version: 66.06
glider: 143
mission: 8
dive: 57
start: 10 16 109 10 30 18
data:
$ID,143
$MISSION,8
$DIVE,57
$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,-21432.383
$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,22
$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
$GPS1,102406,6622.326,-6023.859,30,1.0,30,-37.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-61.7
$GPS2,102956,6622.350,-6023.954,12,1.0,12,-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,82.3,173171,-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,12,begin dive
$GC,14,-1.05,-146.0,0.0,0.0,0,111,0.00,0.00,-93.53,0.000,2,0.000,0.000,126,2290,2875,0,0,0,0,0,0
$GC,113,-1.05,-146.0,3.6,-4.6,18,146,10.70,2.72,-14.85,0.000,4,0.332,0.108,2132,711,3398,0,0,0,0,0,0
$GC,203,-0.71,-146.0,24.9,-24.8,34,210,0.47,2.70,0.00,0.000,6,0.235,0.087,2245,2306,3401,0,0,0,0,0,0
$GC,548,-0.79,-146.0,68.9,-11.5,95,553,0.00,2.72,0.00,0.000,4,0.000,0.103,2245,3885,3401,0,0,0,0,0,0
$GC,651,-0.89,-146.0,80.4,-11.7,113,657,0.17,2.62,0.00,0.000,6,0.110,0.074,2189,2301,3402,0,0,0,0,0,0
$GC,989,-0.79,-146.0,125.2,-11.2,156,991,0.15,0.00,0.00,0.000,6,0.228,0.000,2220,2302,3402,0,0,0,0,0,0
$GC,1309,-0.84,-146.0,155.7,-10.2,186,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2301,3402,0,0,0,0,0,0
$GC,1628,-0.90,-146.0,188.4,-9.8,216,1632,0.00,2.65,0.00,0.000,4,0.000,0.100,2220,714,3402,0,0,0,0,0,0
$GC,1666,-0.90,-146.0,192.7,-10.8,219,1671,0.00,2.62,0.00,0.000,6,0.000,0.086,2220,2306,3403,0,0,0,0,0,0
$GC,1991,-0.98,-146.0,225.5,-10.2,249,1993,0.17,0.00,0.00,0.000,6,0.111,0.000,2162,2306,3402,0,0,0,0,0,0
$GC,2309,-0.87,-146.0,268.8,-13.8,279,2314,0.15,2.70,0.00,0.000,4,0.234,0.103,2183,3890,3401,0,0,0,0,0,0
$GC,2409,-0.87,-146.0,281.6,-12.0,287,2415,0.00,2.60,0.00,0.000,6,0.000,0.077,2183,2301,3401,0,0,0,0,0,0
$GC,2734,-0.87,-146.0,316.1,-9.5,318,2735,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2301,3400,0,0,0,0,0,0
$GC,3054,-0.87,-146.0,345.5,-8.7,348,3055,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2302,3400,0,0,0,0,0,0
$GC,3372,-0.87,-146.0,376.1,-10.2,378,3376,0.00,2.70,0.00,0.000,4,0.000,0.102,2183,3890,3400,0,0,0,0,0,0
$GC,3438,-0.87,-146.0,383.2,-10.4,383,3444,0.00,2.58,0.00,0.000,6,0.000,0.075,2183,2305,3399,0,0,0,0,0,0
$GC,3764,-0.87,-146.0,416.2,-10.3,414,3765,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2305,3399,0,0,0,0,0,0
$GC,4082,-0.87,-146.0,448.3,-10.6,444,4086,0.00,2.15,0.00,0.000,3,0.000,0.100,2183,3597,3400,0,0,0,0,0,0
$STATE,4087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4087,begin apogee
$GC,4094,-0.24,0.0,449.0,10.7,444,4220,0.75,0.00,118.00,1.085,6,0.201,0.000,2393,2102,2799,0,0,0,0,0,0
$STATE,4221,end apogee,CONTROL_FINISHED_OK
$STATE,4221,begin climb
$GC,4223,1.05,146.0,453.5,0.0,457,4357,1.42,3.00,121.22,1.030,4,0.141,0.093,2808,3683,2201,0,0,0,0,0,0
