version: 66.06
glider: 143
mission: 8
dive: 8
start: 10 11 109 3 47 55
data:
$ID,143
$MISSION,8
$DIVE,8
$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,400
$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,-18918.953
$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,14
$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
$GPS1,034207,6640.967,-6013.219,34,1.2,34,-38.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-63.1
$GPS2,034734,6640.900,-6013.140,11,2.8,30,-38.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,2000.000
$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,358.3,21968,-18.3,-10.000
$D_GRID,543
$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,15,-1.05,-146.0,0.0,0.0,0,111,0.00,0.00,-93.15,0.000,2,0.000,0.000,123,2309,2660,0,0,0,0,0,0
$GC,113,-1.05,-146.0,3.3,-3.6,18,152,10.57,2.90,-21.27,0.000,4,0.328,0.124,2132,3889,3398,0,0,0,0,0,0
$GC,327,-0.81,-146.0,46.1,-17.0,56,334,0.35,2.67,0.00,0.000,6,0.228,0.079,2215,2298,3400,0,0,0,0,0,0
$GC,673,-0.81,-146.0,91.7,-12.6,117,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2298,3401,0,0,0,0,0,0
$GC,1005,-0.81,-146.0,133.2,-13.1,154,1010,0.00,2.80,0.00,0.000,4,0.000,0.110,2215,3896,3402,0,0,0,0,0,0
$GC,1201,-0.91,-146.0,158.5,-13.2,171,1205,0.00,2.65,0.00,0.000,6,0.000,0.081,2216,2304,3401,0,0,0,0,0,0
$GC,1526,-1.01,-146.0,196.7,-10.6,201,1531,0.20,2.78,0.00,0.000,4,0.111,0.109,2142,3893,3401,0,0,0,0,0,0
$GC,1689,-0.86,-146.0,219.7,-14.2,215,1694,0.25,2.62,0.00,0.000,6,0.232,0.084,2199,2313,3401,0,0,0,0,0,0
$GC,2014,-0.92,-146.0,255.2,-10.3,245,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2313,3401,0,0,0,0,0,0
$GC,2333,-0.99,-146.0,288.6,-10.8,275,2335,0.12,0.00,0.00,0.000,6,0.136,0.000,2160,2313,3400,0,0,0,0,0,0
$GC,2651,-0.93,-146.0,329.2,-13.0,305,2656,0.00,2.72,0.00,0.000,4,0.000,0.111,2160,3888,3400,0,0,0,0,0,0
$GC,2772,-0.93,-146.0,345.2,-12.3,315,2778,0.00,2.62,0.00,0.000,6,0.000,0.081,2160,2313,3400,0,0,0,0,0,0
$GC,3097,-0.93,-146.0,384.4,-11.9,346,3101,0.00,2.72,0.00,0.000,4,0.000,0.109,2160,3896,3400,0,0,0,0,0,0
$GC,3274,-0.93,-146.0,405.7,-10.9,361,3281,0.00,2.62,0.00,0.000,6,0.000,0.080,2160,2317,3400,0,0,0,0,0,0
$GC,3601,-0.93,-146.0,442.2,-11.8,392,3606,0.00,2.70,0.00,0.000,4,0.000,0.107,2160,3892,3400,0,0,0,0,0,0
$GC,3723,-0.93,-146.0,456.4,-8.7,402,3729,0.00,2.58,0.00,0.000,6,0.000,0.078,2160,2316,3400,0,0,0,0,0,0
$GC,4048,-0.93,-146.0,494.4,-10.8,433,4049,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2316,3400,0,0,0,0,0,0
$GC,4367,-0.93,-146.0,529.7,-11.5,463,4368,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2316,3401,0,0,0,0,0,0
$STATE,4493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4493,begin apogee
$GC,4498,-0.24,0.0,543.9,10.5,475,4625,0.85,0.00,118.88,1.146,6,0.210,0.000,2391,2107,2800,0,0,0,0,0,0
$STATE,4625,end apogee,CONTROL_FINISHED_OK
$STATE,4626,begin climb
$GC,4627,1.05,146.0,547.3,0.0,488,4759,1.45,3.00,123.00,1.100,4,0.138,0.101,2822,499,2203,0,0,0,0,0,0
$GC,4782,0.58,146.0,533.1,15.8,503,4789,0.62,2.85,0.00,0.000,6,0.239,0.084,2673,2102,2200,0,0,0,0,0,0
$GC,5107,0.58,146.0,498.5,10.4,534,5111,0.00,2.78,0.00,0.000,4,0.000,0.101,2683,515,2193,0,0,0,0,0,0
$GC,5224,0.58,146.0,485.0,11.9,544,5228,0.00,2.70,0.00,0.000,6,0.000,0.085,2683,2098,2193,0,0,0,0,0,0
$GC,5549,0.50,146.0,452.3,10.5,574,5554,0.17,2.72,0.00,0.000,4,0.221,0.100,2654,505,2192,0,0,0,0,0,0
$GC,5700,0.56,154.7,438.7,9.6,587,5714,0.00,2.67,6.60,0.870,6,0.000,0.084,2654,2095,2168,0,0,0,0,0,0
$GC,6040,0.62,156.4,408.8,9.9,619,6044,0.00,2.70,0.00,0.000,4,0.000,0.100,2666,513,2168,0,0,0,0,0,0
