version: 66.06
glider: 143
mission: 8
dive: 52
start: 10 15 109 21 42 40
data:
$ID,143
$MISSION,8
$DIVE,52
$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,-21241.209
$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
$GPS1,213541,6624.611,-6027.127,70,1.8,74,-37.6
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-69.0
$GPS2,214220,6624.578,-6027.268,48,1.3,48,-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,66.5,173597,-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,-79.07,0.000,2,0.000,0.000,122,2288,2857,0,0,0,0,0,0
$GC,99,-1.05,-146.0,3.1,-3.4,15,137,10.40,2.75,-18.05,0.000,4,0.328,0.108,2130,711,3399,0,0,0,0,0,0
$GC,222,-0.69,-146.0,28.9,-23.9,37,229,0.50,2.70,0.00,0.000,6,0.240,0.087,2248,2309,3402,0,0,0,0,0,0
$GC,567,-0.76,-146.0,72.5,-11.6,98,573,0.00,2.72,0.00,0.000,4,0.000,0.104,2249,3888,3403,0,0,0,0,0,0
$GC,659,-0.84,-146.0,82.4,-10.4,114,666,0.12,2.62,0.00,0.000,6,0.122,0.074,2210,2299,3403,0,0,0,0,0,0
$GC,998,-0.84,-146.0,124.6,-12.0,158,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2300,3403,0,0,0,0,0,0
$GC,1319,-0.84,-146.0,162.8,-11.6,188,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,2299,3403,0,0,0,0,0,0
$GC,1636,-0.84,-146.0,197.8,-10.4,218,1640,0.00,2.65,0.00,0.000,4,0.000,0.099,2209,709,3403,0,0,0,0,0,0
$GC,1702,-0.84,-146.0,205.7,-11.9,223,1708,0.00,2.62,0.00,0.000,6,0.000,0.087,2209,2298,3403,0,0,0,0,0,0
$GC,2026,-0.84,-146.0,240.0,-10.5,254,2031,0.00,2.72,0.00,0.000,4,0.000,0.106,2209,3889,3403,0,0,0,0,0,0
$GC,2122,-0.84,-146.0,249.9,-10.0,262,2126,0.00,2.60,0.00,0.000,6,0.000,0.077,2209,2301,3402,0,0,0,0,0,0
$GC,2446,-0.84,-146.0,283.2,-10.8,292,2450,0.00,2.72,0.00,0.000,4,0.000,0.104,2209,3886,3402,0,0,0,0,0,0
$GC,2545,-0.91,-146.0,294.3,-10.6,300,2551,0.00,2.58,0.00,0.000,6,0.000,0.077,2209,2309,3401,0,0,0,0,0,0
$GC,2872,-0.96,-146.0,325.8,-9.2,331,2877,0.12,2.67,0.00,0.000,4,0.124,0.100,2167,707,3401,0,0,0,0,0,0
$GC,2984,-0.85,-146.0,339.6,-12.1,340,2990,0.15,2.62,0.00,0.000,6,0.244,0.088,2199,2304,3401,0,0,0,0,0,0
$GC,3308,-0.85,-146.0,370.3,-9.5,371,3313,0.00,2.70,0.00,0.000,4,0.000,0.106,2199,3895,3400,0,0,0,0,0,0
$GC,3420,-0.91,-146.0,380.7,-9.6,380,3425,0.00,2.62,0.00,0.000,6,0.000,0.077,2199,2294,3400,0,0,0,0,0,0
$GC,3745,-0.96,-146.0,410.1,-8.9,411,3749,0.00,2.60,0.00,0.000,4,0.000,0.097,2199,715,3400,0,0,0,0,0,0
$GC,3833,-0.96,-146.0,419.0,-9.9,418,3839,0.00,2.60,0.00,0.000,6,0.000,0.084,2199,2312,3400,0,0,0,0,0,0
$GC,4158,-1.03,-146.0,448.0,-9.1,449,4163,0.15,2.67,0.00,0.000,4,0.113,0.100,2139,3897,3400,0,0,0,0,0,0
$STATE,4234,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4234,begin apogee
