version: 66.06
glider: 143
mission: 8
dive: 60
start: 10 16 109 18 5 12
data:
$ID,143
$MISSION,8
$DIVE,60
$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,-21527.57
$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,18
$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
$GPS1,175807,6621.622,-6022.958,30,2.0,30,-37.5
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-69.3
$GPS2,180452,6621.490,-6022.950,14,2.3,33,-37.5
$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,87.2,56688,-18.3,-10.000
$D_GRID,446
$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,15,-1.05,-146.0,0.0,0.0,0,92,0.00,0.00,-75.15,0.000,2,0.000,0.000,127,2307,2835,0,0,0,0,0,0
$GC,95,-1.05,-146.0,3.3,-4.3,14,132,10.80,2.80,-16.77,0.000,4,0.337,0.108,2132,715,3400,0,0,0,0,0,0
$GC,234,-0.76,-146.0,31.6,-20.4,39,240,0.40,2.67,0.00,0.000,6,0.235,0.087,2227,2300,3403,0,0,0,0,0,0
$GC,577,-0.76,-146.0,75.0,-12.1,100,581,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2300,3403,0,0,0,0,0,0
$GC,917,-0.81,-146.0,117.8,-12.5,149,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2300,3404,0,0,0,0,0,0
$GC,1237,-0.89,-146.0,155.1,-11.3,179,1241,0.00,2.75,0.00,0.000,4,0.000,0.107,2227,3887,3404,0,0,0,0,0,0
$GC,1343,-0.98,-146.0,166.2,-10.1,188,1348,0.20,2.62,0.00,0.000,6,0.111,0.075,2161,2294,3403,0,0,0,0,0,0
$GC,1668,-0.85,-146.0,207.5,-13.3,218,1673,0.17,2.75,0.00,0.000,4,0.225,0.101,2189,3891,3403,0,0,0,0,0,0
$GC,1767,-0.85,-146.0,220.5,-12.5,226,1774,0.00,2.60,0.00,0.000,6,0.000,0.076,2189,2305,3404,0,0,0,0,0,0
$GC,2092,-0.85,-146.0,257.6,-10.3,257,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2305,3404,0,0,0,0,0,0
$GC,2412,-0.85,-146.0,288.2,-9.5,287,2413,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2305,3403,0,0,0,0,0,0
$GC,2731,-0.85,-146.0,317.7,-9.0,317,2736,0.00,2.70,0.00,0.000,4,0.000,0.103,2189,3888,3402,0,0,0,0,0,0
$GC,2831,-0.85,-146.0,327.2,-9.3,325,2838,0.00,2.58,0.00,0.000,6,0.000,0.076,2189,2309,3402,0,0,0,0,0,0
$GC,3156,-0.85,-146.0,357.3,-9.8,356,3157,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2308,3401,0,0,0,0,0,0
$GC,3477,-0.85,-146.0,387.7,-9.6,386,3481,0.00,2.67,0.00,0.000,4,0.000,0.103,2189,3886,3402,0,0,0,0,0,0
$GC,3572,-0.85,-146.0,397.0,-9.5,394,3577,0.00,2.55,0.00,0.000,6,0.000,0.075,2189,2313,3401,0,0,0,0,0,0
$GC,3896,-0.85,-146.0,429.1,-10.4,424,3897,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2313,3401,0,0,0,0,0,0
$STATE,4064,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4064,begin apogee
$GC,4069,-0.24,0.0,446.2,9.8,440,4191,0.75,0.00,118.12,1.086,6,0.196,0.000,2396,2103,2800,0,0,0,0,0,0
$STATE,4192,end apogee,CONTROL_FINISHED_OK
$STATE,4192,begin climb
$GC,4194,1.05,146.0,450.4,0.0,452,4329,1.40,3.00,121.50,1.027,4,0.137,0.091,2806,3686,2202,0,0,0,0,0,0
