version: 66.06
glider: 143
mission: 8
dive: 59
start: 10 16 109 15 35 12
data:
$ID,143
$MISSION,8
$DIVE,59
$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,-21491.605
$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,16
$R_STBD_OVSHOOT,16
$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
$GPS1,152834,6623.398,-6022.470,13,1.5,13,-37.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-68.5
$GPS2,153452,6623.333,-6022.390,12,99.0,31,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SW
$TGT_LATLONG,6619.000,-5907.000
$TGT_RADIUS,5000.000
$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,90.7,56655,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.05,-146.0,0.0,0.0,0,95,0.00,0.00,-77.03,0.000,2,0.000,0.000,125,2294,2815,0,0,0,0,0,0
$GC,97,-1.05,-146.0,3.1,-4.6,15,135,10.50,2.78,-18.55,0.000,4,0.328,0.111,2133,714,3399,0,0,0,0,0,0
$GC,214,-0.76,-146.0,25.9,-19.5,36,221,0.40,2.70,0.00,0.000,6,0.235,0.089,2228,2305,3402,0,0,0,0,0,0
$GC,560,-0.81,-146.0,70.9,-10.5,97,565,0.00,2.72,0.00,0.000,4,0.000,0.104,2228,3889,3403,0,0,0,0,0,0
$GC,588,-0.86,-146.0,74.1,-11.0,102,594,0.00,2.67,0.00,0.000,6,0.000,0.074,2228,2275,3402,0,0,0,0,0,0
$GC,926,-0.92,-146.0,111.5,-10.9,154,932,0.15,2.80,0.00,0.000,4,0.120,0.100,2168,3892,3403,0,0,0,0,0,0
$GC,1046,-0.84,-146.0,128.2,-14.6,164,1051,0.15,2.60,0.00,0.000,6,0.230,0.076,2200,2317,3403,0,0,0,0,0,0
$GC,1371,-0.84,-146.0,167.7,-11.5,194,1376,0.00,2.70,0.00,0.000,4,0.000,0.103,2200,3890,3403,0,0,0,0,0,0
$GC,1481,-0.84,-146.0,180.3,-11.1,203,1488,0.00,2.60,0.00,0.000,6,0.000,0.074,2200,2331,3402,0,0,0,0,0,0
$GC,1807,-0.84,-146.0,212.0,-9.6,234,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2331,3403,0,0,0,0,0,0
$GC,2126,-0.84,-146.0,244.7,-10.7,264,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2331,3402,0,0,0,0,0,0
$GC,2445,-0.89,-146.0,278.8,-10.7,294,2450,0.00,2.70,0.00,0.000,4,0.000,0.101,2200,709,3401,0,0,0,0,0,0
$GC,2703,-0.89,-146.0,307.6,-10.9,316,2710,0.00,2.67,0.00,0.000,6,0.000,0.087,2200,2334,3401,0,0,0,0,0,0
$GC,3028,-0.95,-146.0,338.9,-9.6,347,3033,0.00,2.70,0.00,0.000,4,0.000,0.098,2200,713,3401,0,0,0,0,0,0
$GC,3157,-0.95,-146.0,352.3,-10.4,358,3161,0.00,2.67,0.00,0.000,6,0.000,0.086,2200,2342,3401,0,0,0,0,0,0
$GC,3482,-1.02,-146.0,384.6,-10.3,388,3488,0.15,2.72,0.00,0.000,4,0.113,0.097,2149,714,3400,0,0,0,0,0,0
$GC,3493,-1.02,-146.0,386.0,-10.4,388,3500,0.00,2.65,0.00,0.000,6,0.000,0.084,2149,2338,3400,0,0,0,0,0,0
$GC,3817,-0.93,-146.0,425.2,-11.6,419,3823,0.12,2.72,0.00,0.000,4,0.251,0.097,2178,713,3400,0,0,0,0,0,0
$GC,4074,-0.93,-146.0,452.5,-10.4,441,4081,0.00,2.62,0.00,0.000,6,0.000,0.084,2179,2327,3400,0,0,0,0,0,0
$STATE,4121,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4122,begin apogee
$GC,4127,-0.24,0.0,457.1,9.8,446,4249,0.80,0.00,118.22,1.093,6,0.199,0.000,2400,2100,2799,0,0,0,0,0,0
$STATE,4250,end apogee,CONTROL_FINISHED_OK
$STATE,4250,begin climb
$GC,4251,1.05,146.0,461.0,0.0,458,4385,1.38,2.95,121.45,1.036,4,0.134,0.094,2806,3686,2202,0,0,0,0,0,0
