version: 66.06
glider: 143
mission: 8
dive: 68
start: 10 17 109 13 15 0
data:
$ID,143
$MISSION,8
$DIVE,68
$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,-21694.07
$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,20
$R_STBD_OVSHOOT,18
$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
$GPS1,130737,6618.696,-6020.581,97,0.9,97,-37.5
$_CALLS,1
$_XMS_NAKs,21
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-67.5
$GPS2,131438,6618.778,-6020.634,12,1.3,12,-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,159.1,54779,-18.3,-10.000
$D_GRID,439
$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,13,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,-74.18,0.000,2,0.000,0.000,129,2291,2835,0,0,0,0,0,0
$GC,94,-1.05,-146.0,3.5,-4.2,14,132,10.32,2.90,-16.92,0.000,4,0.324,0.115,2132,3891,3400,0,0,0,0,0,0
$GC,138,-0.47,-146.0,12.6,-17.9,22,145,0.75,2.70,0.00,0.000,6,0.224,0.077,2319,2296,3401,0,0,0,0,0,0
$GC,483,-0.73,-146.0,47.6,-8.6,83,489,0.22,2.78,0.00,0.000,4,0.097,0.099,2238,3891,3403,0,0,0,0,0,0
$GC,496,-0.96,-146.0,48.7,-8.9,85,503,0.20,2.65,0.00,0.000,6,0.108,0.074,2170,2299,3403,0,0,0,0,0,0
$GC,842,-0.81,-146.0,96.8,-15.6,146,848,0.20,2.75,0.00,0.000,4,0.226,0.100,2208,3890,3403,0,0,0,0,0,0
$GC,870,-0.77,-146.0,101.0,-13.9,150,876,0.00,2.62,0.00,0.000,6,0.000,0.075,2208,2301,3403,0,0,0,0,0,0
$GC,1196,-0.77,-146.0,139.3,-10.5,181,1200,0.00,2.72,0.00,0.000,4,0.000,0.102,2208,3885,3403,0,0,0,0,0,0
$GC,1205,-0.77,-146.0,140.7,-10.9,181,1212,0.00,2.58,0.00,0.000,6,0.000,0.076,2207,2346,3403,0,0,0,0,0,0
$GC,1530,-0.77,-146.0,174.3,-11.7,212,1534,0.00,2.72,0.00,0.000,4,0.000,0.099,2208,716,3403,0,0,0,0,0,0
$GC,1579,-0.77,-146.0,180.3,-12.7,216,1584,0.00,2.65,0.00,0.000,6,0.000,0.087,2208,2315,3403,0,0,0,0,0,0
$GC,1904,-0.77,-146.0,221.1,-13.0,246,1908,0.00,2.67,0.00,0.000,4,0.000,0.104,2208,3887,3403,0,0,0,0,0,0
$GC,1913,-0.77,-146.0,222.4,-12.5,246,1919,0.00,2.55,0.00,0.000,6,0.000,0.077,2208,2325,3403,0,0,0,0,0,0
$GC,2238,-0.77,-146.0,255.7,-7.8,277,2243,0.00,2.67,0.00,0.000,4,0.000,0.104,2208,3886,3403,0,0,0,0,0,0
$GC,2271,-0.77,-146.0,258.6,-8.7,279,2276,0.00,2.55,0.00,0.000,6,0.000,0.077,2207,2325,3402,0,0,0,0,0,0
$GC,2596,-0.82,-146.0,291.1,-11.4,310,2600,0.00,2.67,0.00,0.000,4,0.000,0.104,2207,3889,3402,0,0,0,0,0,0
$GC,2647,-0.88,-146.0,296.9,-11.5,314,2651,0.00,2.55,0.00,0.000,6,0.000,0.077,2208,2332,3401,0,0,0,0,0,0
$GC,2971,-0.95,-146.0,329.3,-8.5,344,2976,0.00,2.65,0.00,0.000,4,0.000,0.105,2207,3885,3401,0,0,0,0,0,0
$GC,2993,-1.03,-146.0,331.3,-8.7,345,3000,0.17,2.53,0.00,0.000,6,0.109,0.077,2145,2341,3401,0,0,0,0,0,0
$GC,3317,-0.91,-146.0,368.2,-12.1,376,3323,0.15,2.72,0.00,0.000,4,0.222,0.100,2180,716,3400,0,0,0,0,0,0
$GC,3328,-0.80,-146.0,369.5,-12.2,376,3334,0.17,2.58,0.00,0.000,6,0.237,0.085,2221,2287,3400,0,0,0,0,0,0
$GC,3653,-0.93,-146.0,398.8,-8.5,407,3658,0.12,2.70,0.00,0.000,4,0.122,0.101,2167,3886,3401,0,0,0,0,0,0
$GC,3664,-1.03,-146.0,399.9,-8.6,407,3669,0.00,2.60,0.00,0.000,6,0.000,0.076,2167,2292,3400,0,0,0,0,0,0
$GC,3988,-1.03,-146.0,434.4,-10.6,438,3993,0.00,2.70,0.00,0.000,4,0.000,0.101,2167,3889,3400,0,0,0,0,0,0
