version: 66.06
glider: 143
mission: 8
dive: 66
start: 10 17 109 8 34 26
data:
$ID,143
$MISSION,8
$DIVE,66
$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,-21666.086
$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,19
$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
$GPS1,082752,6616.796,-6022.333,10,99.0,29,-37.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-67.3
$GPS2,083406,6616.762,-6022.346,33,1.1,43,-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,78.2,56204,-18.3,-10.000
$D_GRID,426
$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,16,-1.05,-146.0,0.0,0.0,0,97,0.00,0.00,-78.15,0.000,2,0.000,0.000,124,2287,2868,0,0,0,0,0,0
$GC,99,-1.05,-146.0,3.2,-3.7,15,132,10.52,2.70,-16.23,0.000,4,0.331,0.107,2131,714,3397,0,0,0,0,0,0
$GC,386,-0.79,-146.0,61.8,-18.6,66,393,0.38,2.67,0.00,0.000,6,0.235,0.087,2221,2309,3401,0,0,0,0,0,0
$GC,734,-0.79,-146.0,102.7,-10.3,126,738,0.00,2.70,0.00,0.000,4,0.000,0.098,2221,714,3402,0,0,0,0,0,0
$GC,845,-0.79,-146.0,115.1,-10.9,135,851,0.00,2.62,0.00,0.000,6,0.000,0.084,2221,2297,3403,0,0,0,0,0,0
$GC,1170,-0.85,-146.0,150.0,-11.1,166,1171,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2297,3402,0,0,0,0,0,0
$GC,1489,-0.93,-146.0,186.6,-10.8,196,1494,0.12,2.72,0.00,0.000,4,0.124,0.102,2170,3889,3402,0,0,0,0,0,0
$GC,1585,-0.84,-146.0,200.2,-14.1,204,1590,0.17,2.65,0.00,0.000,6,0.229,0.077,2208,2280,3402,0,0,0,0,0,0
$GC,1910,-0.89,-146.0,239.1,-12.1,234,1914,0.00,2.75,0.00,0.000,4,0.000,0.103,2208,3887,3402,0,0,0,0,0,0
$GC,1993,-0.96,-146.0,249.3,-12.1,241,1999,0.12,2.62,0.00,0.000,6,0.127,0.077,2170,2291,3401,0,0,0,0,0,0
$GC,2318,-0.90,-146.0,290.4,-12.5,271,2323,0.00,2.72,0.00,0.000,4,0.000,0.102,2170,3888,3400,0,0,0,0,0,0
$GC,2373,-0.90,-146.0,297.7,-13.1,275,2379,0.00,2.62,0.00,0.000,6,0.000,0.077,2170,2283,3400,0,0,0,0,0,0
$GC,2698,-0.85,-146.0,336.5,-11.6,306,2700,0.15,0.00,0.00,0.000,6,0.237,0.000,2201,2283,3400,0,0,0,0,0,0
$GC,3017,-0.92,-146.0,369.0,-8.9,336,3018,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2283,3400,0,0,0,0,0,0
$GC,3337,-0.99,-146.0,400.0,-9.1,366,3343,0.12,2.72,0.00,0.000,4,0.131,0.099,2149,3886,3399,0,0,0,0,0,0
$GC,3426,-0.89,-146.0,410.8,-13.2,373,3433,0.17,2.60,0.00,0.000,6,0.230,0.075,2188,2286,3399,0,0,0,0,0,0
$STATE,3579,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3579,begin apogee
$GC,3584,-0.24,0.0,426.1,9.9,388,3706,0.75,0.00,117.72,1.071,6,0.197,0.000,2396,2092,2800,0,0,0,0,0,0
$STATE,3707,end apogee,CONTROL_FINISHED_OK
$STATE,3707,begin climb
$GC,3708,1.05,146.0,430.1,0.0,400,3842,1.40,3.00,121.62,1.017,4,0.136,0.092,2808,3679,2202,0,0,0,0,0,0
$GC,4095,0.64,146.0,372.9,15.7,436,4101,0.55,2.75,0.00,0.000,6,0.225,0.078,2692,2097,2192,0,0,0,0,0,0
