version: 66.06
glider: 143
mission: 8
dive: 15
start: 10 11 109 23 50 39
data:
$ID,143
$MISSION,8
$DIVE,15
$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,-19124.764
$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,21
$R_STBD_OVSHOOT,17
$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
$GPS1,234324,6641.625,-6032.072,132,1.0,150,-38.0
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-67.6
$GPS2,235019,6641.578,-6032.298,14,1.0,31,-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,358.7,7878,-18.3,-10.000
$D_GRID,504
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.05,-146.0,0.0,0.0,0,82,0.00,0.00,-63.38,0.000,2,0.000,0.000,121,2306,2681,0,0,0,0,0,0
$GC,84,-1.05,-146.0,3.2,-4.0,12,127,10.55,2.88,-22.55,0.000,4,0.331,0.125,2131,3885,3399,0,0,0,0,0,0
$GC,381,-0.78,-146.0,63.4,-19.1,65,387,0.38,2.65,0.00,0.000,6,0.231,0.079,2221,2301,3401,0,0,0,0,0,0
$GC,722,-0.78,-146.0,108.7,-13.2,120,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2301,3402,0,0,0,0,0,0
$GC,1040,-0.78,-146.0,147.7,-11.1,150,1044,0.00,2.78,0.00,0.000,4,0.000,0.110,2221,3885,3402,0,0,0,0,0,0
$GC,1139,-0.84,-146.0,159.1,-11.5,158,1146,0.00,2.62,0.00,0.000,6,0.000,0.079,2221,2298,3402,0,0,0,0,0,0
$GC,1464,-0.90,-146.0,193.6,-10.3,189,1465,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2298,3402,0,0,0,0,0,0
$GC,1785,-0.98,-146.0,225.1,-9.6,219,1791,0.17,2.75,0.00,0.000,4,0.118,0.105,2154,3886,3401,0,0,0,0,0,0
$GC,1909,-0.83,-146.0,241.2,-12.5,229,1916,0.22,2.62,0.00,0.000,6,0.232,0.081,2204,2300,3401,0,0,0,0,0,0
$GC,2235,-0.83,-146.0,273.4,-10.0,260,2239,0.00,2.75,0.00,0.000,4,0.000,0.110,2204,3888,3401,0,0,0,0,0,0
$GC,2329,-0.83,-146.0,282.8,-10.4,268,2334,0.00,2.60,0.00,0.000,6,0.000,0.081,2205,2307,3400,0,0,0,0,0,0
$GC,2654,-0.88,-146.0,313.7,-9.3,298,2658,0.00,2.67,0.00,0.000,4,0.000,0.106,2205,712,3400,0,0,0,0,0,0
$GC,2719,-0.88,-146.0,320.9,-11.1,303,2726,0.00,2.67,0.00,0.000,6,0.000,0.093,2205,2317,3401,0,0,0,0,0,0
$GC,3046,-0.95,-146.0,351.3,-8.7,334,3051,0.00,2.70,0.00,0.000,4,0.000,0.112,2205,3890,3400,0,0,0,0,0,0
$GC,3236,-1.04,-146.0,368.9,-9.4,350,3243,0.20,2.60,0.00,0.000,6,0.113,0.080,2140,2306,3399,0,0,0,0,0,0
$GC,3561,-0.90,-146.0,408.6,-12.5,381,3563,0.20,0.00,0.00,0.000,6,0.225,0.000,2185,2305,3399,0,0,0,0,0,0
$GC,3880,-0.90,-146.0,442.4,-10.0,411,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2305,3399,0,0,0,0,0,0
$GC,4199,-0.90,-146.0,476.3,-10.6,441,4203,0.00,2.72,0.00,0.000,4,0.000,0.109,2185,3892,3399,0,0,0,0,0,0
$GC,4383,-0.94,-146.0,495.8,-10.3,457,4388,0.00,2.58,0.00,0.000,6,0.000,0.077,2185,2310,3399,0,0,0,0,0,0
$STATE,4472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4472,begin apogee
$GC,4477,-0.24,0.0,504.8,10.2,465,4599,0.75,0.00,117.95,1.135,6,0.198,0.000,2394,2103,2800,0,0,0,0,0,0
$STATE,4600,end apogee,CONTROL_FINISHED_OK
$STATE,4600,begin climb
$GC,4601,1.05,146.0,508.4,0.0,477,4729,1.42,0.00,122.93,1.079,6,0.135,0.000,2810,2103,2204,0,0,0,0,0,0
$GC,5046,0.68,146.0,448.0,15.2,520,5048,0.45,0.00,0.00,0.000,6,0.225,0.000,2705,2103,2194,0,0,0,0,0,0
$GC,5365,0.61,146.0,413.3,10.9,550,5369,0.00,2.72,0.00,0.000,4,0.000,0.103,2714,515,2193,0,0,0,0,0,0