$GC,3998,-1.03,-146.0,435.4,-10.7,438,4004,0.00,2.60,0.00,0.000,6,0.000,0.077,2167,2292,3401,0,0,0,0,0,0
$STATE,4034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4034,begin apogee
$GC,4040,-0.24,0.0,439.0,9.7,442,4162,0.85,0.00,118.47,1.081,6,0.199,0.000,2401,2097,2800,0,0,0,0,0,0
$STATE,4163,end apogee,CONTROL_FINISHED_OK
$STATE,4163,begin climb
$GC,4165,1.05,146.0,441.8,0.0,454,4299,1.38,3.03,121.90,1.025,4,0.132,0.092,2807,3689,2201,0,0,0,0,0,0
$GC,4552,0.62,146.0,382.8,18.1,489,4559,0.57,2.75,0.00,0.000,6,0.229,0.078,2685,2100,2192,0,0,0,0,0,0
$GC,4876,0.62,146.0,347.7,10.4,520,4881,0.00,2.72,0.00,0.000,4,0.000,0.100,2696,512,2190,0,0,0,0,0,0
$GC,5094,0.62,146.0,323.5,11.5,539,5099,0.00,2.65,0.00,0.000,6,0.000,0.079,2696,2098,2190,0,0,0,0,0,0
$GC,5420,0.62,146.0,289.1,10.5,569,5424,0.00,2.72,0.00,0.000,4,0.000,0.100,2707,505,2189,0,0,0,0,0,0
$GC,5542,0.56,146.0,275.5,11.1,579,5549,0.17,2.65,0.00,0.000,6,0.195,0.081,2666,2106,2189,0,0,0,0,0,0
$GC,5868,0.71,190.2,248.6,8.0,610,5911,0.12,2.80,35.25,0.938,4,0.124,0.098,2717,514,2023,0,0,0,0,0,0
$GC,5967,0.71,190.2,238.2,11.6,619,5972,0.00,2.70,0.00,0.000,6,0.000,0.080,2717,2112,2021,0,0,0,0,0,0
$GC,6291,0.71,193.7,202.6,9.8,649,6303,0.00,2.80,3.70,0.618,4,0.000,0.100,2729,494,2009,0,0,0,0,0,0
$GC,6421,0.71,193.7,188.1,11.6,660,6427,0.00,2.70,0.00,0.000,6,0.000,0.081,2729,2116,2009,0,0,0,0,0,0
$GC,6746,0.66,195.4,154.3,9.9,691,6751,0.15,2.75,0.00,0.000,4,0.203,0.100,2705,512,2008,0,0,0,0,0,0
$GC,6909,0.77,241.8,140.1,7.9,705,6961,0.00,2.70,41.30,0.892,6,0.000,0.082,2705,2143,1812,0,0,0,0,0,0
$GC,7279,0.89,246.2,108.1,9.8,740,7290,0.20,2.85,3.92,0.628,4,0.104,0.103,2784,508,1796,0,0,0,0,0,0
$GC,7353,0.79,246.2,97.7,14.9,747,7359,0.20,2.83,0.00,0.000,6,0.199,0.083,2738,2189,1795,0,0,0,0,0,0
$GC,7698,0.84,246.2,58.0,11.8,808,7703,0.00,2.88,0.00,0.000,4,0.000,0.103,2748,511,1794,0,0,0,0,0,0
$GC,7816,0.84,246.2,44.0,10.3,829,7822,0.00,2.80,0.00,0.000,6,0.000,0.084,2747,2197,1793,0,0,0,0,0,0
$GC,8161,0.84,246.2,8.5,11.2,890,8166,0.00,2.88,0.00,0.000,4,0.000,0.103,2760,508,1791,0,0,0,0,0,0
$STATE,8215,end climb,SURFACE_DEPTH_REACHED
$STATE,8216,begin surface coast
$FINISH,1.0,1.025752
$STATE,8222,end surface coast,CONTROL_FINISHED_OK
$STATE,8222,begin surface
$SM_CCo,8241,22.50,0.830,0,0,1678,275.23
$SM_GC,1.44,0.00,0.00,22.50,0.000,0.000,0.830,130,2314,1678,-7.35,0.40,275.23
$RAFOS_CLK,560
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6548.42,-6017.29,110199,111109
$TT8_MAMPS,0.027612
$HUMID,53.03
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.20
$XPDR_PINGS,5
$24V_AH,23.3,12.512
$10V_AH,10.2,5.048
$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,23.725,114.400,324.550,22.500,0.000,37.455,32.723,247.098,1.250,0.000,14.180,1610.585,4637.108,473.522,1510.892,456.342,0.000,1290.378,0.000,1491.990,0.000,0.530,0.000
$DEVICE_MAMPS,324.441,115.050,1081.470,829.894,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,659.760,620.168,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150468
$DATA_FILE_SIZE,34718,901
$CAP_FILE_SIZE,109656,0
$CFSIZE,260165632,247066624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.6
$CURRENT,0.198,145.3,1
$GPS,171009,153413,6618.242,-6020.931,35,1.6,46,-37.5