version: 66.06
glider: 143
mission: 8
dive: 51
start: 10 15 109 19 18 22
data:
$ID,143
$MISSION,8
$DIVE,51
$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,-21191.076
$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
$GPS1,191137,6624.356,-6027.801,34,1.4,34,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-64.9
$GPS2,191802,6624.252,-6027.885,15,1.4,33,-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,58.3,174252,-18.3,-10.000
$D_GRID,449
$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,16,-1.05,-146.0,0.0,0.0,0,89,0.00,0.00,-71.15,0.000,2,0.000,0.000,130,2289,2778,0,0,0,0,0,0
$GC,92,-1.05,-146.0,3.4,-3.8,14,124,10.60,0.00,-18.52,0.000,6,0.331,0.000,2131,2289,3397,0,0,0,0,0,0
$GC,463,-0.78,-146.0,75.8,-16.9,80,470,0.35,2.78,0.00,0.000,4,0.236,0.099,2209,3886,3402,0,0,0,0,0,0
$GC,571,-0.78,-146.0,89.9,-12.8,99,576,0.00,2.62,0.00,0.000,6,0.000,0.076,2209,2299,3402,0,0,0,0,0,0
$GC,905,-0.78,-146.0,128.8,-11.3,138,909,0.00,2.67,0.00,0.000,4,0.000,0.100,2209,711,3403,0,0,0,0,0,0
$GC,954,-0.78,-146.0,134.8,-12.5,142,959,0.00,2.65,0.00,0.000,6,0.000,0.085,2209,2305,3402,0,0,0,0,0,0
$GC,1278,-0.78,-146.0,173.1,-11.9,172,1283,0.00,2.70,0.00,0.000,4,0.000,0.099,2209,705,3403,0,0,0,0,0,0
$GC,1340,-0.78,-146.0,180.7,-13.5,177,1345,0.00,2.62,0.00,0.000,6,0.000,0.087,2209,2293,3403,0,0,0,0,0,0
$GC,1664,-0.78,-146.0,218.7,-11.7,207,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2293,3402,0,0,0,0,0,0
$GC,1984,-0.78,-146.0,254.5,-10.7,237,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2293,3403,0,0,0,0,0,0
$GC,2303,-0.82,-146.0,288.5,-10.2,267,2307,0.00,2.70,0.00,0.000,4,0.000,0.106,2209,3884,3402,0,0,0,0,0,0
$GC,2437,-0.90,-146.0,302.6,-10.9,278,2443,0.00,2.60,0.00,0.000,6,0.000,0.078,2209,2297,3401,0,0,0,0,0,0
$GC,2762,-0.96,-146.0,335.0,-10.0,309,2764,0.12,0.00,0.00,0.000,6,0.123,0.000,2166,2297,3401,0,0,0,0,0,0
$GC,3080,-0.89,-146.0,370.4,-10.8,339,3085,0.00,2.72,0.00,0.000,4,0.000,0.104,2166,3893,3401,0,0,0,0,0,0
$GC,3135,-0.83,-146.0,376.9,-11.4,343,3141,0.17,2.60,0.00,0.000,6,0.225,0.077,2204,2300,3400,0,0,0,0,0,0
$GC,3460,-0.90,-146.0,406.3,-9.1,374,3461,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2299,3401,0,0,0,0,0,0
$GC,3780,-0.98,-146.0,434.3,-8.6,404,3782,0.12,0.00,0.00,0.000,6,0.126,0.000,2163,2299,3400,0,0,0,0,0,0
$STATE,3925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3925,begin apogee
$GC,3930,-0.24,0.0,449.7,10.5,418,4052,0.85,0.00,118.07,1.092,6,0.206,0.000,2393,2101,2800,0,0,0,0,0,0
$STATE,4053,end apogee,CONTROL_FINISHED_OK
$STATE,4053,begin climb
$GC,4055,1.05,146.0,453.1,0.0,430,4182,1.42,0.00,122.43,1.034,6,0.141,0.000,2806,2102,2204,0,0,0,0,0,0
$GC,4500,0.69,146.0,389.4,15.8,473,4505,0.40,2.80,0.00,0.000,4,0.220,0.094,2697,3686,2192,0,0,0,0,0,0
$GC,4757,0.58,146.0,357.3,11.7,495,4764,0.17,2.70,0.00,0.000,6,0.219,0.079,2669,2096,2190,0,0,0,0,0,0
