version: 66.06
glider: 143
mission: 8
dive: 54
start: 10 16 109 2 54 57
data:
$ID,143
$MISSION,8
$DIVE,54
$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,-21309.818
$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,18
$R_STBD_OVSHOOT,17
$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
$GPS1,024707,6624.359,-6025.576,38,1.3,38,-37.6
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,3
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-67.8
$GPS2,025437,6624.216,-6025.614,8,1.2,25,-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,58.0,172787,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.05,-146.0,0.0,0.0,0,91,0.00,0.00,-72.18,0.000,2,0.000,0.000,129,2295,2778,0,0,0,0,0,0
$GC,93,-1.05,-146.0,3.1,-4.4,14,131,10.35,2.72,-18.90,0.000,4,0.325,0.107,2132,713,3399,0,0,0,0,0,0
$GC,223,-0.75,-146.0,33.4,-21.8,37,229,0.43,2.70,0.00,0.000,6,0.237,0.086,2233,2309,3402,0,0,0,0,0,0
$GC,566,-0.75,-146.0,74.2,-11.2,98,572,0.00,2.70,0.00,0.000,4,0.000,0.096,2233,713,3403,0,0,0,0,0,0
$GC,622,-0.75,-146.0,81.1,-12.5,108,629,0.00,2.65,0.00,0.000,6,0.000,0.084,2233,2310,3403,0,0,0,0,0,0
$GC,963,-0.81,-146.0,118.9,-10.8,154,967,0.00,2.72,0.00,0.000,4,0.000,0.105,2233,3893,3403,0,0,0,0,0,0
$GC,1074,-0.89,-146.0,131.0,-11.2,163,1080,0.12,2.62,0.00,0.000,6,0.127,0.074,2194,2297,3403,0,0,0,0,0,0
$GC,1399,-0.85,-146.0,172.5,-12.8,194,1403,0.00,2.72,0.00,0.000,4,0.000,0.101,2194,3886,3403,0,0,0,0,0,0
$GC,1504,-0.85,-146.0,186.3,-13.1,203,1509,0.00,2.60,0.00,0.000,6,0.000,0.075,2194,2310,3403,0,0,0,0,0,0
$GC,1829,-0.85,-146.0,225.6,-11.5,233,1833,0.00,2.70,0.00,0.000,4,0.000,0.104,2194,3885,3403,0,0,0,0,0,0
$GC,1946,-0.85,-146.0,239.4,-11.7,243,1950,0.00,2.58,0.00,0.000,6,0.000,0.076,2194,2313,3402,0,0,0,0,0,0
$GC,2271,-0.85,-146.0,272.0,-9.2,273,2275,0.00,2.67,0.00,0.000,4,0.000,0.098,2194,705,3402,0,0,0,0,0,0
$GC,2343,-0.85,-146.0,279.3,-10.0,279,2348,0.00,2.67,0.00,0.000,6,0.000,0.087,2194,2329,3402,0,0,0,0,0,0
$GC,2668,-0.85,-146.0,308.9,-8.6,309,2672,0.00,2.65,0.00,0.000,4,0.000,0.105,2194,3890,3401,0,0,0,0,0,0
$GC,2734,-0.85,-146.0,315.0,-9.2,314,2740,0.00,2.55,0.00,0.000,6,0.000,0.076,2194,2326,3401,0,0,0,0,0,0
$GC,3059,-0.85,-146.0,344.1,-9.1,345,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2325,3401,0,0,0,0,0,0
$GC,3378,-0.85,-146.0,372.1,-8.8,375,3379,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2326,3401,0,0,0,0,0,0
$GC,3698,-0.85,-146.0,400.4,-8.9,405,3702,0.00,2.65,0.00,0.000,4,0.000,0.103,2194,3886,3401,0,0,0,0,0,0
$GC,3770,-0.85,-146.0,407.3,-9.7,411,3774,0.00,2.53,0.00,0.000,6,0.000,0.075,2194,2328,3400,0,0,0,0,0,0
$GC,4095,-0.90,-146.0,436.8,-9.0,441,4100,0.00,2.65,0.00,0.000,4,0.000,0.096,2194,714,3400,0,0,0,0,0,0
$GC,4184,-0.90,-146.0,445.4,-9.0,448,4191,0.00,2.62,0.00,0.000,6,0.000,0.083,2194,2329,3401,0,0,0,0,0,0
$STATE,4348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4348,begin apogee
$GC,4353,-0.24,0.0,459.6,9.6,464,4475,0.75,0.00,118.28,1.090,6,0.198,0.000,2401,2100,2799,0,0,0,0,0,0
$STATE,4476,end apogee,CONTROL_FINISHED_OK
$STATE,4476,begin climb
$GC,4478,1.05,146.0,462.3,0.0,476,4610,1.38,2.97,121.93,1.039,4,0.137,0.099,2816,514,2203,0,0,0,0,0,0
