version: 66.06
glider: 143
mission: 8
dive: 18
start: 10 12 109 8 28 23
data:
$ID,143
$MISSION,8
$DIVE,18
$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,578.41736
$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,-19217.562
$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,17
$R_STBD_OVSHOOT,18
$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
$GPS1,080729,6641.003,-6036.076,195,2.6,214,-38.0
$_CALLS,5
$_XMS_NAKs,15
$_XMS_TOUTs,1
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-52.2
$GPS2,082801,6640.545,-6037.093,10,1.3,15,-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,1.5,5097,-18.3,-10.000
$D_GRID,491
$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,-146.0,0.0,0.0,0,107,0.00,0.00,-89.07,0.000,2,0.000,0.000,129,2319,3066,0,0,0,0,0,0
$GC,110,-1.05,-146.0,3.4,-4.9,17,137,10.27,2.80,-10.10,0.000,4,0.322,0.120,2130,3885,3399,0,0,0,0,0,0
$GC,228,-0.72,-146.0,31.4,-21.9,38,235,0.47,2.67,0.00,0.000,6,0.230,0.077,2244,2297,3401,0,0,0,0,0,0
$GC,572,-0.79,-146.0,70.6,-9.9,99,578,0.00,2.78,0.00,0.000,4,0.000,0.105,2244,3885,3402,0,0,0,0,0,0
$GC,809,-0.88,-146.0,96.0,-11.7,141,815,0.15,2.62,0.00,0.000,6,0.116,0.077,2197,2308,3403,0,0,0,0,0,0
$GC,1142,-0.81,-146.0,141.2,-13.5,175,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2308,3403,0,0,0,0,0,0
$GC,1461,-0.75,-146.0,183.1,-13.4,205,1463,0.17,0.00,0.00,0.000,6,0.226,0.000,2235,2308,3403,0,0,0,0,0,0
$GC,1779,-0.85,-146.0,218.6,-10.8,235,1783,0.00,2.75,0.00,0.000,4,0.000,0.110,2235,3889,3402,0,0,0,0,0,0
$GC,1935,-0.96,-146.0,235.6,-10.5,248,1942,0.20,2.62,0.00,0.000,6,0.107,0.080,2168,2302,3402,0,0,0,0,0,0
$GC,2260,-0.87,-146.0,278.6,-12.8,279,2262,0.12,0.00,0.00,0.000,6,0.232,0.000,2193,2301,3402,0,0,0,0,0,0
$GC,2578,-0.87,-146.0,311.3,-10.1,309,2582,0.00,2.75,0.00,0.000,4,0.000,0.110,2193,3887,3401,0,0,0,0,0,0
$GC,2673,-0.87,-146.0,320.9,-10.0,317,2677,0.00,2.60,0.00,0.000,6,0.000,0.081,2194,2306,3402,0,0,0,0,0,0
$GC,2998,-0.87,-146.0,353.4,-9.9,347,2999,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2306,3402,0,0,0,0,0,0
$GC,3317,-0.87,-146.0,384.9,-9.4,377,3321,0.00,2.72,0.00,0.000,4,0.000,0.109,2194,3888,3400,0,0,0,0,0,0
$GC,3463,-0.87,-146.0,399.1,-9.4,389,3468,0.00,2.58,0.00,0.000,6,0.000,0.080,2194,2319,3400,0,0,0,0,0,0
$GC,3787,-0.87,-146.0,431.4,-9.8,420,3788,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2319,3400,0,0,0,0,0,0
$GC,4107,-0.87,-146.0,463.4,-9.9,450,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2319,3400,0,0,0,0,0,0
$STATE,4390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4390,begin apogee
$GC,4395,-0.24,0.0,491.5,10.0,477,4517,0.73,0.00,118.07,1.130,6,0.202,0.000,2393,2097,2800,0,0,0,0,0,0
$STATE,4518,end apogee,CONTROL_FINISHED_OK
$STATE,4518,begin climb
$GC,4520,1.05,146.0,495.1,0.0,489,4654,1.42,2.97,122.20,1.070,4,0.141,0.101,2817,522,2202,0,0,0,0,0,0
$GC,4660,0.63,146.0,483.2,14.6,502,4666,0.57,2.83,0.00,0.000,6,0.222,0.081,2688,2098,2200,0,0,0,0,0,0
$GC,4986,0.57,146.0,447.3,10.5,533,4990,0.00,2.78,0.00,0.000,4,0.000,0.100,2698,515,2193,0,0,0,0,0,0
$GC,5160,0.48,146.0,427.1,12.1,548,5165,0.25,2.70,0.00,0.000,6,0.198,0.082,2638,2099,2192,0,0,0,0,0,0
