version: 66.06
glider: 143
mission: 8
dive: 64
start: 10 17 109 3 45 47
data:
$ID,143
$MISSION,8
$DIVE,64
$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,-21605.361
$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,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
$GPS1,033936,6619.947,-6022.143,37,2.0,37,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-70.3
$GPS2,034527,6619.892,-6022.142,11,2.1,30,-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,84.2,55923,-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,13,begin dive
$GC,15,-1.05,-146.0,0.0,0.0,0,92,0.00,0.00,-74.15,0.000,2,0.000,0.000,127,2294,2814,0,0,0,0,0,0
$GC,94,-1.05,-146.0,3.0,-3.7,14,132,10.40,2.85,-18.95,0.000,4,0.326,0.114,2132,3882,3397,0,0,0,0,0,0
$GC,223,-0.78,-146.0,27.9,-19.9,37,229,0.38,2.65,0.00,0.000,6,0.226,0.076,2222,2299,3399,0,0,0,0,0,0
$GC,567,-0.78,-146.0,72.5,-10.7,98,574,0.00,2.75,0.00,0.000,4,0.000,0.100,2222,3888,3401,0,0,0,0,0,0
$GC,602,-0.83,-146.0,76.5,-10.7,104,608,0.00,2.62,0.00,0.000,6,0.000,0.074,2223,2302,3401,0,0,0,0,0,0
$GC,938,-0.83,-146.0,113.9,-11.5,154,943,0.00,2.72,0.00,0.000,4,0.000,0.100,2222,3888,3402,0,0,0,0,0,0
$GC,1033,-0.91,-146.0,125.0,-11.8,162,1038,0.12,2.58,0.00,0.000,6,0.125,0.071,2184,2314,3402,0,0,0,0,0,0
$GC,1358,-0.85,-146.0,162.8,-10.2,192,1362,0.00,2.67,0.00,0.000,4,0.000,0.096,2184,3888,3402,0,0,0,0,0,0
$GC,1423,-0.80,-146.0,169.7,-10.1,197,1430,0.15,2.55,0.00,0.000,6,0.227,0.072,2216,2323,3402,0,0,0,0,0,0
$GC,1749,-0.85,-146.0,200.1,-9.8,228,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2323,3402,0,0,0,0,0,0
$GC,2068,-0.93,-146.0,232.0,-9.6,258,2073,0.12,2.70,0.00,0.000,4,0.132,0.098,2178,706,3402,0,0,0,0,0,0
$GC,2119,-0.86,-146.0,237.8,-11.4,262,2123,0.00,2.67,0.00,0.000,6,0.000,0.084,2178,2331,3401,0,0,0,0,0,0
$GC,2443,-0.86,-146.0,268.7,-8.7,292,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2331,3401,0,0,0,0,0,0
$GC,2763,-0.86,-146.0,298.3,-9.2,322,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2331,3401,0,0,0,0,0,0
$GC,3081,-0.86,-146.0,328.9,-9.9,352,3082,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2331,3400,0,0,0,0,0,0
$GC,3401,-0.86,-146.0,362.0,-10.2,382,3406,0.00,2.62,0.00,0.000,4,0.000,0.104,2178,3888,3400,0,0,0,0,0,0
$GC,3501,-0.86,-146.0,373.3,-11.4,390,3508,0.00,2.58,0.00,0.000,6,0.000,0.072,2178,2318,3399,0,0,0,0,0,0
$GC,3826,-0.86,-146.0,411.0,-12.2,421,3830,0.00,2.65,0.00,0.000,4,0.000,0.100,2179,3888,3400,0,0,0,0,0,0
$GC,3875,-0.86,-146.0,416.9,-11.4,425,3880,0.00,2.53,0.00,0.000,6,0.000,0.071,2178,2321,3399,0,0,0,0,0,0
$STATE,4134,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4135,begin apogee
$GC,4140,-0.24,0.0,444.9,10.9,449,4262,0.77,0.00,117.95,1.086,6,0.201,0.000,2396,2095,2800,0,0,0,0,0,0
$STATE,4262,end apogee,CONTROL_FINISHED_OK
$STATE,4263,begin climb
$GC,4265,1.05,146.0,449.1,0.0,461,4401,1.38,3.03,121.60,1.029,4,0.132,0.091,2805,3690,2202,0,0,0,0,0,0
