version: 66.06
glider: 143
mission: 8
dive: 67
start: 10 17 109 10 54 17
data:
$ID,143
$MISSION,8
$DIVE,67
$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,-21679.262
$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,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
$GPS1,104400,6617.313,-6021.438,35,1.6,45,-37.4
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-68.5
$GPS2,105356,6617.390,-6021.540,11,1.3,11,-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,106.0,55532,-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,-77.72,0.000,2,0.000,0.000,126,2290,2892,0,0,0,0,0,0
$GC,98,-1.05,-146.0,3.3,-3.9,15,131,10.25,2.72,-15.18,0.000,4,0.321,0.108,2133,705,3399,0,0,0,0,0,0
$GC,384,-0.77,-146.0,61.4,-19.0,66,391,0.38,2.67,0.00,0.000,6,0.229,0.086,2223,2298,3402,0,0,0,0,0,0
$GC,733,-0.77,-146.0,102.5,-10.9,126,737,0.00,2.70,0.00,0.000,4,0.000,0.097,2223,704,3403,0,0,0,0,0,0
$GC,805,-0.77,-146.0,111.1,-12.0,132,809,0.00,2.67,0.00,0.000,6,0.000,0.084,2223,2310,3403,0,0,0,0,0,0
$GC,1129,-0.83,-146.0,146.5,-11.2,162,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2310,3403,0,0,0,0,0,0
$GC,1449,-0.90,-146.0,180.5,-10.5,192,1451,0.12,0.00,0.00,0.000,6,0.123,0.000,2183,2310,3403,0,0,0,0,0,0
$GC,1768,-0.84,-146.0,217.8,-11.5,222,1772,0.00,2.70,0.00,0.000,4,0.000,0.106,2183,3890,3403,0,0,0,0,0,0
$GC,1785,-0.76,-146.0,219.9,-11.2,223,1790,0.20,2.60,0.00,0.000,6,0.222,0.077,2229,2308,3403,0,0,0,0,0,0
$GC,2109,-0.88,-146.0,249.3,-8.7,253,2114,0.00,2.72,0.00,0.000,4,0.000,0.106,2229,3892,3403,0,0,0,0,0,0
$GC,2367,-1.02,-146.0,271.7,-8.6,275,2373,0.25,2.50,0.00,0.000,6,0.104,0.077,2144,2365,3402,0,0,0,0,0,0
$GC,2691,-0.88,-146.0,310.5,-12.2,306,2697,0.20,2.75,0.00,0.000,4,0.227,0.098,2192,715,3401,0,0,0,0,0,0
$GC,2769,-0.88,-146.0,319.0,-10.2,312,2775,0.00,2.72,0.00,0.000,6,0.000,0.086,2192,2372,3401,0,0,0,0,0,0
$GC,3095,-0.88,-146.0,352.0,-10.5,343,3100,0.00,2.78,0.00,0.000,4,0.000,0.098,2192,709,3401,0,0,0,0,0,0
$GC,3146,-0.88,-146.0,357.6,-10.9,347,3150,0.00,2.72,0.00,0.000,6,0.000,0.087,2193,2368,3401,0,0,0,0,0,0
$GC,3470,-0.93,-146.0,391.1,-10.2,377,3474,0.00,2.75,0.00,0.000,4,0.000,0.098,2192,716,3401,0,0,0,0,0,0
$GC,3479,-0.93,-146.0,392.2,-10.3,377,3485,0.00,2.70,0.00,0.000,6,0.000,0.084,2192,2364,3401,0,0,0,0,0,0
$GC,3804,-0.93,-146.0,423.5,-9.2,408,3809,0.00,2.58,0.00,0.000,4,0.000,0.106,2192,3887,3401,0,0,0,0,0,0
$GC,3814,-0.93,-146.0,424.4,-9.3,408,3820,0.00,2.45,0.00,0.000,6,0.000,0.076,2192,2379,3400,0,0,0,0,0,0
$STATE,3883,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3883,begin apogee
$GC,3888,-0.24,0.0,431.2,9.7,415,4010,0.73,0.00,118.07,1.077,6,0.194,0.000,2395,2094,2800,0,0,0,0,0,0
$STATE,4011,end apogee,CONTROL_FINISHED_OK
$STATE,4011,begin climb
$GC,4012,1.05,146.0,434.1,0.0,427,4147,1.40,2.97,121.62,1.019,4,0.137,0.094,2806,3685,2202,0,0,0,0,0,0