$GC,4419,0.66,158.2,341.4,9.4,466,4434,0.00,2.80,9.52,0.887,4,0.000,0.094,2691,3686,2154,0,0,0,0,0,0
$GC,4439,0.67,172.9,339.4,9.3,467,4459,0.00,2.72,14.15,0.913,6,0.000,0.077,2701,2088,2094,0,0,0,0,0,0
$GC,4784,0.67,172.9,304.4,10.3,500,4788,0.00,2.78,0.00,0.000,4,0.000,0.095,2701,3686,2090,0,0,0,0,0,0
$GC,5041,0.59,172.9,273.6,11.4,522,5048,0.17,2.62,0.00,0.000,6,0.206,0.077,2674,2113,2090,0,0,0,0,0,0
$GC,5366,0.68,177.9,242.3,9.8,553,5378,0.00,2.72,5.05,0.746,4,0.000,0.095,2674,3691,2073,0,0,0,0,0,0
$GC,5422,0.68,177.9,236.2,11.0,558,5427,0.00,2.65,0.00,0.000,6,0.000,0.079,2683,2110,2072,0,0,0,0,0,0
$GC,5747,0.77,190.5,204.0,9.4,588,5769,0.12,2.78,12.20,0.885,4,0.118,0.096,2726,3683,2023,0,0,0,0,0,0
$GC,6022,0.66,190.5,170.9,11.5,612,6028,0.17,2.62,0.00,0.000,6,0.211,0.080,2698,2114,2020,0,0,0,0,0,0
$GC,6347,0.73,203.2,140.4,9.4,643,6368,0.00,2.78,11.75,0.864,4,0.000,0.096,2698,3686,1970,0,0,0,0,0,0
$GC,6620,0.75,225.4,114.4,9.0,667,6647,0.00,2.60,19.65,0.874,6,0.000,0.081,2708,2130,1880,0,0,0,0,0,0
$GC,6976,0.90,267.4,85.6,8.1,716,7019,0.17,2.78,36.50,0.861,4,0.107,0.096,2766,3690,1708,0,0,0,0,0,0
$GC,7250,0.84,267.4,50.7,13.6,765,7255,0.00,2.60,0.00,0.000,6,0.000,0.083,2778,2166,1701,0,0,0,0,0,0
$GC,7593,0.74,267.4,9.0,14.3,826,7600,0.22,2.62,0.00,0.000,4,0.209,0.095,2721,3687,1698,0,0,0,0,0,0
$STATE,7644,end climb,SURFACE_DEPTH_REACHED
$STATE,7644,begin surface coast
$FINISH,1.0,1.014225
$STATE,7662,end surface coast,CONTROL_FINISHED_OK
$STATE,7662,begin surface
$SM_CCo,7680,3.38,0.551,0,0,1677,275.23
$SM_GC,2.96,0.00,0.00,3.38,0.000,0.000,0.551,127,2294,1677,-7.35,-0.17,275.23
$RAFOS_CLK,518
$RAFOS,6,1255769347,8.833333,8.818611,47,43,43,0,0,0,1554,937,1679,0,0,0
$RAFOS,5,1255768862,8.700000,8.683888,46,42,40,0,0,0,1285,622,276,0,0,0
$RAFOS,3,1255767903,8.433333,8.417500,43,39,39,0,0,0,679,387,1844,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6548.42,-6041.15,110199,060632
$TT8_MAMPS,0.026845
$HUMID,52.99
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,16.30
$XPDR_PINGS,2
$24V_AH,23.3,12.271
$10V_AH,10.2,4.938
$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,22.900,75.675,348.175,3.375,0.000,30.124,40.989,166.873,0.500,0.000,45.462,1485.761,4299.214,434.462,1481.338,359.358,0.000,1199.864,0.000,1430.260,720.000,0.530,0.000
$DEVICE_MAMPS,330.577,107.380,1070.732,550.706,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,613.129,577.224,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150836
$DATA_FILE_SIZE,31597,838
$CAP_FILE_SIZE,95478,0
$CFSIZE,260165632,247185408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.9
$CURRENT,0.086,159.8,1
$GPS,171009,104400,6617.313,-6021.438,35,1.6,45,-37.4