version: 66.06
glider: 143
mission: 8
dive: 70
start: 10 17 109 18 10 39
data:
$ID,143
$MISSION,8
$DIVE,70
$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,-21758.289
$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,16
$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
$GPS1,180330,6616.666,-6020.698,36,1.3,36,-37.4
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-68.3
$GPS2,181019,6616.566,-6020.689,12,1.3,29,-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,77.7,55003,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.05,-146.0,0.0,0.0,0,90,0.00,0.00,-72.07,0.000,2,0.000,0.000,128,2307,2761,0,0,0,0,0,0
$GC,93,-1.05,-146.0,3.0,-2.8,14,131,10.38,2.80,-21.45,0.000,4,0.326,0.114,2135,3896,3397,0,0,0,0,0,0
$GC,137,-0.56,-146.0,10.3,-15.3,22,144,0.65,2.70,0.00,0.000,6,0.232,0.075,2294,2290,3399,0,0,0,0,0,0
$GC,481,-0.80,-146.0,49.4,-11.3,83,489,0.22,2.67,0.00,0.000,4,0.097,0.096,2217,708,3402,0,0,0,0,0,0
$GC,741,-0.80,-146.0,80.9,-10.6,129,747,0.00,2.70,0.00,0.000,6,0.000,0.087,2217,2323,3402,0,0,0,0,0,0
$GC,1075,-0.80,-146.0,118.8,-11.8,175,1080,0.00,2.72,0.00,0.000,4,0.000,0.099,2216,710,3402,0,0,0,0,0,0
$GC,1215,-0.80,-146.0,136.7,-12.9,187,1220,0.00,2.65,0.00,0.000,6,0.000,0.086,2217,2311,3402,0,0,0,0,0,0
$GC,1540,-0.85,-146.0,175.4,-12.0,217,1544,0.00,2.67,0.00,0.000,4,0.000,0.104,2217,3885,3402,0,0,0,0,0,0
$GC,1628,-0.91,-146.0,185.7,-11.2,224,1634,0.00,2.60,0.00,0.000,6,0.000,0.077,2217,2300,3402,0,0,0,0,0,0
$GC,1953,-0.97,-146.0,219.0,-9.8,255,1955,0.15,0.00,0.00,0.000,6,0.120,0.000,2166,2299,3401,0,0,0,0,0,0
$GC,2272,-0.89,-146.0,255.3,-11.0,285,2273,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2299,3401,0,0,0,0,0,0
$GC,2591,-0.81,-146.0,291.3,-11.0,315,2596,0.20,2.72,0.00,0.000,4,0.221,0.101,2205,3894,3400,0,0,0,0,0,0
$GC,2681,-0.87,-146.0,300.2,-9.0,322,2686,0.00,2.62,0.00,0.000,6,0.000,0.077,2204,2292,3400,0,0,0,0,0,0
$GC,3006,-0.93,-146.0,328.4,-8.3,353,3010,0.00,2.72,0.00,0.000,4,0.000,0.104,2204,3892,3399,0,0,0,0,0,0
$GC,3083,-1.01,-146.0,335.3,-9.0,359,3090,0.15,2.60,0.00,0.000,6,0.118,0.077,2152,2298,3400,0,0,0,0,0,0
$GC,3408,-0.92,-146.0,370.5,-10.7,390,3413,0.12,2.70,0.00,0.000,4,0.225,0.100,2168,3887,3399,0,0,0,0,0,0
$GC,3492,-0.92,-146.0,379.6,-10.8,397,3496,0.00,2.58,0.00,0.000,6,0.000,0.076,2168,2302,3400,0,0,0,0,0,0
$GC,3818,-0.92,-146.0,412.6,-10.6,427,3822,0.00,2.62,0.00,0.000,4,0.000,0.098,2169,706,3399,0,0,0,0,0,0
$GC,3883,-0.86,-146.0,419.9,-11.5,432,3890,0.15,2.62,0.00,0.000,6,0.241,0.087,2200,2313,3399,0,0,0,0,0,0
$STATE,4015,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4015,begin apogee
$GC,4020,-0.24,0.0,431.7,9.0,445,4141,0.70,0.00,117.72,1.076,6,0.192,0.000,2397,2102,2800,0,0,0,0,0,0
$STATE,4142,end apogee,CONTROL_FINISHED_OK
$STATE,4142,begin climb