$GC,4616,0.59,146.0,448.5,17.2,490,4622,0.60,2.83,0.00,0.000,6,0.221,0.077,2681,2104,2200,0,0,0,0,0,0
$GC,4940,0.59,146.0,409.8,11.2,520,4945,0.00,2.78,0.00,0.000,4,0.000,0.096,2680,3687,2193,0,0,0,0,0,0
$GC,5197,0.52,146.0,379.4,11.5,542,5204,0.17,2.67,0.00,0.000,6,0.206,0.078,2651,2108,2191,0,0,0,0,0,0
$GC,5523,0.63,172.0,350.0,8.8,573,5549,0.00,2.78,20.73,0.963,4,0.000,0.099,2661,514,2098,0,0,0,0,0,0
$GC,5561,0.77,200.5,346.6,8.7,576,5593,0.20,2.67,25.48,0.959,6,0.112,0.077,2725,2099,1981,0,0,0,0,0,0
$GC,5911,0.68,200.5,300.3,13.6,609,5916,0.00,2.75,0.00,0.000,4,0.000,0.097,2724,3689,1975,0,0,0,0,0,0
$GC,6079,0.56,200.5,275.4,14.2,623,6085,0.30,2.67,0.00,0.000,6,0.210,0.078,2664,2100,1973,0,0,0,0,0,0
$GC,6404,0.71,214.7,244.0,9.3,654,6426,0.15,2.80,12.15,0.896,4,0.120,0.096,2711,3683,1923,0,0,0,0,0,0
$GC,6678,0.71,214.7,209.3,12.4,678,6684,0.00,2.62,0.00,0.000,6,0.000,0.079,2723,2110,1920,0,0,0,0,0,0
$GC,7005,0.71,214.7,169.3,12.2,709,7009,0.00,2.70,0.00,0.000,4,0.000,0.101,2735,514,1919,0,0,0,0,0,0
$GC,7014,0.71,214.7,167.8,12.2,709,7020,0.00,2.62,0.00,0.000,6,0.000,0.077,2735,2112,1919,0,0,0,0,0,0
$GC,7339,0.71,214.7,128.4,11.6,740,7343,0.00,2.67,0.00,0.000,4,0.000,0.097,2735,3697,1919,0,0,0,0,0,0
$GC,7597,0.63,214.7,95.7,12.2,765,7604,0.25,2.62,0.00,0.000,6,0.205,0.082,2685,2121,1918,0,0,0,0,0,0
$GC,7943,0.85,267.8,67.9,7.6,826,7996,0.22,2.78,44.70,0.858,4,0.107,0.097,2759,3693,1706,0,0,0,0,0,0
$GC,8250,0.79,267.8,28.8,13.3,881,8256,0.15,2.58,0.00,0.000,6,0.200,0.081,2738,2170,1699,0,0,0,0,0,0
$STATE,8514,end climb,SURFACE_DEPTH_REACHED
$STATE,8514,begin surface coast
$FINISH,0.8,1.013237
$STATE,8530,end surface coast,CONTROL_FINISHED_OK
$STATE,8530,begin surface
$SM_CCo,8545,2.72,0.421,0,0,1677,275.23
$SM_GC,2.48,0.00,0.00,2.72,0.000,0.000,0.421,130,2306,1677,-7.35,0.17,275.23
$RAFOS_CLK,577
$RAFOS,6,1255668549,4.833333,4.819167,55,46,45,0,0,0,1059,1397,1179,0,0,0
$RAFOS,5,1255668067,4.700000,4.685278,42,42,40,0,0,0,800,1371,173,0,0,0
$RAFOS,4,1255667584,4.566667,4.551111,48,43,41,0,0,0,1900,578,934,0,0,0
$RAFOS,3,1255667110,4.433333,4.419445,43,41,40,0,0,0,1928,1666,1217,0,0,0
$RAFOS,2,1255666625,4.300000,4.284722,44,40,37,0,0,0,1646,1504,1836,0,0,0
$RAFOS,1,1255666145,4.166667,4.151389,43,39,38,0,0,0,1330,228,1937,0,0,0
$RAFOS,0,1255665662,4.033333,4.017222,48,48,43,0,0,0,1314,1451,534,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6558.99,-6030.63,100199,000054
$TT8_MAMPS,0.027612
$HUMID,53.46
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.30
$XPDR_PINGS,4
$24V_AH,23.3,10.858
$10V_AH,10.3,4.278
$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,22.500,91.900,343.250,2.725,0.000,29.862,29.401,271.397,1.000,0.000,27.051,1661.943,4828.435,439.763,1602.822,467.003,0.000,1273.298,0.000,1566.009,2520.000,0.530,0.000
$DEVICE_MAMPS,325.208,107.380,1089.907,421.083,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,680.689,642.910,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150904
$DATA_FILE_SIZE,34782,931
$CAP_FILE_SIZE,106449,0
$CFSIZE,260165632,247812096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.8
$CURRENT,0.541,182.5,1
$GPS,161009,051906,6622.813,-6025.299,54,1.6,54,-37.6