version: 66.06
glider: 143
mission: 8
dive: 61
start: 10 16 109 20 30 47
data:
$ID,143
$MISSION,8
$DIVE,61
$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,-21542.77
$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,20
$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
$GPS1,202500,6620.393,-6022.822,36,1.1,36,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-69.8
$GPS2,203026,6620.326,-6022.935,13,1.6,13,-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,85.0,56542,-18.3,-10.000
$D_GRID,444
$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,-146.0,0.0,0.0,0,96,0.00,0.00,-78.10,0.000,2,0.000,0.000,124,2304,2890,0,0,0,0,0,0
$GC,99,-1.05,-146.0,3.3,-5.1,15,131,10.55,2.80,-14.68,0.000,4,0.330,0.117,2130,3889,3398,0,0,0,0,0,0
$GC,171,-0.76,-146.0,19.4,-20.9,28,178,0.43,2.67,0.00,0.000,6,0.227,0.074,2232,2297,3401,0,0,0,0,0,0
$GC,515,-0.76,-146.0,68.3,-12.1,89,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2297,3402,0,0,0,0,0,0
$GC,854,-0.82,-146.0,107.1,-10.7,144,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2296,3403,0,0,0,0,0,0
$GC,1175,-0.91,-146.0,139.5,-10.2,174,1180,0.15,2.67,0.00,0.000,4,0.123,0.098,2186,705,3403,0,0,0,0,0,0
$GC,1230,-0.84,-146.0,147.0,-13.6,178,1237,0.00,2.62,0.00,0.000,6,0.000,0.085,2186,2294,3403,0,0,0,0,0,0
$GC,1555,-0.79,-146.0,189.0,-13.0,209,1561,0.15,2.72,0.00,0.000,4,0.238,0.101,2209,3891,3403,0,0,0,0,0,0
$GC,1644,-0.84,-146.0,200.4,-12.2,216,1650,0.00,2.65,0.00,0.000,6,0.000,0.075,2210,2267,3403,0,0,0,0,0,0
$GC,1969,-0.84,-146.0,237.7,-11.2,247,1974,0.00,2.78,0.00,0.000,4,0.000,0.103,2210,3892,3403,0,0,0,0,0,0
$GC,2012,-0.91,-146.0,242.8,-11.5,250,2019,0.00,2.65,0.00,0.000,6,0.000,0.075,2210,2272,3403,0,0,0,0,0,0
$GC,2338,-0.97,-146.0,279.0,-10.9,281,2343,0.12,2.78,0.00,0.000,4,0.126,0.102,2166,3887,3402,0,0,0,0,0,0
$GC,2404,-0.91,-146.0,287.8,-13.3,286,2411,0.00,2.65,0.00,0.000,6,0.000,0.076,2167,2265,3402,0,0,0,0,0,0
$GC,2729,-0.86,-146.0,326.7,-11.1,317,2735,0.15,2.78,0.00,0.000,4,0.235,0.100,2188,3886,3401,0,0,0,0,0,0
$GC,2849,-0.86,-146.0,338.9,-9.8,327,2853,0.00,2.60,0.00,0.000,6,0.000,0.076,2188,2291,3401,0,0,0,0,0,0
$GC,3173,-0.86,-146.0,371.0,-9.3,357,3177,0.00,2.72,0.00,0.000,4,0.000,0.101,2188,3895,3401,0,0,0,0,0,0
$GC,3227,-0.86,-146.0,376.3,-10.1,361,3233,0.00,2.62,0.00,0.000,6,0.000,0.074,2188,2276,3401,0,0,0,0,0,0
$GC,3552,-0.86,-146.0,406.9,-9.2,392,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,2188,2276,3401,0,0,0,0,0,0
$GC,3872,-0.86,-146.0,437.5,-9.5,422,3876,0.00,2.72,0.00,0.000,4,0.000,0.100,2188,3889,3401,0,0,0,0,0,0
$GC,3911,-0.91,-146.0,441.5,-10.1,425,3915,0.00,2.58,0.00,0.000,6,0.000,0.073,2188,2295,3401,0,0,0,0,0,0
$STATE,3936,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3936,begin apogee