$GC,6056,0.62,156.4,407.1,10.3,620,6060,0.00,2.62,0.00,0.000,6,0.000,0.085,2666,2090,2168,0,0,0,0,0,0
$GC,6380,0.62,156.4,375.9,10.1,650,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2090,2168,0,0,0,0,0,0
$GC,6700,0.67,156.4,343.4,11.0,680,6704,0.00,2.67,0.00,0.000,4,0.000,0.101,2678,511,2168,0,0,0,0,0,0
$GC,6731,0.67,156.4,339.6,11.4,682,6738,0.00,2.62,0.00,0.000,6,0.000,0.086,2678,2090,2168,0,0,0,0,0,0
$GC,7056,0.67,156.4,305.1,10.3,713,7061,0.00,2.67,0.00,0.000,4,0.000,0.100,2689,506,2168,0,0,0,0,0,0
$GC,7178,0.67,156.4,292.1,10.5,723,7185,0.00,2.62,0.00,0.000,6,0.000,0.087,2690,2087,2168,0,0,0,0,0,0
$GC,7504,0.71,187.5,260.8,8.6,754,7538,0.00,2.78,27.38,0.937,4,0.000,0.102,2701,518,2035,0,0,0,0,0,0
$GC,7559,0.71,187.5,255.6,10.2,759,7566,0.00,2.62,0.00,0.000,6,0.000,0.086,2701,2076,2034,0,0,0,0,0,0
$GC,7885,0.72,195.6,224.9,9.6,790,7899,0.00,2.75,7.57,0.836,4,0.000,0.102,2712,514,2002,0,0,0,0,0,0
$GC,7966,0.72,195.6,216.4,10.7,797,7973,0.00,2.62,0.00,0.000,6,0.000,0.086,2713,2075,2001,0,0,0,0,0,0
$GC,8291,0.73,204.2,185.0,9.6,828,8305,0.00,2.75,8.55,0.848,4,0.000,0.102,2724,512,1967,0,0,0,0,0,0
$GC,8316,0.73,204.2,182.2,10.7,830,8322,0.00,2.62,0.00,0.000,6,0.000,0.087,2724,2079,1966,0,0,0,0,0,0
$GC,8643,0.73,204.2,149.3,10.7,861,8648,0.00,2.67,0.00,0.000,4,0.000,0.102,2736,512,1964,0,0,0,0,0,0
$GC,8652,0.73,204.2,148.0,10.8,861,8660,0.00,2.65,0.00,0.000,6,0.000,0.086,2736,2099,1964,0,0,0,0,0,0
$GC,8977,0.73,204.3,114.1,10.0,892,8982,0.00,2.70,0.00,0.000,4,0.000,0.104,2747,512,1963,0,0,0,0,0,0
$GC,9096,0.65,204.3,102.0,10.0,902,9101,0.22,2.60,0.00,0.000,6,0.212,0.089,2694,2072,1963,0,0,0,0,0,0
$GC,9439,0.81,250.0,76.6,7.9,960,9486,0.15,2.78,37.47,0.866,4,0.127,0.105,2752,522,1779,0,0,0,0,0,0
$GC,9644,0.81,250.0,55.0,10.6,997,9650,0.00,2.62,0.00,0.000,6,0.000,0.090,2753,2064,1774,0,0,0,0,0,0
$GC,9988,0.85,276.8,21.4,8.8,1058,10019,0.00,2.95,21.73,0.828,4,0.000,0.108,2752,3691,1670,0,0,0,0,0,0
$GC,10036,0.85,276.8,16.7,10.5,1067,10042,0.00,2.80,0.00,0.000,6,0.000,0.086,2764,2060,1668,0,0,0,0,0,0
$STATE,10193,end climb,SURFACE_DEPTH_REACHED
$STATE,10193,begin surface coast
$FINISH,1.1,1.025367
$STATE,10211,end surface coast,CONTROL_FINISHED_OK
$STATE,10211,begin surface
$SM_CCo,10227,68.93,0.807,0,0,1168,400.08
$SM_GC,1.93,0.00,0.00,68.93,0.000,0.000,0.807,125,2310,1168,-7.36,0.25,400.08
$RAFOS_CLK,685
$RAFOS,4,1255236250,4.750000,4.736111,43,41,41,0,0,0,1825,299,619,0,0,0
$RAFOS,3,1255235642,4.583333,4.567222,43,43,42,0,0,0,275,326,1614,0,0,0
$RAFOS,2,1255235045,4.416667,4.401389,43,43,43,0,0,0,659,841,1868,0,0,0
$RAFOS,1,1255234444,4.250000,4.234445,48,43,42,0,0,0,908,1788,1069,0,0,0
$RAFOS,0,1255233846,4.083333,4.068333,44,42,39,0,0,0,310,1620,1652,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6009.24,050199,000030
$TT8_MAMPS,0.027612
$HUMID,56.41
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,16.30
$XPDR_PINGS,5
$24V_AH,23.3,4.940
$10V_AH,10.3,1.596
$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,22.825,103.775,351.175,68.925,0.000,25.223,32.516,143.066,1.250,0.000,32.523,1916.140,5972.864,562.943,1823.668,345.074,0.000,1505.338,0.000,1782.597,1800.000,0.529,0.000
$DEVICE_MAMPS,328.276,124.254,1145.898,806.884,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,807.745,756.286,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151424
$DATA_FILE_SIZE,44190,1098
$CAP_FILE_SIZE,118047,0
$CFSIZE,260165632,250298368
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.0
$CURRENT,0.123,225.6,1
$GPS,111009,064055,6641.738,-6016.355,39,1.9,39,-38.0