.875,39.450,0.000,64.815,73.456,280.757,1.250,0.000,58.194,1617.027,4935.066,448.070,1602.406,580.157,0.000,1263.709,0.000,1535.206,360.000,0.530,0.000
$DEVICE_MAMPS,325.208,107.380,1095.276,834.496,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,673.667,635.502,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150404
$DATA_FILE_SIZE,34789,921
$CAP_FILE_SIZE,106422,0
$CFSIZE,260165632,248020992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.6
$CURRENT,0.443,180.7,1
$GPS,151009,191137,6624.356,-6027.801,34,1.4,34,-37.6