$GC,4581,0.62,146.0,392.7,17.9,487,4588,0.57,2.72,0.00,0.000,6,0.225,0.077,2683,2106,2193,0,0,0,0,0,0
$GC,4907,0.62,151.6,360.1,9.7,518,4918,0.00,2.78,4.00,0.665,4,0.000,0.094,2683,3687,2182,0,0,0,0,0,0
$GC,5170,0.56,151.6,330.7,11.2,541,5177,0.12,2.67,0.00,0.000,6,0.210,0.076,2667,2088,2181,0,0,0,0,0,0
$GC,5495,0.61,151.6,297.3,10.8,572,5500,0.00,2.75,0.00,0.000,4,0.000,0.094,2667,3694,2181,0,0,0,0,0,0
$GC,5751,0.61,151.6,267.6,11.6,594,5757,0.00,2.67,0.00,0.000,6,0.000,0.077,2677,2083,2180,0,0,0,0,0,0
$GC,6077,0.70,174.5,235.7,8.9,625,6103,0.00,2.78,20.75,0.921,4,0.000,0.094,2677,3687,2086,0,0,0,0,0,0
$GC,6355,0.70,174.5,206.9,10.1,649,6362,0.00,2.67,0.00,0.000,6,0.000,0.077,2689,2083,2082,0,0,0,0,0,0
$GC,6680,0.70,174.5,173.4,11.1,680,6684,0.00,2.72,0.00,0.000,4,0.000,0.096,2689,3687,2081,0,0,0,0,0,0
$GC,6937,0.70,180.9,144.2,9.7,702,6948,0.00,2.65,5.75,0.769,6,0.000,0.078,2701,2084,2062,0,0,0,0,0,0
$GC,7267,0.84,230.6,119.4,7.7,733,7320,0.15,2.88,42.33,0.881,4,0.114,0.095,2751,3689,1857,0,0,0,0,0,0
$GC,7574,0.74,230.6,79.7,14.0,773,7581,0.17,2.70,0.00,0.000,6,0.204,0.080,2724,2090,1851,0,0,0,0,0,0
$GC,7921,0.88,265.0,42.7,8.4,834,7958,0.12,2.83,28.75,0.836,4,0.124,0.097,2762,3692,1717,0,0,0,0,0,0
$GC,8212,0.88,265.0,8.6,12.9,886,8217,0.00,2.72,0.00,0.000,6,0.000,0.081,2775,2078,1712,0,0,0,0,0,0
$STATE,8266,end climb,SURFACE_DEPTH_REACHED
$STATE,8266,begin surface coast
$FINISH,0.9,1.001404
$STATE,8284,end surface coast,CONTROL_FINISHED_OK
$STATE,8284,begin surface
$SM_CCo,8300,6.03,0.724,0,0,1677,275.23
$SM_GC,2.95,0.00,0.00,6.03,0.000,0.000,0.724,125,2302,1677,-7.36,0.06,275.23
$RAFOS_CLK,559
$RAFOS,2,1255724223,20.299999,20.284166,43,43,42,0,0,0,1420,1444,409,0,0,0
$RAFOS,1,1255723742,20.166666,20.150555,42,40,39,0,0,0,443,738,559,0,0,0
$RAFOS,0,1255723268,20.033333,20.018888,45,43,40,0,0,0,784,360,1267,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6553.70,-6025.96,100199,151519
$TT8_MAMPS,0.027612
$HUMID,52.87
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.30
$XPDR_PINGS,4
$24V_AH,23.3,11.589
$10V_AH,10.3,4.618
$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,22.700,66.000,341.200,6.025,0.000,27.047,34.240,217.966,1.000,0.000,35.340,1568.932,4716.466,430.494,1592.859,403.981,0.000,1244.666,0.000,1549.853,1080.000,0.530,0.000
$DEVICE_MAMPS,336.713,108.147,1086.072,724.048,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,657.667,620.725,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150748
$DATA_FILE_SIZE,34793,899
$CAP_FILE_SIZE,98003,0
$CFSIZE,260165632,247500800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.6
$CURRENT,0.446,188.3,1
$GPS,161009,202500,6620.393,-6022.822,36,1.1,36,-37.5