version: 66.06
glider: 143
mission: 8
dive: 17
start: 10 12 109 5 24 42
data:
$ID,143
$MISSION,8
$DIVE,17
$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,-19200.332
$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
$GPS1,051651,6640.387,-6035.708,72,99.0,91,-38.0
$_CALLS,1
$_XMS_NAKs,24
$_XMS_TOUTs,1
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-62.1
$GPS2,052422,6640.213,-6035.670,37,99.0,56,-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,24.6,6308,-18.3,-10.000
$D_GRID,497
$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,-146.0,0.0,0.0,0,78,0.00,0.00,-59.72,0.000,2,0.000,0.000,125,2294,2642,0,0,0,0,0,0
$GC,81,-1.05,-146.0,3.1,-2.4,11,123,10.60,0.00,-27.48,0.000,6,0.333,0.000,2130,2294,3398,0,0,0,0,0,0
$GC,462,-0.73,-146.0,78.9,-16.7,79,468,0.40,0.00,0.00,0.000,6,0.232,0.000,2232,2294,3401,0,0,0,0,0,0
$GC,801,-0.73,-146.0,118.4,-11.3,126,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2294,3402,0,0,0,0,0,0
$GC,1121,-0.79,-146.0,153.8,-11.5,156,1126,0.00,2.78,0.00,0.000,4,0.000,0.109,2232,3890,3402,0,0,0,0,0,0
$GC,1306,-0.90,-146.0,172.6,-9.6,172,1312,0.15,2.65,0.00,0.000,6,0.120,0.079,2185,2289,3401,0,0,0,0,0,0
$GC,1631,-0.83,-146.0,213.0,-12.5,202,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2290,3401,0,0,0,0,0,0
$GC,1950,-0.78,-146.0,252.8,-12.8,232,1956,0.17,2.80,0.00,0.000,4,0.225,0.109,2214,3895,3401,0,0,0,0,0,0
$GC,2118,-0.83,-146.0,272.1,-11.1,246,2125,0.00,2.62,0.00,0.000,6,0.000,0.081,2214,2301,3401,0,0,0,0,0,0
$GC,2444,-0.89,-146.0,308.4,-10.5,277,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2300,3401,0,0,0,0,0,0
$GC,2763,-0.96,-146.0,339.0,-9.2,307,2769,0.12,2.78,0.00,0.000,4,0.129,0.110,2170,3895,3400,0,0,0,0,0,0
$GC,2906,-0.90,-146.0,354.7,-10.9,319,2910,0.00,2.62,0.00,0.000,6,0.000,0.081,2170,2301,3400,0,0,0,0,0,0
$GC,3230,-0.84,-146.0,388.4,-9.4,349,3235,0.15,2.67,0.00,0.000,4,0.237,0.105,2205,714,3400,0,0,0,0,0,0
$GC,3327,-0.89,-146.0,396.5,-8.6,357,3332,0.00,2.65,0.00,0.000,6,0.000,0.093,2205,2312,3399,0,0,0,0,0,0
$GC,3652,-0.96,-146.0,419.0,-7.4,387,3658,0.12,2.70,0.00,0.000,4,0.120,0.108,2152,3890,3399,0,0,0,0,0,0
$GC,3827,-0.86,-146.0,438.4,-11.3,402,3832,0.20,2.60,0.00,0.000,6,0.225,0.079,2197,2299,3400,0,0,0,0,0,0
$GC,4151,-0.91,-146.0,470.7,-10.6,432,4152,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2300,3400,0,0,0,0,0,0
$STATE,4404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4404,begin apogee
$GC,4409,-0.24,0.0,497.4,9.6,456,4530,0.70,0.00,117.90,1.131,6,0.194,0.000,2394,2106,2800,0,0,0,0,0,0
$STATE,4531,end apogee,CONTROL_FINISHED_OK
$STATE,4531,begin climb
$GC,4533,1.05,146.0,500.5,0.0,468,4668,1.42,3.00,121.97,1.072,4,0.139,0.103,2819,521,2202,0,0,0,0,0,0
$GC,4713,0.57,146.0,481.4,17.4,485,4719,0.65,2.80,0.00,0.000,6,0.225,0.084,2669,2101,2199,0,0,0,0,0,0
$GC,5038,0.60,166.4,447.9,9.1,515,5062,0.00,2.90,16.62,0.985,4,0.000,0.102,2679,515,2121,0,0,0,0,0,0
$GC,5091,0.60,173.5,442.9,9.7,520,5105,0.00,2.75,7.85,0.892,6,0.000,0.083,2679,2109,2090,0,0,0,0,0,0