$GC,4241,-0.24,0.0,457.4,12.2,455,4367,0.95,0.00,118.25,1.096,6,0.213,0.000,2396,2102,2799,0,0,0,0,0,0
$STATE,4368,end apogee,CONTROL_FINISHED_OK
$STATE,4368,begin climb
$GC,4370,1.05,146.0,461.2,0.0,468,4499,1.45,0.00,121.82,1.038,6,0.140,0.000,2819,2102,2204,0,0,0,0,0,0
$GC,4817,0.65,146.0,396.4,15.8,511,4823,0.50,2.80,0.00,0.000,4,0.225,0.093,2685,3689,2193,0,0,0,0,0,0
$GC,5075,0.56,146.0,367.2,11.0,533,5083,0.15,2.67,0.00,0.000,6,0.224,0.077,2663,2104,2191,0,0,0,0,0,0
$GC,5400,0.64,164.1,337.6,9.2,564,5421,0.00,0.00,14.38,0.943,6,0.000,0.000,2663,2104,2130,0,0,0,0,0,0
$GC,5739,0.73,173.1,304.6,9.6,596,5755,0.17,2.78,9.05,0.887,4,0.119,0.095,2717,3695,2093,0,0,0,0,0,0
$GC,6007,0.57,173.1,267.9,13.8,619,6013,0.25,2.67,0.00,0.000,6,0.217,0.077,2671,2093,2091,0,0,0,0,0,0
$GC,6332,0.68,191.6,235.5,9.1,650,6352,0.00,0.00,16.67,0.921,6,0.000,0.000,2671,2093,2017,0,0,0,0,0,0
$GC,6671,0.85,239.3,207.3,7.8,682,6719,0.25,2.85,40.75,0.919,4,0.104,0.095,2758,3692,1823,0,0,0,0,0,0
$GC,6972,0.70,239.3,164.9,15.0,708,6978,0.25,2.65,0.00,0.000,6,0.206,0.079,2712,2125,1816,0,0,0,0,0,0
$GC,7296,0.79,239.3,127.8,11.2,739,7301,0.00,2.70,0.00,0.000,4,0.000,0.097,2712,3691,1813,0,0,0,0,0,0
$GC,7555,0.79,239.3,97.5,11.2,763,7560,0.00,2.55,0.00,0.000,6,0.000,0.080,2721,2163,1813,0,0,0,0,0,0
$GC,7898,0.87,243.1,63.2,9.8,824,7904,0.12,0.00,0.00,0.000,6,0.114,0.000,2766,2163,1812,0,0,0,0,0,0
$GC,8243,0.78,243.1,27.1,10.3,885,8250,0.12,2.62,0.00,0.000,4,0.212,0.099,2729,3692,1811,0,0,0,0,0,0
$STATE,8467,end climb,SURFACE_DEPTH_REACHED
$STATE,8467,begin surface coast
$FINISH,0.8,1.025739
$STATE,8491,end surface coast,CONTROL_FINISHED_OK
$STATE,8491,begin surface
$SM_CCo,8509,26.02,0.829,0,0,1678,275.23
$SM_GC,1.91,0.00,0.00,26.02,0.000,0.000,0.829,124,2297,1678,-7.37,-0.06,275.23
$RAFOS_CLK,570
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6558.99,-6030.63,090199,191901
$TT8_MAMPS,0.029146
$HUMID,53.03
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,16.40
$XPDR_PINGS,5
$24V_AH,23.3,10.607
$10V_AH,10.3,4.159
$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,23.250,74.825,320.925,26.025,0.000,30.990,40.384,186.628,1.250,0.000,49.507,1618.080,4849.734,456.221,1625.138,387.763,0.000,1274.408,0.000,1566.848,360.000,0.532,0.000
$DEVICE_MAMPS,328.276,108.147,1096.043,829.127,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,677.050,640.596,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150864
$DATA_FILE_SIZE,34768,929
$CAP_FILE_SIZE,100357,0
$CFSIZE,260165632,247922688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.9
$CURRENT,0.108,150.7,1
$GPS,161009,000744,6625.243,-6025.905,104,99.0,123,-37.6