version: 66.06
glider: 143
mission: 8
dive: 14
start: 10 11 109 21 3 22
data:
$ID,143
$MISSION,8
$DIVE,14
$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,250
$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,-19091.562
$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,19
$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
$GPS1,205709,6642.578,-6028.814,60,1.4,61,-38.0
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-67.7
$GPS2,210301,6642.516,-6029.126,16,1.4,33,-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,342.7,10208,-18.3,-10.000
$D_GRID,509
$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,-146.0,0.0,0.0,0,79,0.00,0.00,-61.83,0.000,2,0.000,0.000,127,2304,2699,0,0,0,0,0,0
$GC,82,-1.05,-146.0,3.2,-3.2,12,120,10.45,2.83,-21.30,0.000,4,0.330,0.122,2132,3890,3397,0,0,0,0,0,0
$GC,374,-0.75,-146.0,62.1,-17.5,64,380,0.43,2.65,0.00,0.000,6,0.232,0.078,2235,2299,3400,0,0,0,0,0,0
$GC,716,-0.79,-146.0,103.4,-12.4,123,721,0.00,2.78,0.00,0.000,4,0.000,0.107,2235,3889,3400,0,0,0,0,0,0
$GC,973,-0.88,-146.0,136.0,-11.9,145,981,0.12,2.62,0.00,0.000,6,0.123,0.077,2197,2298,3400,0,0,0,0,0,0
$GC,1298,-0.88,-146.0,177.6,-12.3,176,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2298,3400,0,0,0,0,0,0
$GC,1618,-0.88,-146.0,218.0,-13.3,206,1622,0.00,2.75,0.00,0.000,4,0.000,0.107,2196,3888,3400,0,0,0,0,0,0
$GC,1746,-0.88,-146.0,235.2,-12.4,217,1750,0.00,2.60,0.00,0.000,6,0.000,0.078,2196,2306,3400,0,0,0,0,0,0
$GC,2070,-0.88,-146.0,272.7,-10.8,247,2071,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2306,3400,0,0,0,0,0,0
$GC,2390,-0.88,-146.0,308.3,-11.1,277,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2306,3400,0,0,0,0,0,0
$GC,2708,-0.88,-146.0,344.3,-11.4,307,2713,0.00,2.72,0.00,0.000,4,0.000,0.110,2197,3886,3399,0,0,0,0,0,0
$GC,2853,-0.88,-146.0,360.8,-10.9,319,2859,0.00,2.58,0.00,0.000,6,0.000,0.080,2196,2310,3399,0,0,0,0,0,0
$GC,3178,-0.93,-146.0,395.9,-10.5,350,3183,0.00,2.72,0.00,0.000,4,0.000,0.110,2197,3891,3399,0,0,0,0,0,0
$GC,3346,-0.99,-146.0,413.8,-9.9,364,3352,0.12,2.58,0.00,0.000,6,0.127,0.078,2155,2313,3399,0,0,0,0,0,0
$GC,3670,-0.91,-146.0,451.2,-11.4,395,3675,0.12,2.67,0.00,0.000,4,0.234,0.100,2185,717,3398,0,0,0,0,0,0
$GC,3765,-0.91,-146.0,462.3,-10.8,403,3770,0.00,2.65,0.00,0.000,6,0.000,0.089,2185,2326,3399,0,0,0,0,0,0
$GC,4091,-0.91,-146.0,495.2,-9.8,433,4095,0.00,2.67,0.00,0.000,4,0.000,0.110,2185,3893,3399,0,0,0,0,0,0
$STATE,4222,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4223,begin apogee
$GC,4231,-0.24,0.0,509.1,10.3,444,4356,0.75,0.00,117.97,1.137,6,0.202,0.000,2395,2097,2800,0,0,0,0,0,0
$STATE,4357,end apogee,CONTROL_FINISHED_OK
$STATE,4357,begin climb
$GC,4359,1.05,146.0,513.5,0.0,457,4493,1.45,2.92,122.30,1.085,4,0.137,0.099,2826,515,2201,0,0,0,0,0,0
$GC,4515,0.56,146.0,499.0,16.8,472,4522,0.70,2.83,0.00,0.000,6,0.229,0.081,2668,2105,2199,0,0,0,0,0,0
$GC,4840,0.57,148.2,465.2,9.9,503,4845,0.00,2.78,0.00,0.000,4,0.000,0.100,2678,519,2193,0,0,0,0,0,0
$GC,4894,0.57,148.2,459.3,10.6,507,4901,0.00,2.70,0.00,0.000,6,0.000,0.082,2677,2104,2193,0,0,0,0,0,0