$GC,3941,-0.24,0.0,444.2,9.5,427,4063,0.75,0.00,118.25,1.084,6,0.195,0.000,2395,2098,2800,0,0,0,0,0,0
$STATE,4064,end apogee,CONTROL_FINISHED_OK
$STATE,4064,begin climb
$GC,4066,1.05,146.0,447.8,0.0,439,4200,1.40,3.00,121.47,1.029,4,0.137,0.091,2807,3684,2202,0,0,0,0,0,0
$GC,4453,0.62,146.0,389.1,18.0,474,4460,0.57,2.72,0.00,0.000,6,0.227,0.075,2683,2100,2193,0,0,0,0,0,0
$GC,4777,0.62,146.0,353.2,10.7,505,4782,0.00,2.78,0.00,0.000,4,0.000,0.094,2683,3696,2191,0,0,0,0,0,0
$GC,5034,0.56,146.0,322.8,11.2,527,5041,0.15,2.70,0.00,0.000,6,0.209,0.075,2661,2086,2191,0,0,0,0,0,0
$GC,5360,0.65,157.8,291.6,9.5,558,5374,0.00,2.78,9.07,0.881,4,0.000,0.094,2661,3687,2156,0,0,0,0,0,0
$GC,5628,0.66,167.4,264.5,9.6,582,5643,0.00,2.70,9.48,0.882,6,0.000,0.077,2671,2075,2117,0,0,0,0,0,0
$GC,5963,0.82,217.9,237.7,7.7,613,6015,0.22,2.90,43.22,0.931,4,0.092,0.094,2748,3680,1910,0,0,0,0,0,0
$GC,6268,0.68,217.9,196.2,13.6,640,6275,0.25,2.72,0.00,0.000,6,0.213,0.078,2703,2069,1904,0,0,0,0,0,0
$GC,6593,0.75,217.9,160.7,11.5,671,6598,0.00,2.78,0.00,0.000,4,0.000,0.094,2703,3687,1902,0,0,0,0,0,0
$GC,6849,0.75,217.9,128.9,11.3,693,6856,0.00,2.70,0.00,0.000,6,0.000,0.078,2713,2062,1901,0,0,0,0,0,0
$GC,7175,0.90,270.2,102.0,7.6,724,7228,0.17,2.92,43.33,0.872,4,0.103,0.096,2773,3688,1697,0,0,0,0,0,0
$GC,7482,0.84,270.2,59.1,16.0,776,7489,0.15,2.75,0.00,0.000,6,0.203,0.081,2752,2064,1690,0,0,0,0,0,0
$GC,7828,0.89,270.2,20.3,10.3,837,7834,0.00,2.80,0.00,0.000,4,0.000,0.097,2752,3693,1687,0,0,0,0,0,0
$STATE,7985,end climb,SURFACE_DEPTH_REACHED
$STATE,7985,begin surface coast
$FINISH,1.0,1.025525
$STATE,8002,end surface coast,CONTROL_FINISHED_OK
$STATE,8002,begin surface
$SM_CCo,8020,-0.10,0.000,0,0,1678,275.23
$SM_GC,2.48,0.00,0.00,-0.10,0.000,0.000,0.000,129,2291,1678,-7.35,-0.23,275.23
$RAFOS_CLK,532
$RAFOS,6,1255726143,20.833334,20.817499,49,42,39,0,0,0,1278,1940,1185,0,0,0
$RAFOS,5,1255725661,20.700001,20.683611,55,41,41,0,0,0,877,177,1314,0,0,0
$RAFOS,4,1255725182,20.566668,20.550556,44,41,41,0,0,0,1315,431,716,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6553.70,-6028.61,100199,181829
$TT8_MAMPS,0.026845
$HUMID,53.07
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.40
$XPDR_PINGS,6
$24V_AH,23.3,11.701
$10V_AH,10.3,4.670
$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,22.950,81.975,344.825,0.000,0.000,30.034,36.425,156.506,1.500,0.000,14.571,1520.354,4512.422,434.214,1529.952,353.139,0.000,1239.069,0.000,1505.589,1080.000,0.530,0.000
$DEVICE_MAMPS,329.810,116.584,1083.771,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,635.382,597.919,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150792
$DATA_FILE_SIZE,34712,868
$CAP_FILE_SIZE,98869,0
$CFSIZE,260165632,247443456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.6
$CURRENT,0.152,191.7,1
$GPS,161009,224543,6620.521,-6022.440,24,1.7,30,-37.5