version: 66.06
glider: 143
mission: 8
dive: 16
start: 10 12 109 2 39 49
data:
$ID,143
$MISSION,8
$DIVE,16
$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,-19141.092
$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
$GPS1,023401,6640.456,-6034.609,157,1.1,157,-38.0
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-66.3
$GPS2,023926,6640.371,-6034.583,14,1.0,14,-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,19.1,6864,-18.3,-10.000
$D_GRID,500
$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,14,-1.05,-146.0,0.0,0.0,0,81,0.00,0.00,-64.85,0.000,2,0.000,0.000,124,2304,2586,0,0,0,0,0,0
$GC,84,-1.05,-146.0,3.1,-4.0,12,127,10.45,2.83,-26.38,0.000,4,0.328,0.119,2130,3891,3398,0,0,0,0,0,0
$GC,313,-0.78,-146.0,50.2,-18.6,53,319,0.40,2.67,0.00,0.000,6,0.229,0.078,2226,2300,3400,0,0,0,0,0,0
$GC,656,-0.78,-146.0,92.7,-11.2,114,663,0.00,2.70,0.00,0.000,4,0.000,0.102,2226,712,3401,0,0,0,0,0,0
$GC,747,-0.78,-146.0,103.8,-12.1,128,752,0.00,2.67,0.00,0.000,6,0.000,0.091,2226,2304,3401,0,0,0,0,0,0
$GC,1071,-0.78,-146.0,139.6,-10.7,158,1075,0.00,2.75,0.00,0.000,4,0.000,0.112,2226,3887,3401,0,0,0,0,0,0
$GC,1201,-0.84,-146.0,153.8,-11.6,169,1205,0.00,2.65,0.00,0.000,6,0.000,0.079,2226,2289,3401,0,0,0,0,0,0
$GC,1527,-0.92,-146.0,190.6,-11.0,199,1529,0.15,0.00,0.00,0.000,6,0.121,0.000,2179,2288,3401,0,0,0,0,0,0
$GC,1844,-0.83,-146.0,230.8,-12.6,229,1849,0.12,2.80,0.00,0.000,4,0.237,0.109,2194,3893,3401,0,0,0,0,0,0
$GC,1921,-0.83,-146.0,240.1,-11.6,235,1927,0.00,2.65,0.00,0.000,6,0.000,0.081,2194,2295,3401,0,0,0,0,0,0
$GC,2246,-0.83,-146.0,277.9,-12.0,266,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2295,3400,0,0,0,0,0,0
$GC,2566,-0.83,-146.0,316.4,-12.2,296,2570,0.00,2.75,0.00,0.000,4,0.000,0.111,2194,3887,3400,0,0,0,0,0,0
$GC,2653,-0.83,-146.0,327.3,-12.4,303,2660,0.00,2.62,0.00,0.000,6,0.000,0.081,2194,2293,3400,0,0,0,0,0,0
$GC,2978,-0.83,-146.0,363.8,-11.4,334,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2293,3399,0,0,0,0,0,0
$GC,3298,-0.83,-146.0,398.8,-10.4,364,3302,0.00,2.75,0.00,0.000,4,0.000,0.108,2194,3892,3399,0,0,0,0,0,0
$GC,3404,-0.83,-146.0,410.3,-10.8,373,3408,0.00,2.62,0.00,0.000,6,0.000,0.079,2194,2298,3399,0,0,0,0,0,0
$GC,3728,-0.83,-146.0,444.4,-10.8,403,3733,0.00,2.72,0.00,0.000,4,0.000,0.109,2194,3886,3399,0,0,0,0,0,0
$GC,3812,-0.88,-146.0,453.4,-10.8,410,3816,0.00,2.58,0.00,0.000,6,0.000,0.078,2194,2308,3399,0,0,0,0,0,0
$GC,4136,-0.93,-146.0,488.5,-10.7,440,4141,0.00,2.70,0.00,0.000,4,0.000,0.107,2194,3887,3399,0,0,0,0,0,0
$STATE,4240,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4240,begin apogee
$GC,4248,-0.24,0.0,500.1,11.0,449,4374,0.73,0.00,118.07,1.135,6,0.199,0.000,2397,2095,2799,0,0,0,0,0,0
$STATE,4374,end apogee,CONTROL_FINISHED_OK
$STATE,4374,begin climb
$GC,4376,1.05,146.0,504.4,0.0,462,4505,1.45,0.00,122.78,1.080,6,0.138,0.000,2815,2095,2203,0,0,0,0,0,0
$GC,4822,0.62,146.0,444.9,15.9,505,4825,0.55,0.00,0.00,0.000,6,0.227,0.000,2685,2095,2194,0,0,0,0,0,0
$GC,5141,0.63,153.7,413.0,9.6,535,5153,0.00,2.75,6.03,0.836,4,0.000,0.102,2694,510,2173,0,0,0,0,0,0
$GC,5164,0.65,171.0,410.8,9.2,537,5186,0.00,2.70,15.65,0.971,6,0.000,0.081,2694,2108,2103,0,0,0,0,0,0