$GC,5082,0.60,164.7,327.1,9.1,526,5102,0.00,0.00,14.82,0.937,6,0.000,0.000,2668,2096,2127,0,0,0,0,0,0
$GC,5421,0.69,185.7,296.1,9.0,558,5443,0.12,0.00,18.80,0.943,6,0.134,0.000,2704,2096,2042,0,0,0,0,0,0
$GC,5759,0.69,185.7,260.7,10.6,590,5763,0.00,2.75,0.00,0.000,4,0.000,0.094,2704,3693,2037,0,0,0,0,0,0
$GC,5971,0.63,185.7,235.8,11.7,608,5978,0.15,2.67,0.00,0.000,6,0.207,0.080,2683,2094,2036,0,0,0,0,0,0
$GC,6296,0.72,208.8,205.1,8.9,639,6321,0.00,2.78,19.90,0.915,4,0.000,0.097,2683,3686,1947,0,0,0,0,0,0
$GC,6327,0.83,226.5,201.9,9.2,641,6353,0.17,2.67,16.15,0.874,6,0.112,0.078,2749,2105,1875,0,0,0,0,0,0
$GC,6671,0.76,226.5,156.4,13.3,674,6675,0.00,2.72,0.00,0.000,4,0.000,0.097,2749,3686,1871,0,0,0,0,0,0
$GC,6901,0.66,226.5,122.7,15.9,694,6906,0.28,2.67,0.00,0.000,6,0.209,0.081,2695,2096,1869,0,0,0,0,0,0
$GC,7230,0.83,268.0,93.3,8.1,731,7272,0.17,2.83,35.03,0.871,4,0.117,0.097,2750,3691,1706,0,0,0,0,0,0
$GC,7438,0.77,268.0,69.1,11.8,768,7444,0.15,2.62,0.00,0.000,6,0.204,0.081,2729,2144,1700,0,0,0,0,0,0
$GC,7784,0.90,278.8,34.6,9.5,829,7801,0.12,2.70,9.23,0.802,4,0.120,0.098,2769,3694,1662,0,0,0,0,0,0
$STATE,8035,end climb,SURFACE_DEPTH_REACHED
$STATE,8036,begin surface coast
$FINISH,1.0,1.025741
$STATE,8042,end surface coast,CONTROL_FINISHED_OK
$STATE,8042,begin surface
$SM_CCo,8121,0.00,0.000,0,0,1653,281.36
$SM_GC,1.70,7.82,0.00,0.00,0.088,0.000,0.000,123,2293,1653,-7.33,-0.20,281.36
$RAFOS_CLK,548
$RAFOS,6,1255639741,20.833334,20.816944,44,41,40,0,0,0,1482,697,984,0,0,0
$RAFOS,5,1255639265,20.700001,20.684723,45,40,40,0,0,0,1607,1026,1743,0,0,0
$RAFOS,4,1255638788,20.566668,20.552221,45,45,41,0,0,0,517,1228,822,0,0,0
$RAFOS,3,1255638307,20.433332,20.418612,42,41,41,0,0,0,1148,755,1451,0,0,0
$RAFOS,2,1255637823,20.299999,20.284166,48,42,42,0,0,0,349,1149,1771,0,0,0
$RAFOS,1,1255637349,20.166666,20.152500,47,44,41,0,0,0,583,949,1903,0,0,0
$RAFOS,0,1255636870,20.033333,20.019444,42,39,39,0,0,0,475,969,1912,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6558.99,-6027.99,090199,161637
$TT8_MAMPS,0.026845
$HUMID,52.75
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.40
$XPDR_PINGS,5
$24V_AH,23.3,10.491
$10V_AH,10.3,4.102
$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,23.225,59.325,354.425,0.000,0.000,28.448,36.061,189.337,1.250,0.000,34.523,1506.981,4746.653,436.707,1430.891,384.290,0.000,1168.450,0.000,1392.938,2520.000,0.531,0.000
$DEVICE_MAMPS,331.344,105.846,1092.208,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,643.215,605.368,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150900
$DATA_FILE_SIZE,34663,875
$CAP_FILE_SIZE,92304,0
$CFSIZE,260165632,247980032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.8
$CURRENT,0.160,168.4,1
$GPS,151009,213541,6624.611,-6027.127,70,1.8,74,-37.6