version: 66.06
glider: 143
mission: 8
dive: 69
start: 10 17 109 15 49 48
data:
$ID,143
$MISSION,8
$DIVE,69
$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,-21727.008
$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
$GPS1,153413,6618.242,-6020.931,35,1.6,46,-37.5
$_CALLS,3
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-67.9
$GPS2,154928,6618.185,-6020.814,11,2.7,30,-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,86.6,54932,-18.3,-10.000
$D_GRID,437
$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,-146.0,0.0,0.0,0,90,0.00,0.00,-71.95,0.000,2,0.000,0.000,129,2314,2791,0,0,0,0,0,0
$GC,93,-1.05,-146.0,3.0,-2.8,14,130,10.43,2.78,-19.55,0.000,4,0.326,0.116,2129,3884,3399,0,0,0,0,0,0
$GC,316,-0.76,-146.0,47.7,-20.9,54,323,0.43,2.67,0.00,0.000,6,0.224,0.077,2233,2294,3402,0,0,0,0,0,0
$GC,661,-0.81,-146.0,87.6,-10.2,115,667,0.00,2.78,0.00,0.000,4,0.000,0.102,2233,3890,3403,0,0,0,0,0,0
$GC,746,-0.89,-146.0,96.4,-10.4,130,752,0.12,2.65,0.00,0.000,6,0.127,0.075,2195,2296,3403,0,0,0,0,0,0
$GC,1072,-0.83,-146.0,138.4,-12.0,163,1077,0.00,2.75,0.00,0.000,4,0.000,0.102,2196,3889,3403,0,0,0,0,0,0
$GC,1171,-0.83,-146.0,150.4,-12.1,171,1177,0.00,2.62,0.00,0.000,6,0.000,0.076,2195,2297,3403,0,0,0,0,0,0
$GC,1496,-0.83,-146.0,188.4,-12.5,202,1501,0.00,2.72,0.00,0.000,4,0.000,0.103,2195,3884,3403,0,0,0,0,0,0
$GC,1540,-0.83,-146.0,194.5,-13.7,205,1547,0.00,2.60,0.00,0.000,6,0.000,0.077,2195,2304,3403,0,0,0,0,0,0
$GC,1865,-0.83,-146.0,231.8,-11.3,236,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2304,3403,0,0,0,0,0,0
$GC,2185,-0.83,-146.0,267.7,-11.8,266,2189,0.00,2.65,0.00,0.000,4,0.000,0.100,2195,715,3403,0,0,0,0,0,0
$GC,2235,-0.83,-146.0,274.2,-12.9,270,2239,0.00,2.65,0.00,0.000,6,0.000,0.087,2195,2321,3403,0,0,0,0,0,0
$GC,2560,-0.83,-146.0,311.8,-10.9,300,2565,0.00,2.65,0.00,0.000,4,0.000,0.105,2195,3885,3402,0,0,0,0,0,0
$GC,2626,-0.83,-146.0,319.1,-10.8,305,2633,0.00,2.58,0.00,0.000,6,0.000,0.077,2195,2312,3401,0,0,0,0,0,0
$GC,2952,-0.83,-146.0,348.5,-8.2,336,2954,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2312,3401,0,0,0,0,0,0
$GC,3271,-0.83,-146.0,372.6,-8.1,366,3276,0.00,2.67,0.00,0.000,4,0.000,0.104,2195,3885,3401,0,0,0,0,0,0
$GC,3333,-0.88,-146.0,377.9,-9.0,371,3337,0.00,2.55,0.00,0.000,6,0.000,0.077,2195,2323,3400,0,0,0,0,0,0
$GC,3658,-0.94,-146.0,404.8,-8.7,401,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2322,3401,0,0,0,0,0,0
$GC,3977,-1.00,-146.0,433.5,-8.8,431,3983,0.12,2.67,0.00,0.000,4,0.124,0.097,2152,714,3401,0,0,0,0,0,0
$STATE,4008,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4008,begin apogee
$GC,4015,-0.24,0.0,437.4,11.9,433,4142,0.88,0.00,118.32,1.081,6,0.209,0.000,2392,2108,2799,0,0,0,0,0,0
$STATE,4142,end apogee,CONTROL_FINISHED_OK
$STATE,4142,begin climb
