version: 66.06
glider: 143
mission: 8
dive: 19
start: 10 12 109 11 13 20
data:
$ID,143
$MISSION,8
$DIVE,19
$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,-19236.002
$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,15
$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
$GPS1,110537,6640.765,-6040.327,68,1.0,68,-38.0
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-51.4
$GPS2,111257,6640.670,-6040.675,9,1.4,16,-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,48.3,2994,-18.3,-10.000
$D_GRID,476
$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,-146.0,0.0,0.0,0,164,0.00,0.00,-145.93,0.000,2,0.000,0.000,123,2303,2724,0,0,0,0,0,0
$GC,167,-1.05,-146.0,3.2,-4.4,27,210,10.68,2.83,-23.05,0.000,4,0.329,0.112,2133,715,3400,0,0,0,0,0,0
$GC,311,-0.72,-146.0,31.0,-19.9,53,317,0.47,2.72,0.00,0.000,6,0.243,0.092,2243,2300,3402,0,0,0,0,0,0
$GC,655,-0.77,-146.0,71.9,-12.0,114,661,0.00,2.80,0.00,0.000,4,0.000,0.110,2243,3886,3403,0,0,0,0,0,0
$GC,852,-0.86,-146.0,94.0,-11.3,149,858,0.15,2.65,0.00,0.000,6,0.120,0.078,2196,2301,3403,0,0,0,0,0,0
$GC,1181,-0.79,-146.0,138.1,-14.0,184,1185,0.00,2.78,0.00,0.000,4,0.000,0.107,2196,3893,3403,0,0,0,0,0,0
$GC,1292,-0.74,-146.0,152.8,-12.9,193,1298,0.17,2.62,0.00,0.000,6,0.231,0.078,2234,2309,3403,0,0,0,0,0,0
$GC,1617,-0.81,-146.0,185.9,-10.0,224,1618,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2309,3403,0,0,0,0,0,0
$GC,1936,-0.90,-146.0,217.2,-9.5,254,1938,0.15,0.00,0.00,0.000,6,0.123,0.000,2186,2309,3402,0,0,0,0,0,0
$GC,2254,-0.83,-146.0,254.5,-11.4,284,2259,0.00,2.75,0.00,0.000,4,0.000,0.110,2187,3893,3402,0,0,0,0,0,0
$GC,2406,-0.83,-146.0,272.9,-12.2,297,2410,0.00,2.62,0.00,0.000,6,0.000,0.081,2186,2311,3402,0,0,0,0,0,0
$GC,2730,-0.83,-146.0,312.5,-11.9,327,2734,0.00,2.72,0.00,0.000,4,0.000,0.109,2186,3887,3402,0,0,0,0,0,0
$GC,2791,-0.79,-146.0,319.3,-10.8,332,2797,0.15,2.58,0.00,0.000,6,0.230,0.081,2218,2325,3401,0,0,0,0,0,0
$GC,3116,-0.87,-146.0,349.8,-8.9,362,3117,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2325,3401,0,0,0,0,0,0
$GC,3436,-0.96,-146.0,378.5,-9.0,392,3441,0.15,2.72,0.00,0.000,4,0.123,0.104,2170,703,3400,0,0,0,0,0,0
$GC,3499,-0.90,-146.0,385.8,-12.6,397,3504,0.00,2.70,0.00,0.000,6,0.000,0.092,2170,2329,3400,0,0,0,0,0,0
$GC,3824,-0.84,-146.0,423.7,-11.6,427,3829,0.15,2.67,0.00,0.000,4,0.244,0.107,2193,3891,3400,0,0,0,0,0,0
$GC,3908,-0.84,-146.0,432.8,-10.6,434,3912,0.00,2.55,0.00,0.000,6,0.000,0.077,2193,2329,3400,0,0,0,0,0,0
$GC,4232,-0.84,-146.0,464.2,-9.6,464,4234,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2329,3400,0,0,0,0,0,0
$STATE,4358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4358,begin apogee
$GC,4363,-0.24,0.0,476.5,9.8,476,4485,0.75,0.00,118.53,1.126,6,0.201,0.000,2398,2104,2800,0,0,0,0,0,0
$STATE,4486,end apogee,CONTROL_FINISHED_OK
$STATE,4486,begin climb
$GC,4488,1.05,146.0,479.8,0.0,488,4617,1.40,0.00,122.20,1.065,6,0.138,0.000,2806,2104,2204,0,0,0,0,0,0
$GC,4931,0.65,146.0,418.4,15.3,530,4936,0.45,2.85,0.00,0.000,4,0.229,0.098,2685,3697,2192,0,0,0,0,0,0
