version: 66.06
glider: 143
mission: 8
dive: 65
start: 10 17 109 6 12 58
data:
$ID,143
$MISSION,8
$DIVE,65
$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,-21619.992
$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,15
$R_STBD_OVSHOOT,19
$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
$GPS1,060707,6617.970,-6022.203,26,1.4,26,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-67.2
$GPS2,061237,6617.874,-6022.191,12,2.0,12,-37.4
$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,80.3,55975,-18.3,-10.000
$D_GRID,431
$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,-77.25,0.000,2,0.000,0.000,130,2307,2877,0,0,0,0,0,0
$GC,98,-1.05,-146.0,3.6,-5.1,15,131,10.40,2.78,-15.40,0.000,4,0.326,0.108,2133,701,3398,0,0,0,0,0,0
$GC,374,-0.77,-146.0,61.2,-19.1,64,381,0.38,2.67,0.00,0.000,6,0.232,0.084,2222,2299,3402,0,0,0,0,0,0
$GC,721,-0.77,-146.0,104.0,-11.9,123,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2299,3403,0,0,0,0,0,0
$GC,1042,-0.77,-146.0,136.5,-9.4,153,1046,0.00,2.72,0.00,0.000,4,0.000,0.105,2222,3886,3403,0,0,0,0,0,0
$GC,1159,-0.84,-146.0,148.9,-10.9,163,1164,0.00,2.62,0.00,0.000,6,0.000,0.075,2223,2295,3403,0,0,0,0,0,0
$GC,1484,-0.93,-146.0,183.7,-11.1,193,1490,0.15,2.75,0.00,0.000,4,0.117,0.100,2163,3887,3403,0,0,0,0,0,0
$GC,1546,-0.86,-146.0,191.7,-13.1,198,1552,0.17,2.60,0.00,0.000,6,0.229,0.076,2201,2303,3402,0,0,0,0,0,0
$GC,1871,-0.86,-146.0,223.5,-9.4,228,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2303,3403,0,0,0,0,0,0
$GC,2190,-0.86,-146.0,256.0,-10.0,258,2195,0.00,2.72,0.00,0.000,4,0.000,0.103,2201,3890,3402,0,0,0,0,0,0
$GC,2234,-0.91,-146.0,260.7,-10.4,261,2240,0.00,2.58,0.00,0.000,6,0.000,0.076,2201,2313,3402,0,0,0,0,0,0
$GC,2558,-0.96,-146.0,293.1,-10.4,292,2563,0.00,2.67,0.00,0.000,4,0.000,0.100,2201,707,3401,0,0,0,0,0,0
$GC,2602,-0.96,-146.0,297.9,-11.0,295,2608,0.00,2.62,0.00,0.000,6,0.000,0.087,2202,2312,3401,0,0,0,0,0,0
$GC,2927,-1.02,-146.0,331.0,-10.2,326,2932,0.15,2.67,0.00,0.000,4,0.119,0.101,2141,3887,3401,0,0,0,0,0,0
$GC,3058,-0.88,-146.0,347.6,-13.0,337,3063,0.22,2.58,0.00,0.000,6,0.229,0.077,2192,2316,3400,0,0,0,0,0,0
$GC,3382,-0.88,-146.0,381.5,-9.4,367,3387,0.00,2.67,0.00,0.000,4,0.000,0.102,2191,3890,3400,0,0,0,0,0,0
$GC,3494,-0.93,-146.0,391.9,-9.0,376,3500,0.00,2.55,0.00,0.000,6,0.000,0.076,2192,2322,3400,0,0,0,0,0,0
$GC,3818,-1.00,-146.0,420.9,-9.4,407,3824,0.12,2.67,0.00,0.000,4,0.127,0.097,2152,714,3401,0,0,0,0,0,0
$GC,3851,-0.86,-146.0,424.5,-11.3,409,3858,0.20,2.62,0.00,0.000,6,0.240,0.084,2198,2330,3400,0,0,0,0,0,0
$STATE,3919,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3919,begin apogee
$GC,3924,-0.24,0.0,431.4,9.2,416,4046,0.73,0.00,118.07,1.078,6,0.199,0.000,2399,2102,2800,0,0,0,0,0,0