$GC,4610,0.62,146.0,395.3,17.8,492,4617,0.57,2.72,0.00,0.000,6,0.228,0.077,2685,2103,2192,0,0,0,0,0,0
$GC,4934,0.62,146.0,359.9,10.4,523,4939,0.00,2.75,0.00,0.000,4,0.000,0.095,2685,3685,2192,0,0,0,0,0,0
$GC,5191,0.54,146.0,329.9,11.4,545,5198,0.15,2.67,0.00,0.000,6,0.203,0.077,2662,2086,2192,0,0,0,0,0,0
$GC,5516,0.65,169.1,299.6,8.9,576,5541,0.00,2.85,18.30,0.943,4,0.000,0.096,2662,3687,2109,0,0,0,0,0,0
$GC,5754,0.72,191.4,275.4,9.0,597,5782,0.12,2.70,19.80,0.933,6,0.121,0.077,2711,2081,2019,0,0,0,0,0,0
$GC,6099,0.72,191.4,240.7,10.1,630,6104,0.00,2.78,0.00,0.000,4,0.000,0.096,2712,3690,2014,0,0,0,0,0,0
$GC,6356,0.65,191.4,210.3,13.0,652,6363,0.15,2.62,0.00,0.000,6,0.209,0.077,2691,2115,2012,0,0,0,0,0,0
$GC,6681,0.72,199.2,177.7,9.6,683,6696,0.00,2.78,7.05,0.818,4,0.000,0.095,2691,3690,1987,0,0,0,0,0,0
$GC,6949,0.74,209.8,151.4,9.5,707,6965,0.00,2.55,10.40,0.864,6,0.000,0.078,2700,2153,1944,0,0,0,0,0,0
$GC,7284,0.82,209.8,117.5,10.5,738,7289,0.12,2.65,0.00,0.000,4,0.113,0.097,2743,3690,1940,0,0,0,0,0,0
$GC,7542,0.71,209.8,86.5,11.1,771,7548,0.17,2.50,0.00,0.000,6,0.207,0.080,2715,2182,1939,0,0,0,0,0,0
$GC,7887,0.89,274.1,56.4,7.0,832,7949,0.17,2.72,53.80,0.856,4,0.104,0.098,2773,3687,1680,0,0,0,0,0,0
$GC,8046,0.83,274.1,37.1,14.5,861,8052,0.15,2.55,0.00,0.000,6,0.201,0.080,2751,2195,1675,0,0,0,0,0,0
$STATE,8338,end climb,SURFACE_DEPTH_REACHED
$STATE,8338,begin surface coast
$FINISH,0.8,1.025781
$STATE,8356,end surface coast,CONTROL_FINISHED_OK
$STATE,8356,begin surface
$SM_CCo,8433,0.00,0.000,0,0,1666,277.92
$SM_GC,1.89,7.68,0.00,0.00,0.081,0.000,0.000,126,2299,1666,-7.32,-0.03,277.92
$RAFOS_CLK,564
$RAFOS,5,1255696862,12.700000,12.683888,43,42,41,0,0,0,279,943,392,0,0,0
$RAFOS,4,1255696384,12.566667,12.551111,39,38,38,0,0,0,1336,450,1831,0,0,0
$RAFOS,3,1255695903,12.433333,12.417500,42,42,41,0,0,0,747,1910,1151,0,0,0
$RAFOS,2,1255695431,12.300000,12.286389,47,44,43,0,0,0,1764,470,521,0,0,0
$RAFOS,1,1255694945,12.166667,12.151389,45,42,41,0,0,0,1845,952,874,0,0,0
$RAFOS,0,1255694469,12.033333,12.019167,41,41,38,0,0,0,1419,1496,1516,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6553.70,-6021.30,100199,080814
$TT8_MAMPS,0.028379
$HUMID,53.15
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.40
$XPDR_PINGS,4
$24V_AH,23.3,11.236
$10V_AH,10.3,4.449
$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,23.300,69.300,348.575,0.000,0.000,25.110,35.608,186.105,1.000,0.000,13.815,1604.692,4802.223,438.772,1561.730,375.994,0.000,1256.242,0.000,1543.745,2520.000,0.530,0.000
$DEVICE_MAMPS,332.111,111.982,1084.538,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,672.185,630.787,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150860
$DATA_FILE_SIZE,34801,916
$CAP_FILE_SIZE,99167,0
$CFSIZE,260165632,247656448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.9
$CURRENT,0.070, 50.8,1
$GPS,161009,125206,6623.476,-6022.441,33,1.0,33,-37.6