$GC,4637,0.62,146.0,401.3,18.2,493,4644,0.57,2.75,0.00,0.000,6,0.223,0.080,2683,2097,2193,0,0,0,0,0,0
$GC,4962,0.62,146.0,367.1,10.4,524,4966,0.00,2.78,0.00,0.000,4,0.000,0.095,2682,3687,2191,0,0,0,0,0,0
$GC,5218,0.55,146.0,338.9,10.5,546,5225,0.15,2.70,0.00,0.000,6,0.202,0.078,2659,2083,2191,0,0,0,0,0,0
$GC,5544,0.69,195.8,312.3,7.7,577,5591,0.15,2.88,40.47,0.966,4,0.117,0.095,2706,3695,1999,0,0,0,0,0,0
$GC,5845,0.61,195.8,274.5,13.5,603,5851,0.17,2.72,0.00,0.000,6,0.199,0.079,2678,2088,1992,0,0,0,0,0,0
$GC,6169,0.71,195.8,238.8,10.6,634,6174,0.00,2.75,0.00,0.000,4,0.000,0.095,2678,3687,1991,0,0,0,0,0,0
$GC,6425,0.71,195.8,211.1,10.8,656,6432,0.00,2.67,0.00,0.000,6,0.000,0.078,2688,2082,1991,0,0,0,0,0,0
$GC,6751,0.84,212.8,180.8,9.2,687,6774,0.17,2.78,13.88,0.887,4,0.104,0.097,2748,3688,1931,0,0,0,0,0,0
$GC,7026,0.71,212.8,144.4,13.6,711,7033,0.20,2.67,0.00,0.000,6,0.203,0.081,2713,2084,1928,0,0,0,0,0,0
$GC,7351,0.78,217.2,111.3,9.8,742,7363,0.00,2.78,4.75,0.716,4,0.000,0.097,2713,3693,1913,0,0,0,0,0,0
$GC,7615,0.78,217.2,83.4,10.6,779,7621,0.00,2.65,0.00,0.000,6,0.000,0.082,2723,2107,1913,0,0,0,0,0,0
$GC,7959,0.88,233.3,51.5,9.3,840,7981,0.12,2.75,15.00,0.851,4,0.119,0.098,2770,3693,1847,0,0,0,0,0,0
$GC,8235,0.78,233.3,19.7,12.5,889,8242,0.20,2.67,0.00,0.000,6,0.205,0.082,2735,2095,1843,0,0,0,0,0,0
$STATE,8425,end climb,SURFACE_DEPTH_REACHED
$STATE,8425,begin surface coast
$FINISH,0.9,1.025800
$STATE,8449,end surface coast,CONTROL_FINISHED_OK
$STATE,8449,begin surface
$SM_CCo,8465,32.67,0.836,0,0,1677,275.23
$SM_GC,2.00,0.00,0.00,32.67,0.000,0.000,0.836,128,2306,1677,-7.35,0.17,275.23
$RAFOS_CLK,573
$RAFOS,6,1255711746,16.833334,16.818333,47,44,43,0,0,0,1119,794,177,0,0,0
$RAFOS,5,1255711262,16.700001,16.683889,46,46,45,0,0,0,365,824,1199,0,0,0
$RAFOS,4,1255710791,16.566668,16.553055,46,40,39,0,0,0,1102,1552,723,0,0,0
$RAFOS,3,1255710307,16.433332,16.418612,43,40,39,0,0,0,703,718,1728,0,0,0
$RAFOS,2,1255709823,16.299999,16.284166,43,39,38,0,0,0,631,251,1315,0,0,0
$RAFOS,1,1255709350,16.166666,16.152779,45,43,43,0,0,0,316,328,719,0,0,0
$RAFOS,0,1255708862,16.033333,16.017221,43,42,41,0,0,0,1720,833,692,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6558.99,-5903.10,100199,131330
$TT8_MAMPS,0.026845
$HUMID,53.15
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.30
$XPDR_PINGS,5
$24V_AH,23.3,11.474
$10V_AH,10.3,4.563
$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,22.850,82.325,313.775,32.675,0.000,33.149,48.362,172.605,1.250,0.000,33.912,1651.390,4701.649,447.212,1693.827,384.227,0.000,1308.057,0.000,1647.615,2520.000,0.529,0.000
$DEVICE_MAMPS,328.276,111.215,1092.975,836.030,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,677.138,638.059,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150840
$DATA_FILE_SIZE,34719,927
$CAP_FILE_SIZE,104987,0
$CFSIZE,260165632,247545856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.2
$CURRENT,0.562,186.4,1
$GPS,161009,175807,6621.622,-6022.958,30,2.0,30,-37.5