$GC,5430,0.60,173.5,407.6,10.4,552,5435,0.00,2.80,0.00,0.000,4,0.000,0.102,2691,508,2088,0,0,0,0,0,0
$GC,5495,0.60,173.5,400.3,11.1,557,5502,0.00,2.70,0.00,0.000,6,0.000,0.085,2691,2097,2088,0,0,0,0,0,0
$GC,5822,0.63,190.8,368.4,9.2,588,5843,0.00,2.78,15.23,0.971,4,0.000,0.102,2703,516,2021,0,0,0,0,0,0
$GC,5957,0.63,190.8,354.4,10.8,600,5961,0.00,2.67,0.00,0.000,6,0.000,0.085,2703,2090,2018,0,0,0,0,0,0
$GC,6281,0.63,192.1,321.0,9.9,630,6286,0.00,2.72,0.00,0.000,4,0.000,0.103,2714,507,2017,0,0,0,0,0,0
$GC,6325,0.57,192.1,316.2,11.6,633,6331,0.20,2.65,0.00,0.000,6,0.197,0.086,2667,2087,2017,0,0,0,0,0,0
$GC,6650,0.70,223.3,288.2,8.6,664,6686,0.12,2.85,27.40,0.973,4,0.132,0.103,2716,508,1888,0,0,0,0,0,0
$GC,6742,0.70,223.3,278.5,11.3,672,6747,0.00,2.70,0.00,0.000,6,0.000,0.086,2716,2089,1885,0,0,0,0,0,0
$GC,7066,0.70,223.3,244.1,10.3,703,7071,0.00,2.72,0.00,0.000,4,0.000,0.104,2728,516,1883,0,0,0,0,0,0
$GC,7093,0.70,223.3,241.1,10.9,705,7098,0.00,2.65,0.00,0.000,6,0.000,0.086,2728,2088,1883,0,0,0,0,0,0
$GC,7418,0.70,223.3,207.1,10.3,735,7422,0.00,2.70,0.00,0.000,4,0.000,0.104,2739,515,1883,0,0,0,0,0,0
$GC,7529,0.65,223.3,194.2,11.8,744,7535,0.20,2.60,0.00,0.000,6,0.204,0.086,2692,2073,1882,0,0,0,0,0,0
$GC,7854,0.77,243.3,164.5,9.1,775,7879,0.12,2.80,16.98,0.911,4,0.130,0.106,2742,507,1807,0,0,0,0,0,0
$GC,7981,0.77,243.3,149.5,12.2,786,7987,0.00,2.65,0.00,0.000,6,0.000,0.087,2742,2071,1805,0,0,0,0,0,0
$GC,8305,0.77,243.3,112.2,10.2,817,8309,0.00,2.70,0.00,0.000,4,0.000,0.106,2753,509,1803,0,0,0,0,0,0
$GC,8366,0.70,243.3,105.0,12.8,822,8371,0.20,2.60,0.00,0.000,6,0.205,0.087,2706,2065,1803,0,0,0,0,0,0
$GC,8705,0.83,253.1,74.4,9.5,877,8717,0.12,0.00,8.82,0.838,6,0.129,0.000,2745,2065,1767,0,0,0,0,0,0
$GC,9055,0.83,253.1,39.7,10.3,939,9060,0.00,2.80,0.00,0.000,4,0.000,0.109,2745,3690,1765,0,0,0,0,0,0
$GC,9066,0.85,271.6,38.7,9.2,941,9092,0.00,2.75,16.52,0.855,6,0.000,0.086,2757,2063,1691,0,0,0,0,0,0
$STATE,9399,end climb,SURFACE_DEPTH_REACHED
$STATE,9399,begin surface coast
$FINISH,1.0,1.025468
$STATE,9435,end surface coast,CONTROL_FINISHED_OK
$STATE,9435,begin surface
$SM_CCo,9511,0.00,0.000,0,0,1683,274.00
$SM_GC,1.99,7.78,0.00,0.00,0.091,0.000,0.000,131,2314,1683,-7.31,0.40,274.00
$RAFOS_CLK,647
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6033.50,060199,020229
$TT8_MAMPS,0.026845
$HUMID,54.56
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.30
$XPDR_PINGS,6
$24V_AH,23.3,6.067
$10V_AH,10.3,2.150
$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,23.450,87.950,349.300,0.000,0.000,27.681,35.525,234.960,1.500,0.000,58.610,1781.295,5565.155,432.995,1736.957,442.735,0.000,1322.685,0.000,1669.607,0.000,0.529,0.000
$DEVICE_MAMPS,332.878,110.448,1131.325,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,741.014,692.830,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151372
$DATA_FILE_SIZE,37871,1007
$CAP_FILE_SIZE,112687,0
$CFSIZE,260165632,249757696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.5
$CURRENT,0.106,186.1,1
$GPS,121009,080729,6641.003,-6036.076,195,2.6,214,-38.0