$GC,4654,0.60,146.0,390.3,19.5,496,4660,0.60,2.72,0.00,0.000,6,0.230,0.077,2678,2107,2193,0,0,0,0,0,0
$GC,4978,0.60,146.0,353.3,10.6,527,4983,0.00,2.75,0.00,0.000,4,0.000,0.094,2678,3689,2191,0,0,0,0,0,0
$GC,5235,0.54,146.0,321.8,12.5,549,5242,0.12,2.67,0.00,0.000,6,0.209,0.077,2662,2091,2191,0,0,0,0,0,0
$GC,5561,0.66,176.6,292.2,8.6,580,5593,0.00,2.83,24.65,0.946,4,0.000,0.094,2662,3696,2078,0,0,0,0,0,0
$GC,5846,0.71,181.4,263.6,9.8,605,5857,0.12,2.70,5.03,0.747,6,0.119,0.077,2713,2087,2060,0,0,0,0,0,0
$GC,6175,0.71,181.4,228.2,10.3,636,6179,0.00,2.75,0.00,0.000,4,0.000,0.095,2713,3691,2058,0,0,0,0,0,0
$GC,6431,0.63,181.4,198.9,11.4,658,6439,0.17,2.67,0.00,0.000,6,0.207,0.079,2685,2085,2057,0,0,0,0,0,0
$GC,6757,0.75,204.2,170.0,8.9,689,6783,0.12,2.80,20.30,0.900,4,0.126,0.095,2723,3695,1966,0,0,0,0,0,0
$GC,7036,0.68,204.2,137.3,11.9,713,7042,0.15,2.70,0.00,0.000,6,0.207,0.080,2702,2081,1961,0,0,0,0,0,0
$GC,7361,0.79,216.3,105.9,9.4,744,7377,0.00,2.78,10.73,0.850,4,0.000,0.096,2702,3689,1916,0,0,0,0,0,0
$GC,7630,0.79,218.9,77.3,9.9,786,7637,0.00,2.67,0.00,0.000,6,0.000,0.082,2712,2083,1914,0,0,0,0,0,0
$GC,7975,0.91,252.7,46.8,8.4,847,8013,0.17,2.83,31.15,0.855,4,0.105,0.097,2771,3693,1769,0,0,0,0,0,0
$GC,8267,0.80,252.7,11.3,13.4,899,8273,0.17,2.75,0.00,0.000,6,0.212,0.083,2745,2068,1763,0,0,0,0,0,0
$STATE,8356,end climb,SURFACE_DEPTH_REACHED
$STATE,8356,begin surface coast
$FINISH,0.9,1.025460
$STATE,8376,end surface coast,CONTROL_FINISHED_OK
$STATE,8376,begin surface
$SM_CCo,8391,16.52,0.818,0,0,1677,275.23
$SM_GC,2.07,0.00,0.00,16.52,0.000,0.000,0.818,131,2307,1677,-7.35,0.20,275.23
$RAFOS_CLK,565
$RAFOS,6,1255754950,4.833333,4.819445,51,51,44,0,0,0,1372,1804,1696,0,0,0
$RAFOS,5,1255754469,4.700000,4.685833,53,40,38,0,0,0,1692,1837,1363,0,0,0
$RAFOS,4,1255753981,4.566667,4.550278,42,39,39,0,0,0,1739,908,957,0,0,0
$RAFOS,3,1255753503,4.433333,4.417500,43,39,39,0,0,0,424,435,1566,0,0,0
$RAFOS,2,1255753031,4.300000,4.286389,46,42,41,0,0,0,903,1104,1478,0,0,0
$RAFOS,1,1255752541,4.166667,4.150278,43,42,37,0,0,0,1162,1590,1741,0,0,0
$RAFOS,0,1255752062,4.033333,4.017222,53,43,41,0,0,0,1411,505,182,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6553.70,-6021.30,110199,010109
$TT8_MAMPS,0.032214
$HUMID,53.58
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.20
$XPDR_PINGS,6
$24V_AH,23.3,12.046
$10V_AH,10.3,4.835
$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,22.750,76.600,331.400,16.525,0.000,28.592,32.538,170.154,1.500,0.000,32.845,1641.417,4722.441,434.852,1603.451,361.073,0.000,1257.734,0.000,1562.564,2520.000,0.529,0.000
$DEVICE_MAMPS,325.975,114.283,1086.072,818.389,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,673.377,633.006,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150884
$DATA_FILE_SIZE,34790,918
$CAP_FILE_SIZE,101648,0
$CFSIZE,260165632,247283712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.1
$CURRENT,0.617,185.5,1
$GPS,171009,060707,6617.970,-6022.203,26,1.4,26,-37.5