$GC,4144,1.05,146.0,435.1,0.0,457,4277,1.40,3.00,121.70,1.022,4,0.135,0.093,2808,3685,2202,0,0,0,0,0,0
$GC,4531,0.61,146.0,375.6,18.0,493,4536,0.60,2.75,0.00,0.000,6,0.226,0.079,2679,2105,2193,0,0,0,0,0,0
$GC,4855,0.62,157.2,343.6,9.5,523,4869,0.00,2.83,8.60,0.876,4,0.000,0.096,2679,3681,2159,0,0,0,0,0,0
$GC,4971,0.57,157.2,331.3,10.5,533,4977,0.00,2.70,0.00,0.000,6,0.000,0.079,2689,2093,2158,0,0,0,0,0,0
$GC,5296,0.58,162.1,299.3,9.8,564,5307,0.00,2.78,5.72,0.797,4,0.000,0.094,2689,3688,2138,0,0,0,0,0,0
$GC,5559,0.51,162.1,268.1,11.7,587,5567,0.22,2.62,0.00,0.000,6,0.199,0.079,2648,2126,2138,0,0,0,0,0,0
$GC,5885,0.72,209.4,241.1,7.8,618,5932,0.20,2.78,40.58,0.933,4,0.105,0.094,2713,3687,1945,0,0,0,0,0,0
$GC,6185,0.67,209.4,206.9,11.1,644,6191,0.00,2.58,0.00,0.000,6,0.000,0.077,2725,2163,1938,0,0,0,0,0,0
$GC,6509,0.67,209.4,170.1,11.7,675,6514,0.00,2.62,0.00,0.000,4,0.000,0.095,2724,3693,1937,0,0,0,0,0,0
$GC,6767,0.60,209.4,137.2,12.2,697,6773,0.25,2.50,0.00,0.000,6,0.199,0.079,2674,2191,1937,0,0,0,0,0,0
$GC,7093,0.86,270.3,112.5,7.2,728,7150,0.25,2.67,50.83,0.873,4,0.101,0.096,2763,3692,1696,0,0,0,0,0,0
$GC,7405,0.79,270.3,69.2,14.9,773,7411,0.17,2.47,0.00,0.000,6,0.196,0.080,2735,2229,1688,0,0,0,0,0,0
$GC,7750,0.87,270.3,31.3,10.3,834,7755,0.00,2.53,0.00,0.000,4,0.000,0.098,2734,3697,1686,0,0,0,0,0,0
$GC,7975,0.92,270.3,6.5,11.8,874,7981,0.10,2.45,0.00,0.000,6,0.132,0.082,2775,2232,1684,0,0,0,0,0,0
$STATE,8013,end climb,SURFACE_DEPTH_REACHED
$STATE,8013,begin surface coast
$FINISH,1.0,1.025701
$STATE,8032,end surface coast,CONTROL_FINISHED_OK
$STATE,8032,begin surface
$SM_CCo,8109,0.00,0.000,0,0,1677,275.23
$SM_GC,1.85,7.70,0.00,0.00,0.081,0.000,0.000,126,2305,1677,-7.32,0.11,275.23
$RAFOS_CLK,541
$RAFOS,2,1255810622,20.299999,20.283890,45,39,39,0,0,0,991,182,1829,0,0,0
$RAFOS,1,1255810145,20.166666,20.151388,44,42,40,0,0,0,599,449,755,0,0,0
$RAFOS,0,1255809664,20.033333,20.017778,43,41,40,0,0,0,978,1151,1743,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6553.70,-6023.94,110199,151532
$TT8_MAMPS,0.026845
$HUMID,52.71
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.30
$XPDR_PINGS,5
$24V_AH,23.3,12.765
$10V_AH,10.3,5.161
$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,23.625,80.525,345.150,0.000,0.000,21.923,30.214,233.062,1.250,0.000,30.654,1558.453,4547.565,426.310,1567.289,416.719,0.000,1238.739,0.000,1526.539,1080.000,0.530,0.000
$DEVICE_MAMPS,325.975,115.050,1076.101,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,645.895,608.651,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150628
$DATA_FILE_SIZE,34742,884
$CAP_FILE_SIZE,101624,0
$CFSIZE,260165632,246968320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.9
$CURRENT,0.518,184.1,1
$GPS,171009,202658,6615.154,-6020.787,8,99.0,27,-37.4