$GC,5219,0.57,152.7,427.0,9.8,538,5231,0.00,2.78,4.93,0.780,4,0.000,0.100,2689,512,2177,0,0,0,0,0,0
$GC,5405,0.52,152.7,407.3,10.5,554,5412,0.17,2.67,0.00,0.000,6,0.200,0.084,2649,2099,2176,0,0,0,0,0,0
$GC,5730,0.62,177.1,378.6,8.9,585,5761,0.00,2.78,21.58,0.991,4,0.000,0.099,2658,514,2077,0,0,0,0,0,0
$GC,5777,0.73,193.4,374.2,9.2,589,5798,0.17,2.67,15.02,0.959,6,0.119,0.082,2714,2094,2011,0,0,0,0,0,0
$GC,6122,0.73,193.4,330.8,12.6,622,6127,0.00,2.72,0.00,0.000,4,0.000,0.100,2725,518,2006,0,0,0,0,0,0
$GC,6189,0.63,193.4,322.0,13.5,627,6195,0.17,2.62,0.00,0.000,6,0.206,0.084,2686,2079,2006,0,0,0,0,0,0
$GC,6513,0.63,197.1,288.6,9.8,658,6525,0.00,2.72,3.78,0.655,4,0.000,0.100,2696,497,1997,0,0,0,0,0,0
$GC,6643,0.63,197.1,275.0,10.8,669,6649,0.00,2.62,0.00,0.000,6,0.000,0.084,2696,2067,1996,0,0,0,0,0,0
$GC,6967,0.63,197.1,242.2,10.0,700,6971,0.00,2.65,0.00,0.000,4,0.000,0.102,2707,513,1996,0,0,0,0,0,0
$GC,7066,0.63,197.1,231.6,10.9,708,7072,0.00,2.60,0.00,0.000,6,0.000,0.086,2707,2070,1996,0,0,0,0,0,0
$GC,7392,0.64,204.4,198.8,9.7,739,7406,0.00,2.70,7.78,0.861,4,0.000,0.104,2718,526,1966,0,0,0,0,0,0
$GC,7491,0.64,204.4,188.6,10.2,748,7496,0.12,2.58,0.00,0.000,6,0.207,0.086,2692,2066,1965,0,0,0,0,0,0
$GC,7815,0.77,248.9,162.5,8.0,778,7861,0.12,2.78,37.40,0.920,4,0.132,0.104,2742,525,1784,0,0,0,0,0,0
$GC,7934,0.77,248.9,149.0,12.4,789,7938,0.00,2.60,0.00,0.000,6,0.000,0.085,2742,2049,1780,0,0,0,0,0,0
$GC,8258,0.77,248.9,108.8,12.6,819,8263,0.00,2.65,0.00,0.000,4,0.000,0.105,2753,519,1777,0,0,0,0,0,0
$GC,8376,0.70,248.9,93.8,12.7,833,8382,0.20,2.58,0.00,0.000,6,0.203,0.087,2706,2051,1776,0,0,0,0,0,0
$GC,8721,0.84,272.2,60.5,8.9,894,8749,0.15,2.70,19.05,0.856,4,0.123,0.106,2764,512,1689,0,0,0,0,0,0
$GC,8890,0.78,272.2,40.5,11.9,924,8896,0.12,2.58,0.00,0.000,6,0.211,0.087,2738,2036,1685,0,0,0,0,0,0
$GC,9235,0.84,272.2,8.0,10.3,985,9241,0.00,2.62,0.00,0.000,4,0.000,0.106,2747,512,1683,0,0,0,0,0,0
$GC,9252,0.84,272.2,5.8,11.4,988,9257,0.00,2.55,0.00,0.000,6,0.000,0.084,2747,2044,1683,0,0,0,0,0,0
$STATE,9300,end climb,SURFACE_DEPTH_REACHED
$STATE,9300,begin surface coast
$FINISH,0.9,1.015613
$STATE,9336,end surface coast,CONTROL_FINISHED_OK
$STATE,9336,begin surface
$SM_CCo,9412,0.00,0.000,0,0,1679,274.74
$SM_GC,1.80,7.53,0.00,0.00,0.074,0.000,0.000,122,2303,1679,-7.33,0.06,274.74
$RAFOS_CLK,635
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6023.41,050199,181800
$TT8_MAMPS,0.026845
$HUMID,54.72
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.30
$XPDR_PINGS,5
$24V_AH,23.3,5.700
$10V_AH,10.3,1.965
$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,22.925,102.650,349.800,0.000,0.000,29.885,32.426,163.893,1.250,0.000,34.923,1748.446,5458.665,447.732,1743.731,361.352,0.000,1352.776,0.000,1698.171,0.000,0.529,0.000
$DEVICE_MAMPS,329.810,121.953,1136.694,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,735.476,690.250,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151388
$DATA_FILE_SIZE,37894,1003
$CAP_FILE_SIZE,112355,0
$CFSIZE,260165632,249933824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.6
$CURRENT,0.387,187.8,1
$GPS,111009,234324,6641.625,-6032.072,132,1.0,150,-38.0