$GC,5178,0.55,146.0,387.9,11.9,551,5185,0.15,2.67,0.00,0.000,6,0.229,0.081,2664,2126,2190,0,0,0,0,0,0
$GC,5503,0.62,164.0,357.7,9.2,582,5524,0.00,2.83,13.68,0.950,4,0.000,0.103,2673,507,2130,0,0,0,0,0,0
$GC,5529,0.65,190.5,355.1,8.8,584,5559,0.00,2.75,23.65,0.977,6,0.000,0.082,2674,2127,2022,0,0,0,0,0,0
$GC,5885,0.72,197.9,317.8,9.7,618,5899,0.12,2.85,6.50,0.834,4,0.132,0.109,2713,3687,1993,0,0,0,0,0,0
$GC,6107,0.61,197.9,290.6,12.0,638,6113,0.20,2.62,0.00,0.000,6,0.217,0.087,2680,2155,1990,0,0,0,0,0,0
$GC,6434,0.73,222.2,260.6,8.9,668,6465,0.12,2.95,21.33,0.950,4,0.135,0.105,2729,509,1892,0,0,0,0,0,0
$GC,6471,0.68,222.2,256.7,10.4,671,6477,0.00,2.83,0.00,0.000,6,0.000,0.087,2729,2159,1892,0,0,0,0,0,0
$GC,6795,0.68,222.2,218.9,11.6,702,6799,0.00,2.70,0.00,0.000,4,0.000,0.110,2729,3688,1888,0,0,0,0,0,0
$GC,7040,0.58,222.2,186.7,13.3,723,7047,0.28,2.55,0.00,0.000,6,0.210,0.087,2674,2183,1887,0,0,0,0,0,0
$GC,7365,0.78,254.4,157.7,8.5,754,7396,0.17,0.00,26.98,0.919,6,0.120,0.000,2729,2182,1763,0,0,0,0,0,0
$GC,7714,0.78,254.4,120.1,10.6,787,7718,0.00,2.65,0.00,0.000,4,0.000,0.107,2728,3687,1756,0,0,0,0,0,0
$GC,7847,0.78,254.4,103.4,12.5,798,7853,0.00,2.58,0.00,0.000,6,0.000,0.087,2740,2172,1755,0,0,0,0,0,0
$GC,8189,0.78,254.4,64.2,10.2,856,8195,0.00,2.83,0.00,0.000,4,0.000,0.107,2752,515,1754,0,0,0,0,0,0
$GC,8200,0.78,254.4,62.9,10.2,858,8206,0.00,2.78,0.00,0.000,6,0.000,0.087,2752,2175,1754,0,0,0,0,0,0
$GC,8544,0.78,254.4,25.2,12.6,919,8550,0.00,2.62,0.00,0.000,4,0.000,0.109,2752,3696,1753,0,0,0,0,0,0
$GC,8561,0.78,254.4,23.3,10.9,922,8567,0.15,2.58,0.00,0.000,6,0.217,0.087,2732,2166,1753,0,0,0,0,0,0
$STATE,8812,end climb,SURFACE_DEPTH_REACHED
$STATE,8812,begin surface coast
$FINISH,1.3,1.025590
$STATE,8836,end surface coast,CONTROL_FINISHED_OK
$STATE,8836,begin surface
$SM_CCo,8912,0.00,0.000,0,0,1745,258.79
$SM_GC,1.43,7.65,0.00,0.00,0.092,0.000,0.000,125,2309,1745,-7.33,0.25,258.79
$RAFOS_CLK,601
$RAFOS,4,1255351447,12.750000,12.735278,42,39,39,0,0,0,1443,836,845,0,0,0
$RAFOS,3,1255350843,12.583333,12.567500,45,41,41,0,0,0,1857,180,871,0,0,0
$RAFOS,2,1255350251,12.416667,12.403055,42,40,39,0,0,0,1376,90,1244,0,0,0
$RAFOS,1,1255349641,12.250000,12.233611,47,43,43,0,0,0,1724,714,1466,0,0,0
$RAFOS,0,1255349050,12.083333,12.069445,42,41,41,0,0,0,588,533,1617,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6033.50,060199,080851
$TT8_MAMPS,0.026845
$HUMID,53.97
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.30
$XPDR_PINGS,5
$24V_AH,23.3,6.381
$10V_AH,10.3,2.280
$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,23.525,82.000,332.850,0.000,0.000,29.621,39.720,259.528,1.250,0.000,17.814,1688.283,5094.888,485.045,1620.674,464.138,0.000,1340.477,0.000,1595.198,1800.000,0.531,0.000
$DEVICE_MAMPS,329.043,117.351,1125.956,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,712.627,665.312,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151400
$DATA_FILE_SIZE,37783,971
$CAP_FILE_SIZE,108905,0
$CFSIZE,260165632,249638912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.9
$CURRENT,0.414,184.1,1
$GPS,121009,134358,6639.875,-6040.668,62,99.0,81,-38.0