$GC,4145,1.05,146.0,441.1,0.0,446,4279,1.42,2.97,121.70,1.024,4,0.140,0.093,2808,3687,2201,0,0,0,0,0,0
$GC,4531,0.65,146.0,382.0,17.7,481,4539,0.52,2.75,0.00,0.000,6,0.223,0.079,2697,2102,2192,0,0,0,0,0,0
$GC,4856,0.65,146.0,342.7,12.2,512,4861,0.00,2.78,0.00,0.000,4,0.000,0.095,2697,3693,2190,0,0,0,0,0,0
$GC,5112,0.55,146.0,308.7,13.0,534,5119,0.20,2.70,0.00,0.000,6,0.205,0.078,2661,2089,2190,0,0,0,0,0,0
$GC,5438,0.70,191.0,278.9,7.9,565,5480,0.15,2.85,36.17,0.945,4,0.119,0.094,2707,3697,2020,0,0,0,0,0,0
$GC,5733,0.62,191.0,244.6,11.8,591,5739,0.17,2.72,0.00,0.000,6,0.202,0.077,2680,2081,2015,0,0,0,0,0,0
$GC,6058,0.75,222.5,215.8,8.6,622,6093,0.12,2.90,26.50,0.907,4,0.130,0.094,2717,3693,1891,0,0,0,0,0,0
$GC,6347,0.69,222.5,179.8,12.8,648,6352,0.00,2.75,0.00,0.000,6,0.000,0.079,2729,2070,1886,0,0,0,0,0,0
$GC,6671,0.69,222.5,139.8,12.4,678,6676,0.00,2.78,0.00,0.000,4,0.000,0.094,2730,3692,1885,0,0,0,0,0,0
$GC,6928,0.64,222.5,106.0,12.6,700,6935,0.17,2.72,0.00,0.000,6,0.202,0.081,2696,2060,1883,0,0,0,0,0,0
$GC,7269,0.85,276.9,77.0,7.5,755,7321,0.17,2.88,45.50,0.859,4,0.116,0.096,2751,3687,1670,0,0,0,0,0,0
$GC,7574,0.85,276.9,36.3,14.4,810,7580,0.00,2.75,0.00,0.000,6,0.000,0.083,2763,2070,1663,0,0,0,0,0,0
$STATE,7848,end climb,SURFACE_DEPTH_REACHED
$STATE,7848,begin surface coast
$FINISH,1.0,1.022127
$STATE,7867,end surface coast,CONTROL_FINISHED_OK
$STATE,7867,begin surface
$SM_CCo,7943,0.00,0.000,0,0,1655,280.62
$SM_GC,1.90,7.65,0.00,0.00,0.077,0.000,0.000,130,2305,1655,-7.31,0.14,280.62
$RAFOS_CLK,569
$RAFOS,6,1255798148,16.833334,16.818890,43,42,40,0,0,0,818,655,1844,0,0,0
$RAFOS,5,1255797664,16.700001,16.684444,45,43,41,0,0,0,383,1033,683,0,0,0
$RAFOS,4,1255797185,16.566668,16.551390,45,43,43,0,0,0,1542,665,700,0,0,0
$RAFOS,3,1255796706,16.433332,16.418333,41,39,39,0,0,0,911,886,1747,0,0,0
$RAFOS,2,1255796228,16.299999,16.285555,54,47,47,0,0,0,1914,791,1380,0,0,0
$RAFOS,1,1255795742,16.166666,16.150555,50,43,41,0,0,0,1715,822,863,0,0,0
$RAFOS,0,1255795264,16.033333,16.017778,42,41,39,0,0,0,153,486,703,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6548.42,-6021.94,110199,151535
$TT8_MAMPS,0.026845
$HUMID,52.63
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.30
$XPDR_PINGS,4
$24V_AH,23.3,12.649
$10V_AH,10.2,5.107
$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,22.575,76.300,348.200,0.000,0.000,81.476,102.339,471.996,1.000,0.000,32.308,1513.452,4602.117,428.120,1518.302,793.821,0.000,1217.724,0.000,1478.689,2520.000,0.530,0.000
$DEVICE_MAMPS,325.975,115.817,1081.470,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,629.312,593.356,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150600
$DATA_FILE_SIZE,31532,862
$CAP_FILE_SIZE,105710,0
$CFSIZE,260165632,247021568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.0
$CURRENT,0.534,184.8,1
$GPS,171009,180330,6616.666,-6020.698,36,1.3,36,-37.4