$GC,5503,0.65,171.0,373.3,10.8,569,5508,0.00,2.78,0.00,0.000,4,0.000,0.100,2706,508,2100,0,0,0,0,0,0
$GC,5591,0.57,171.0,363.0,11.3,576,5598,0.17,2.67,0.00,0.000,6,0.199,0.083,2666,2098,2099,0,0,0,0,0,0
$GC,5917,0.64,171.0,330.9,10.6,607,5921,0.00,2.70,0.00,0.000,4,0.000,0.100,2676,516,2099,0,0,0,0,0,0
$GC,6090,0.70,171.0,312.0,10.5,622,6095,0.00,2.62,0.00,0.000,6,0.000,0.084,2675,2094,2100,0,0,0,0,0,0
$GC,6415,0.79,187.6,280.3,9.2,652,6437,0.17,2.75,14.77,0.940,4,0.116,0.102,2746,514,2034,0,0,0,0,0,0
$GC,6572,0.68,187.6,260.7,13.3,666,6577,0.20,2.65,0.00,0.000,6,0.210,0.087,2699,2086,2032,0,0,0,0,0,0
$GC,6896,0.70,202.5,228.6,9.3,696,6917,0.00,2.78,13.38,0.920,4,0.000,0.102,2709,514,1974,0,0,0,0,0,0
$GC,7045,0.70,202.5,213.6,10.4,709,7052,0.00,2.67,0.00,0.000,6,0.000,0.085,2709,2106,1972,0,0,0,0,0,0
$GC,7370,0.71,214.1,181.6,9.5,740,7386,0.00,2.78,10.62,0.890,4,0.000,0.104,2720,513,1926,0,0,0,0,0,0
$GC,7456,0.71,214.1,173.3,10.3,747,7460,0.00,2.62,0.00,0.000,6,0.000,0.086,2721,2068,1925,0,0,0,0,0,0
$GC,7780,0.73,230.5,143.1,9.2,777,7802,0.00,2.72,14.68,0.894,4,0.000,0.104,2732,518,1859,0,0,0,0,0,0
$GC,7848,0.73,230.5,136.5,10.4,783,7852,0.00,2.62,0.00,0.000,6,0.000,0.086,2732,2068,1858,0,0,0,0,0,0
$GC,8172,0.75,247.5,105.6,9.2,813,8194,0.00,2.70,15.07,0.884,4,0.000,0.104,2743,519,1791,0,0,0,0,0,0
$GC,8335,0.75,247.5,88.7,10.7,837,8340,0.00,2.60,0.00,0.000,6,0.000,0.087,2743,2056,1788,0,0,0,0,0,0
$GC,8677,0.76,251.4,52.1,9.8,898,8689,0.00,2.67,4.40,0.688,4,0.000,0.106,2754,518,1774,0,0,0,0,0,0
$GC,8820,0.78,268.9,38.8,9.2,923,8842,0.00,2.58,16.17,0.852,6,0.000,0.087,2754,2052,1703,0,0,0,0,0,0
$GC,9182,0.78,268.9,2.3,14.1,987,9187,0.00,2.83,0.00,0.000,4,0.000,0.102,2754,3697,1695,0,0,0,0,0,0
$STATE,9191,end climb,SURFACE_DEPTH_REACHED
$STATE,9191,begin surface coast
$FINISH,0.7,1.025511
$STATE,9209,end surface coast,CONTROL_FINISHED_OK
$STATE,9209,begin surface
$SM_CCo,9287,0.00,0.000,0,0,1691,272.04
$SM_GC,1.82,7.90,0.00,0.00,0.099,0.000,0.000,126,2299,1691,-7.33,-0.03,272.04
$RAFOS_CLK,624
$RAFOS,4,1255322641,4.750000,4.733611,44,42,39,0,0,0,1003,1495,1517,0,0,0
$RAFOS,3,1255322051,4.583333,4.569722,46,44,44,0,0,0,1939,163,427,0,0,0
$RAFOS,2,1255321442,4.416667,4.400556,42,42,41,0,0,0,1278,1861,425,0,0,0
$RAFOS,1,1255320848,4.250000,4.235556,49,41,40,0,0,0,1321,1183,1622,0,0,0
$RAFOS,0,1255320243,4.083333,4.067500,47,39,39,0,0,0,828,1284,1876,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6033.50,050199,232349
$TT8_MAMPS,0.027612
$HUMID,54.84
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.30
$XPDR_PINGS,6
$24V_AH,23.3,5.944
$10V_AH,10.3,2.089
$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,22.300,97.050,351.625,0.000,0.000,28.920,35.522,153.575,1.500,0.000,15.698,1743.880,5415.825,466.108,1634.188,353.152,0.000,1315.121,0.000,1612.313,1800.000,0.530,0.000
$DEVICE_MAMPS,328.276,118.885,1135.160,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,729.079,683.363,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151376
$DATA_FILE_SIZE,37915,992
$CAP_FILE_SIZE,106885,0
$CFSIZE,260165632,249819136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.9
$CURRENT,0.268,187.9,1
$GPS,121009,051651,6640.387,-6035.708,72,99.0,91,-38.0