$GC,5485,0.65,189.0,399.1,8.0,578,5527,0.15,2.83,34.67,1.017,4,0.121,0.102,2697,521,2028,0,0,0,0,0,0
$GC,5573,0.60,189.0,389.6,11.6,586,5578,0.00,2.75,0.00,0.000,6,0.000,0.085,2697,2099,2025,0,0,0,0,0,0
$GC,5898,0.60,189.0,352.0,11.5,616,5902,0.00,2.75,0.00,0.000,4,0.000,0.101,2709,512,2023,0,0,0,0,0,0
$GC,5974,0.60,189.0,342.6,12.4,622,5981,0.15,2.67,0.00,0.000,6,0.199,0.087,2675,2091,2023,0,0,0,0,0,0
$GC,6300,0.72,223.4,312.5,8.4,653,6335,0.12,2.83,28.58,0.976,4,0.135,0.103,2724,522,1888,0,0,0,0,0,0
$GC,6399,0.67,223.4,301.8,11.7,662,6403,0.00,2.67,0.00,0.000,6,0.000,0.085,2724,2085,1885,0,0,0,0,0,0
$GC,6724,0.67,223.4,265.5,10.7,692,6729,0.00,2.70,0.00,0.000,4,0.000,0.103,2735,519,1883,0,0,0,0,0,0
$GC,6820,0.58,223.4,254.3,11.7,700,6825,0.25,2.62,0.00,0.000,6,0.199,0.084,2674,2081,1883,0,0,0,0,0,0
$GC,7145,0.75,253.7,226.8,8.6,730,7177,0.15,2.78,25.95,0.943,4,0.124,0.104,2732,512,1764,0,0,0,0,0,0
$GC,7227,0.75,253.7,217.7,12.3,737,7233,0.00,2.67,0.00,0.000,6,0.000,0.085,2732,2079,1761,0,0,0,0,0,0
$GC,7552,0.75,253.7,179.3,12.1,768,7557,0.00,2.70,0.00,0.000,4,0.000,0.104,2743,519,1759,0,0,0,0,0,0
$GC,7651,0.75,253.7,166.4,13.3,776,7658,0.00,2.60,0.00,0.000,6,0.000,0.085,2743,2068,1758,0,0,0,0,0,0
$GC,7976,0.75,253.7,124.7,12.3,807,7981,0.00,2.67,0.00,0.000,4,0.000,0.104,2754,514,1757,0,0,0,0,0,0
$GC,8084,0.69,253.7,111.0,12.4,816,8089,0.20,2.60,0.00,0.000,6,0.202,0.085,2707,2067,1757,0,0,0,0,0,0
$GC,8421,0.86,286.1,79.2,8.5,866,8454,0.15,2.78,26.52,0.878,4,0.122,0.105,2766,521,1633,0,0,0,0,0,0
$GC,8523,0.80,286.1,67.3,12.9,884,8529,0.00,2.62,0.00,0.000,6,0.000,0.087,2766,2067,1629,0,0,0,0,0,0
$GC,8868,0.82,300.7,25.7,9.3,945,8889,0.00,2.90,12.50,0.831,4,0.000,0.107,2766,3687,1573,0,0,0,0,0,0
$GC,8901,0.77,300.7,21.3,12.8,951,8908,0.20,2.78,0.00,0.000,6,0.210,0.087,2733,2069,1572,0,0,0,0,0,0
$STATE,9110,end climb,SURFACE_DEPTH_REACHED
$STATE,9110,begin surface coast
$FINISH,1.0,1.025674
$STATE,9122,end surface coast,CONTROL_FINISHED_OK
$STATE,9122,begin surface
$SM_CCo,9138,181.88,0.798,0,0,441,578.42
$SM_GC,1.60,0.00,0.00,181.88,0.000,0.000,0.798,124,2303,441,-7.36,0.08,578.42
$RAFOS_CLK,677
$RAFOS,4,1255337051,8.750000,8.736389,43,43,41,0,0,0,518,1310,528,0,0,0
$RAFOS,3,1255336443,8.583333,8.567500,43,40,39,0,0,0,1030,1805,430,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6040.90,060199,080859
$TT8_MAMPS,0.027612
$HUMID,51.77
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,16.30
$XPDR_PINGS,4
$24V_AH,23.3,6.261
$10V_AH,10.3,2.221
$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,23.325,87.900,368.500,181.875,0.000,147.085,194.329,494.530,1.000,0.000,16.601,1725.496,5544.764,637.487,1618.955,1028.332,0.000,1496.115,0.000,1598.891,720.000,0.530,0.000
$DEVICE_MAMPS,322.140,120.419,1129.791,797.680,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,729.883,680.095,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151252
$DATA_FILE_SIZE,37850,990
$CAP_FILE_SIZE,124702,0
$CFSIZE,260165632,249667584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.7
$CURRENT,0.237,213.7,1
$GPS,121009,110537,6640.765,-6040.327,68,1.0,68,-38.0