version: 66.06
glider: 143
mission: 8
dive: 72
start: 10 17 109 22 54 57
data:
$ID,143
$MISSION,8
$DIVE,72
$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,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,-21803.963
$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,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
$GPS1,224807,6614.883,-6021.879,32,1.3,32,-37.4
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-69.1
$GPS2,225407,6614.876,-6021.964,13,1.3,13,-37.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SW
$TGT_LATLONG,6619.000,-5907.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.256,0.046
$KALMAN_X,-736.7,-736.7,-736.7,1461.4,-1017.4
$KALMAN_Y,-167.0,-167.0,-167.0,121.9,-230.7
$MHEAD_RNG_PITCHd_Wd,117.3,56288,-18.3,-10.000
$D_GRID,423
$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,-146.0,0.0,0.0,0,93,0.00,0.00,-75.18,0.000,2,0.000,0.000,124,2295,2784,0,0,0,0,0,0
$GC,95,-1.05,-146.0,3.2,-4.1,15,132,10.52,2.72,-19.45,0.000,4,0.330,0.107,2131,709,3397,0,0,0,0,0,0
$GC,386,-0.78,-146.0,60.2,-18.5,67,392,0.40,2.67,0.00,0.000,6,0.234,0.087,2227,2302,3401,0,0,0,0,0,0
$GC,728,-0.78,-146.0,104.4,-12.4,125,732,0.00,2.70,0.00,0.000,4,0.000,0.097,2227,709,3402,0,0,0,0,0,0
$GC,811,-0.78,-146.0,115.2,-12.5,132,816,0.00,2.65,0.00,0.000,6,0.000,0.087,2227,2297,3402,0,0,0,0,0,0
$GC,1136,-0.86,-146.0,149.0,-10.2,162,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2297,3402,0,0,0,0,0,0
$GC,1456,-0.94,-146.0,179.4,-9.0,192,1461,0.17,2.72,0.00,0.000,4,0.112,0.103,2158,3886,3402,0,0,0,0,0,0
$GC,1466,-0.94,-146.0,180.5,-9.0,192,1472,0.00,2.70,0.00,0.000,6,0.000,0.077,2158,2248,3401,0,0,0,0,0,0
$GC,1791,-0.80,-146.0,219.3,-12.0,223,1796,0.25,2.60,0.00,0.000,4,0.234,0.100,2223,703,3402,0,0,0,0,0,0
$GC,2048,-0.89,-146.0,245.6,-10.8,245,2054,0.00,2.62,0.00,0.000,6,0.000,0.087,2223,2297,3401,0,0,0,0,0,0
$GC,2374,-1.00,-146.0,277.5,-9.7,276,2379,0.20,2.67,0.00,0.000,4,0.103,0.099,2155,706,3400,0,0,0,0,0,0
$GC,2481,-0.87,-146.0,292.1,-14.7,285,2487,0.17,2.62,0.00,0.000,6,0.238,0.087,2195,2299,3400,0,0,0,0,0,0
$GC,2806,-0.87,-146.0,327.1,-9.8,315,2807,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2299,3399,0,0,0,0,0,0
$GC,3126,-0.92,-146.0,356.4,-9.5,345,3127,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2299,3400,0,0,0,0,0,0
$GC,3444,-0.92,-146.0,385.4,-9.1,375,3449,0.00,2.70,0.00,0.000,4,0.000,0.105,2195,3895,3399,0,0,0,0,0,0
$GC,3454,-0.96,-146.0,386.3,-8.9,375,3460,0.00,2.60,0.00,0.000,6,0.000,0.077,2196,2293,3399,0,0,0,0,0,0
$GC,3779,-1.03,-146.0,417.2,-9.9,406,3784,0.15,2.72,0.00,0.000,4,0.112,0.101,2142,3889,3399,0,0,0,0,0,0
$GC,3789,-1.03,-146.0,418.4,-9.9,406,3795,0.00,2.55,0.00,0.000,6,0.000,0.075,2142,2312,3399,0,0,0,0,0,0
$STATE,3836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3836,begin apogee
$GC,3841,-0.24,0.0,424.0,12.0,411,3963,0.95,0.00,117.65,1.075,6,0.208,0.000,2398,2102,2800,0,0,0,0,0,0
$STATE,3963,end apogee,CONTROL_FINISHED_OK
$STATE,3963,begin climb