$GC,4399,0.63,146.0,374.0,17.0,462,4407,0.55,2.72,0.00,0.000,6,0.224,0.079,2688,2108,2193,0,0,0,0,0,0
$GC,4724,0.63,146.0,338.2,10.7,493,4728,0.00,2.75,0.00,0.000,4,0.000,0.095,2688,3688,2191,0,0,0,0,0,0
$GC,4982,0.56,146.0,309.4,10.7,515,4988,0.15,2.70,0.00,0.000,6,0.202,0.079,2665,2087,2190,0,0,0,0,0,0
$GC,5306,0.70,195.1,282.1,7.7,546,5353,0.12,2.85,39.67,0.947,4,0.127,0.096,2703,3686,2003,0,0,0,0,0,0
$GC,5607,0.65,195.1,247.6,12.3,572,5612,0.00,2.72,0.00,0.000,6,0.000,0.081,2715,2082,1998,0,0,0,0,0,0
$GC,5934,0.65,195.1,212.0,11.0,603,5938,0.00,2.75,0.00,0.000,4,0.000,0.096,2715,3686,1996,0,0,0,0,0,0
$GC,6191,0.61,195.1,180.0,12.3,625,6197,0.20,2.67,0.00,0.000,6,0.199,0.080,2679,2080,1995,0,0,0,0,0,0
$GC,6516,0.78,235.5,152.5,8.1,656,6558,0.17,2.85,33.25,0.896,4,0.116,0.096,2735,3680,1839,0,0,0,0,0,0
$GC,6810,0.78,235.5,118.7,11.7,682,6817,0.00,2.70,0.00,0.000,6,0.000,0.083,2748,2081,1834,0,0,0,0,0,0
$GC,7144,0.78,235.5,80.2,12.5,727,7150,0.00,2.75,0.00,0.000,4,0.000,0.098,2747,3686,1833,0,0,0,0,0,0
$GC,7403,0.78,235.5,44.3,12.7,773,7408,0.00,2.70,0.00,0.000,6,0.000,0.084,2759,2071,1831,0,0,0,0,0,0
$GC,7746,0.78,235.5,7.8,10.7,834,7752,0.00,2.75,0.00,0.000,4,0.000,0.099,2759,3687,1830,0,0,0,0,0,0
$STATE,7790,end climb,SURFACE_DEPTH_REACHED
$STATE,7790,begin surface coast
$FINISH,1.0,1.025767
$STATE,7808,end surface coast,CONTROL_FINISHED_OK
$STATE,7808,begin surface
$SM_CCo,7826,30.90,0.831,0,0,1678,275.23
$SM_GC,2.09,0.00,0.00,30.90,0.000,0.000,0.831,130,2295,1678,-7.35,-0.14,275.23
$RAFOS_CLK,541
$RAFOS,6,1255783746,12.833333,12.818334,51,43,41,0,0,0,1499,1831,1115,0,0,0
$RAFOS,5,1255783264,12.700000,12.684444,46,44,40,0,0,0,631,450,1396,0,0,0
$RAFOS,4,1255782786,12.566667,12.551666,42,41,41,0,0,0,1297,1036,1314,0,0,0
$RAFOS,3,1255782304,12.433333,12.417778,45,42,40,0,0,0,417,1071,1517,0,0,0
$RAFOS,2,1255781825,12.300000,12.284722,42,42,40,0,0,0,627,1337,863,0,0,0
$RAFOS,1,1255781345,12.166667,12.151389,45,40,39,0,0,0,225,449,518,0,0,0
$RAFOS,0,1255780873,12.033333,12.020278,44,43,41,0,0,0,672,1487,509,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6548.42,-6033.88,110199,101025
$TT8_MAMPS,0.027612
$HUMID,53.34
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.30
$XPDR_PINGS,2
$24V_AH,23.3,12.394
$10V_AH,10.2,4.993
$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,22.375,81.475,312.625,30.900,0.000,52.678,71.130,305.775,0.500,0.000,12.550,1514.540,4449.551,437.259,1496.709,558.944,0.000,1219.825,0.000,1474.586,2520.000,0.530,0.000
$DEVICE_MAMPS,321.373,108.147,1076.868,830.661,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,618.105,582.177,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150832
$DATA_FILE_SIZE,31583,845
$CAP_FILE_SIZE,100946,0
$CFSIZE,260165632,247132160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.8
$CURRENT,0.143, 14.8,1
$GPS,171009,130737,6618.696,-6020.581,97,0.9,97,-37.5