$STATE,4047,end apogee,CONTROL_FINISHED_OK
$STATE,4047,begin climb
$GC,4049,1.05,146.0,434.0,0.0,428,4185,1.40,3.03,121.50,1.019,4,0.137,0.091,2810,3699,2202,0,0,0,0,0,0
$GC,4437,0.59,146.0,371.7,19.0,463,4444,0.62,2.78,0.00,0.000,6,0.225,0.079,2674,2096,2193,0,0,0,0,0,0
$GC,4762,0.59,146.0,334.0,11.4,494,4766,0.00,2.78,0.00,0.000,4,0.000,0.094,2674,3691,2190,0,0,0,0,0,0
$GC,5018,0.55,146.0,303.0,11.4,516,5025,0.00,2.70,0.00,0.000,6,0.000,0.077,2685,2084,2190,0,0,0,0,0,0
$GC,5344,0.55,149.6,269.7,9.8,547,5348,0.00,2.75,0.00,0.000,4,0.000,0.094,2684,3691,2190,0,0,0,0,0,0
$GC,5600,0.50,155.2,243.3,9.7,569,5617,0.22,2.67,6.70,0.811,6,0.199,0.079,2642,2081,2166,0,0,0,0,0,0
$GC,5936,0.72,194.6,216.8,8.2,601,5979,0.22,2.83,34.20,0.920,4,0.105,0.095,2716,3686,2004,0,0,0,0,0,0
$GC,6231,0.63,194.6,179.6,12.5,627,6238,0.17,2.70,0.00,0.000,6,0.200,0.079,2689,2080,1999,0,0,0,0,0,0
$GC,6556,0.79,240.6,152.5,7.9,658,6601,0.15,2.85,38.67,0.887,4,0.117,0.095,2736,3684,1817,0,0,0,0,0,0
$GC,6857,0.74,240.6,116.3,13.0,685,6861,0.00,2.70,0.00,0.000,6,0.000,0.081,2748,2064,1811,0,0,0,0,0,0
$GC,7192,0.74,240.6,75.2,11.5,733,7197,0.00,2.80,0.00,0.000,4,0.000,0.097,2748,3693,1808,0,0,0,0,0,0
$GC,7453,0.68,240.6,44.6,11.7,779,7459,0.25,2.72,0.00,0.000,6,0.199,0.083,2699,2067,1807,0,0,0,0,0,0
$GC,7799,0.92,277.4,19.6,8.3,840,7836,0.22,2.85,29.83,0.831,4,0.104,0.097,2773,3694,1667,0,0,0,0,0,0
$STATE,7930,end climb,SURFACE_DEPTH_REACHED
$STATE,7930,begin surface coast
$FINISH,1.0,1.025764
$STATE,7943,end surface coast,CONTROL_FINISHED_OK
$STATE,7943,begin surface
$SM_CCo,8021,0.00,0.000,0,0,1660,279.64
$SM_GC,1.98,7.82,0.00,0.00,0.083,0.000,0.000,125,2291,1660,-7.32,-0.25,279.64
$RAFOS_CLK,535
$RAFOS,2,1255767426,8.300000,8.285000,41,38,37,0,0,0,1175,255,1259,0,0,0
$RAFOS,1,1255766949,8.166667,8.152500,46,43,41,0,0,0,1632,658,486,0,0,0
$RAFOS,0,1255766468,8.033334,8.018888,50,42,41,0,0,0,1867,1130,1912,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6553.70,-6019.29,110199,030357
$TT8_MAMPS,0.028379
$HUMID,52.91
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.30
$XPDR_PINGS,4
$24V_AH,23.3,12.158
$10V_AH,10.3,4.887
$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,23.625,81.500,348.975,0.000,0.000,30.242,30.484,164.758,1.000,0.000,14.004,1553.729,4476.482,432.227,1537.690,352.127,0.000,1240.042,0.000,1512.203,1440.000,0.529,0.000
$DEVICE_MAMPS,325.975,108.147,1077.635,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,629.983,596.922,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150776
$DATA_FILE_SIZE,34782,866
$CAP_FILE_SIZE,98808,0
$CFSIZE,260165632,247230464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.2
$CURRENT,0.457,188.7,1
$GPS,171009,082752,6616.796,-6022.333,10,99.0,29,-37.4