$GC,5427,0.48,146.0,406.2,11.8,555,5432,0.30,2.65,0.00,0.000,6,0.198,0.083,2641,2095,2193,0,0,0,0,0,0
$GC,5751,0.63,173.7,377.9,8.7,585,5783,0.15,2.85,22.02,0.986,4,0.120,0.101,2700,515,2090,0,0,0,0,0,0
$GC,5896,0.56,173.7,361.7,11.5,598,5902,0.15,2.67,0.00,0.000,6,0.196,0.085,2667,2089,2087,0,0,0,0,0,0
$GC,6222,0.61,173.7,328.6,10.6,628,6223,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2089,2086,0,0,0,0,0,0
$GC,6541,0.70,182.2,296.4,9.6,658,6557,0.12,2.78,7.85,0.876,4,0.136,0.103,2715,515,2057,0,0,0,0,0,0
$GC,6668,0.63,182.2,281.4,12.1,669,6675,0.12,2.65,0.00,0.000,6,0.203,0.087,2689,2091,2056,0,0,0,0,0,0
$GC,6993,0.66,207.0,250.5,8.9,700,7025,0.00,2.75,21.70,0.943,4,0.000,0.100,2698,515,1955,0,0,0,0,0,0
$GC,7164,0.66,207.0,233.9,10.1,715,7170,0.00,2.65,0.00,0.000,6,0.000,0.085,2698,2083,1951,0,0,0,0,0,0
$GC,7490,0.76,240.8,205.3,8.4,746,7524,0.00,2.80,28.38,0.933,4,0.000,0.103,2710,525,1817,0,0,0,0,0,0
$GC,7636,0.76,241.3,191.5,10.0,759,7643,0.00,2.62,0.00,0.000,6,0.000,0.084,2710,2069,1814,0,0,0,0,0,0
$GC,7963,0.83,241.3,159.8,10.3,790,7968,0.12,2.70,0.00,0.000,4,0.126,0.104,2762,516,1811,0,0,0,0,0,0
$GC,8047,0.74,241.3,149.0,12.8,797,8053,0.17,2.60,0.00,0.000,6,0.208,0.085,2723,2065,1811,0,0,0,0,0,0
$GC,8372,0.74,241.3,114.8,10.3,827,8376,0.00,2.67,0.00,0.000,4,0.000,0.104,2732,511,1810,0,0,0,0,0,0
$GC,8535,0.74,241.3,97.4,11.2,843,8541,0.00,2.58,0.00,0.000,6,0.000,0.087,2732,2055,1810,0,0,0,0,0,0
$GC,8878,0.74,241.3,63.2,10.2,904,8883,0.00,2.62,0.00,0.000,4,0.000,0.105,2743,515,1809,0,0,0,0,0,0
$GC,9057,0.74,241.3,44.0,10.6,936,9063,0.00,2.55,0.00,0.000,6,0.000,0.088,2743,2049,1809,0,0,0,0,0,0
$GC,9401,0.81,297.4,12.1,7.4,997,9453,0.00,0.00,45.33,0.842,6,0.000,0.000,2743,2049,1586,0,0,0,0,0,0
$STATE,9497,end climb,SURFACE_DEPTH_REACHED
$STATE,9497,begin surface coast
$FINISH,1.0,1.003936
$STATE,9526,end surface coast,CONTROL_FINISHED_OK
$STATE,9526,begin surface
$SM_CCo,9601,0.00,0.000,0,0,1576,300.00
$SM_GC,1.96,7.82,0.00,0.00,0.087,0.000,0.000,124,2301,1576,-7.32,0.03,300.00
$RAFOS_CLK,653
$RAFOS,4,1255308247,0.750000,0.735278,41,41,41,0,0,0,367,741,1126,0,0,0
$RAFOS,3,1255307648,0.583333,0.568889,46,46,39,0,0,0,299,458,1103,0,0,0
$RAFOS,2,1255307047,0.416667,0.401944,45,39,38,0,0,0,238,1204,1322,0,0,0
$RAFOS,1,1255306448,0.250000,0.235556,41,41,40,0,0,0,313,1060,1260,0,0,0
$RAFOS,0,1255305843,0.083333,0.067500,46,43,42,0,0,0,1195,845,526,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6030.83,050199,212135
$TT8_MAMPS,0.026845
$HUMID,53.93
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,16.40
$XPDR_PINGS,5
$24V_AH,23.3,5.826
$10V_AH,10.3,2.028
$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,23.325,81.275,366.150,0.000,0.000,29.141,32.699,231.647,1.250,0.000,32.572,1798.305,5605.570,464.398,1713.659,433.035,0.000,1340.809,0.000,1674.761,1800.000,0.529,0.000
$DEVICE_MAMPS,331.344,125.021,1135.160,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,749.995,703.520,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151376
$DATA_FILE_SIZE,37814,1020
$CAP_FILE_SIZE,111094,0
$CFSIZE,260165632,249872384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.3
$CURRENT,0.448,186.2,1
$GPS,121009,023401,6640.456,-6034.609,157,1.1,157,-38.0