version: 66.06
glider: 143
mission: 8
dive: 63
start: 10 17 109 1 18 47
data:
$ID,143
$MISSION,8
$DIVE,63
$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,-21571.889
$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,17
$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
$GPS1,010936,6620.892,-6021.849,35,1.2,41,-37.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-68.2
$GPS2,011825,6620.964,-6021.902,8,1.6,13,-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,109.6,55839,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.05,-146.0,0.0,0.0,0,95,0.00,0.00,-77.60,0.000,2,0.000,0.000,127,2287,2884,0,0,0,0,0,0
$GC,97,-1.05,-146.0,3.5,-5.6,15,131,10.77,2.83,-15.35,0.000,4,0.334,0.112,2136,3889,3398,0,0,0,0,0,0
$GC,143,-0.61,-146.0,13.1,-17.9,23,149,0.57,2.67,0.00,0.000,6,0.231,0.073,2275,2296,3400,0,0,0,0,0,0
$GC,489,-0.77,-146.0,51.6,-9.6,84,497,0.15,2.78,0.00,0.000,4,0.115,0.099,2221,3888,3402,0,0,0,0,0,0
$GC,508,-0.83,-146.0,53.9,-10.1,87,514,0.00,2.53,0.00,0.000,6,0.000,0.073,2220,2365,3401,0,0,0,0,0,0
$GC,852,-0.83,-146.0,97.0,-13.1,148,858,0.00,2.78,0.00,0.000,4,0.000,0.097,2220,711,3402,0,0,0,0,0,0
$GC,1111,-0.83,-146.0,130.7,-12.6,173,1116,0.00,2.78,0.00,0.000,6,0.000,0.084,2221,2383,3402,0,0,0,0,0,0
$GC,1436,-0.88,-146.0,167.3,-11.2,203,1440,0.00,2.83,0.00,0.000,4,0.000,0.096,2221,704,3402,0,0,0,0,0,0
$GC,1524,-0.88,-146.0,178.4,-12.2,210,1530,0.00,2.78,0.00,0.000,6,0.000,0.084,2221,2385,3403,0,0,0,0,0,0
$GC,1850,-0.95,-146.0,212.6,-9.3,241,1852,0.15,0.00,0.00,0.000,6,0.114,0.000,2169,2385,3402,0,0,0,0,0,0
$GC,2168,-0.86,-146.0,250.8,-13.0,271,2173,0.12,2.55,0.00,0.000,4,0.230,0.102,2185,3888,3402,0,0,0,0,0,0
$GC,2184,-0.78,-146.0,252.9,-12.8,272,2189,0.17,2.45,0.00,0.000,6,0.229,0.076,2223,2390,3401,0,0,0,0,0,0
$GC,2509,-0.89,-146.0,284.5,-8.4,302,2510,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2390,3401,0,0,0,0,0,0
$GC,2829,-1.01,-146.0,308.5,-7.2,332,2834,0.22,2.55,0.00,0.000,4,0.104,0.101,2142,3888,3400,0,0,0,0,0,0
$GC,2857,-0.90,-146.0,311.5,-11.0,334,2862,0.20,2.33,0.00,0.000,6,0.234,0.077,2186,2459,3400,0,0,0,0,0,0
$GC,3181,-0.90,-146.0,344.0,-10.0,364,3182,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2459,3400,0,0,0,0,0,0
$GC,3501,-0.90,-146.0,374.6,-9.8,394,3506,0.00,2.90,0.00,0.000,4,0.000,0.097,2187,706,3400,0,0,0,0,0,0
$GC,3551,-0.90,-146.0,380.2,-11.8,398,3556,0.00,2.88,0.00,0.000,6,0.000,0.086,2187,2457,3400,0,0,0,0,0,0
$GC,3875,-0.90,-146.0,412.9,-9.6,428,3880,0.00,2.90,0.00,0.000,4,0.000,0.096,2187,710,3400,0,0,0,0,0,0
$GC,3885,-0.90,-146.0,414.0,-9.8,428,3892,0.00,2.88,0.00,0.000,6,0.000,0.083,2187,2471,3400,0,0,0,0,0,0
$STATE,4188,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4188,begin apogee