$GC,3965,1.05,146.0,427.7,0.0,423,4099,1.40,2.88,121.50,1.018,4,0.135,0.094,2811,3679,2201,0,0,0,0,0,0
$GC,4351,0.62,146.0,368.4,18.5,458,4358,0.57,2.72,0.00,0.000,6,0.224,0.079,2687,2106,2193,0,0,0,0,0,0
$GC,4676,0.62,146.0,334.6,10.1,489,4680,0.00,2.78,0.00,0.000,4,0.000,0.096,2687,3693,2190,0,0,0,0,0,0
$GC,4933,0.57,146.0,305.9,11.3,511,4939,0.15,2.62,0.00,0.000,6,0.202,0.078,2663,2134,2189,0,0,0,0,0,0
$GC,5258,0.70,172.0,277.2,8.8,542,5285,0.15,2.72,20.67,0.935,4,0.119,0.096,2710,3686,2097,0,0,0,0,0,0
$GC,5538,0.59,172.0,241.6,12.3,566,5544,0.20,2.62,0.00,0.000,6,0.202,0.081,2676,2131,2094,0,0,0,0,0,0
$GC,5862,0.71,193.5,211.5,9.0,597,5889,0.12,2.72,18.80,0.908,4,0.130,0.097,2713,3686,2009,0,0,0,0,0,0
$GC,6142,0.64,193.5,178.5,11.6,622,6147,0.15,2.65,0.00,0.000,6,0.202,0.081,2692,2121,2005,0,0,0,0,0,0
$GC,6467,0.77,214.7,149.0,9.0,652,6492,0.12,2.75,18.55,0.889,4,0.125,0.097,2729,3691,1923,0,0,0,0,0,0
$GC,6745,0.77,214.7,116.4,13.0,677,6749,0.00,2.60,0.00,0.000,6,0.000,0.082,2742,2155,1919,0,0,0,0,0,0
$GC,7081,0.77,214.7,79.4,10.1,724,7087,0.00,2.62,0.00,0.000,4,0.000,0.099,2742,3688,1917,0,0,0,0,0,0
$GC,7340,0.77,214.7,52.7,10.6,770,7345,0.00,2.50,0.00,0.000,6,0.000,0.083,2752,2193,1915,0,0,0,0,0,0
$GC,7684,0.77,214.7,22.6,10.4,831,7690,0.00,2.55,0.00,0.000,4,0.000,0.100,2752,3688,1914,0,0,0,0,0,0
$STATE,7868,end climb,SURFACE_DEPTH_REACHED
$STATE,7869,begin surface coast
$FINISH,1.0,1.016017
$STATE,7886,end surface coast,CONTROL_FINISHED_OK
$STATE,7886,begin surface
$SM_CCo,7904,46.67,0.833,0,0,1677,275.23
$SM_GC,1.97,0.00,0.00,46.67,0.000,0.000,0.833,130,2298,1677,-7.35,-0.06,275.23
$RAFOS_CLK,536
$RAFOS,6,1255826941,0.833333,0.816944,47,44,43,0,0,0,1015,982,1459,0,0,0
$RAFOS,5,1255826467,0.700000,0.685278,46,39,38,0,0,0,1128,1652,589,0,0,0
$RAFOS,4,1255825983,0.566667,0.550833,48,44,41,0,0,0,579,544,1288,0,0,0
$RAFOS,3,1255825504,0.433333,0.417778,38,38,37,0,0,0,1920,1934,498,0,0,0
$RAFOS,2,1255825023,0.300000,0.284167,47,44,44,0,0,0,1337,172,1295,0,0,0
$RAFOS,1,1255824548,0.166667,0.152222,50,47,40,0,0,0,1188,404,357,0,0,0
$RAFOS,0,1255824066,0.033333,0.018333,45,43,41,0,0,0,879,1559,371,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6548.42,-6024.58,110199,202027
$TT8_MAMPS,0.027612
$HUMID,52.87
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.30
$XPDR_PINGS,4
$24V_AH,23.3,12.991
$10V_AH,10.2,5.267
$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,23.300,74.725,297.175,46.675,0.000,29.074,35.231,192.308,1.000,0.000,14.965,1438.355,4536.938,429.348,1527.203,382.722,30.184,1221.281,0.000,1501.049,2520.000,0.530,0.000
$DEVICE_MAMPS,329.810,107.380,1074.567,832.962,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,637.102,598.031,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150540
$DATA_FILE_SIZE,34782,867
$CAP_FILE_SIZE,98451,0
$CFSIZE,260165632,246865920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.4
$GPS,181009,010836,6615.369,-6021.101,22,2.0,22,-37.4