$GC,4193,-0.24,0.0,444.3,9.9,457,4318,0.73,0.00,118.07,1.087,6,0.200,0.000,2391,2095,2799,0,0,0,0,0,0
$STATE,4319,end apogee,CONTROL_FINISHED_OK
$STATE,4319,begin climb
$GC,4321,1.05,146.0,447.6,0.0,470,4456,1.42,3.03,121.80,1.028,4,0.140,0.092,2808,3691,2201,0,0,0,0,0,0
$GC,4708,0.63,146.0,387.3,18.6,505,4715,0.55,2.75,0.00,0.000,6,0.224,0.078,2690,2102,2192,0,0,0,0,0,0
$GC,5033,0.63,146.0,350.9,11.3,536,5037,0.00,2.78,0.00,0.000,4,0.000,0.094,2690,3697,2190,0,0,0,0,0,0
$GC,5290,0.54,146.0,319.8,12.4,558,5297,0.17,2.70,0.00,0.000,6,0.202,0.077,2660,2087,2190,0,0,0,0,0,0
$GC,5615,0.62,146.0,284.9,10.4,589,5620,0.00,2.75,0.00,0.000,4,0.000,0.094,2660,3694,2189,0,0,0,0,0,0
$GC,5872,0.62,146.0,257.1,11.0,611,5878,0.00,2.67,0.00,0.000,6,0.000,0.078,2670,2087,2189,0,0,0,0,0,0
$GC,6197,0.75,188.6,228.8,8.0,642,6239,0.15,2.85,33.75,0.929,4,0.107,0.095,2721,3688,2030,0,0,0,0,0,0
$GC,6492,0.64,188.6,193.9,11.8,668,6499,0.20,2.70,0.00,0.000,6,0.206,0.079,2688,2081,2023,0,0,0,0,0,0
$GC,6817,0.74,196.5,163.7,9.6,699,6831,0.00,2.85,7.05,0.812,4,0.000,0.095,2688,3696,1998,0,0,0,0,0,0
$GC,7085,0.74,196.5,135.8,10.5,723,7089,0.00,2.65,0.00,0.000,6,0.000,0.079,2698,2115,1996,0,0,0,0,0,0
$GC,7410,0.87,218.0,104.9,9.0,753,7435,0.17,2.75,19.10,0.874,4,0.101,0.096,2758,3697,1910,0,0,0,0,0,0
$GC,7689,0.74,218.0,69.0,13.1,798,7695,0.20,2.65,0.00,0.000,6,0.207,0.081,2724,2115,1906,0,0,0,0,0,0
$GC,8034,0.89,267.0,37.7,7.7,859,8082,0.15,2.80,41.45,0.842,4,0.122,0.096,2770,3697,1710,0,0,0,0,0,0
$STATE,8327,end climb,SURFACE_DEPTH_REACHED
$STATE,8327,begin surface coast
$FINISH,0.9,1.025662
$STATE,8345,end surface coast,CONTROL_FINISHED_OK
$STATE,8345,begin surface
$SM_CCo,8363,4.30,0.634,0,0,1678,275.23
$SM_GC,2.74,0.00,0.00,4.30,0.000,0.000,0.634,128,2296,1678,-7.35,-0.08,275.23
$RAFOS_CLK,571
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6553.70,-6023.94,110199,010157
$TT8_MAMPS,0.026845
$HUMID,53.42
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.30
$XPDR_PINGS,4
$24V_AH,23.3,11.933
$10V_AH,10.3,4.779
$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,23.875,82.350,341.225,4.300,0.000,46.525,68.410,228.454,1.000,0.000,15.250,1644.911,4737.293,433.696,1589.307,495.003,0.000,1264.388,0.000,1566.666,0.000,0.529,0.000
$DEVICE_MAMPS,334.412,111.982,1086.839,634.309,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,669.819,630.091,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150768
$DATA_FILE_SIZE,34731,915
$CAP_FILE_SIZE,103407,0
$CFSIZE,260165632,247332864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.2
$CURRENT,0.371,187.0,1
$GPS,171009,033936,6619.947,-6022.143,37,2.0,37,-37.5