version: 66.06
glider: 143
mission: 8
dive: 20
start: 10 12 109 14 5 51
data:
$ID,143
$MISSION,8
$DIVE,20
$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,-19288.18
$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,16
$R_STBD_OVSHOOT,14
$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
$GPS1,134358,6639.875,-6040.668,62,99.0,81,-38.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-53.6
$GPS2,140530,6639.706,-6041.078,40,1.4,50,-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,57.1,4476,-18.3,-10.000
$D_GRID,470
$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,-146.0,0.0,0.0,0,89,0.00,0.00,-71.10,0.000,2,0.000,0.000,119,2310,2834,0,0,0,0,0,0
$GC,91,-1.05,-146.0,3.1,-4.6,13,140,10.62,2.88,-27.50,0.000,4,0.331,0.115,2134,703,3398,0,0,0,0,0,0
$GC,281,-0.72,-146.0,27.0,-17.7,47,288,0.45,2.75,0.00,0.000,6,0.240,0.092,2240,2313,3400,0,0,0,0,0,0
$GC,625,-0.72,-146.0,69.2,-11.7,108,631,0.00,2.75,0.00,0.000,4,0.000,0.110,2240,3886,3400,0,0,0,0,0,0
$GC,884,-0.80,-146.0,101.1,-11.7,154,889,0.00,2.60,0.00,0.000,6,0.000,0.079,2240,2325,3401,0,0,0,0,0,0
$GC,1209,-0.88,-146.0,136.8,-11.3,184,1211,0.15,0.00,0.00,0.000,6,0.122,0.000,2193,2325,3401,0,0,0,0,0,0
$GC,1528,-0.81,-146.0,178.7,-13.1,214,1532,0.00,2.72,0.00,0.000,4,0.000,0.109,2192,3893,3401,0,0,0,0,0,0
$GC,1628,-0.76,-146.0,192.2,-12.8,222,1634,0.17,2.58,0.00,0.000,6,0.225,0.081,2231,2336,3400,0,0,0,0,0,0
$GC,1952,-0.84,-146.0,226.0,-10.0,253,1954,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2336,3400,0,0,0,0,0,0
$GC,2272,-0.93,-146.0,256.3,-9.7,283,2278,0.17,2.75,0.00,0.000,4,0.117,0.106,2175,717,3400,0,0,0,0,0,0
$GC,2346,-0.83,-146.0,266.0,-12.9,289,2351,0.15,2.70,0.00,0.000,6,0.248,0.094,2207,2329,3400,0,0,0,0,0,0
$GC,2671,-0.83,-146.0,303.0,-11.0,319,2675,0.00,2.70,0.00,0.000,4,0.000,0.114,2207,3893,3400,0,0,0,0,0,0
$GC,2743,-0.88,-146.0,311.0,-10.8,325,2748,0.00,2.58,0.00,0.000,6,0.000,0.083,2207,2332,3400,0,0,0,0,0,0
$GC,3068,-0.92,-146.0,345.1,-11.0,355,3069,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2332,3400,0,0,0,0,0,0
$GC,3388,-0.97,-146.0,376.7,-9.6,385,3390,0.12,0.00,0.00,0.000,6,0.127,0.000,2167,2332,3399,0,0,0,0,0,0
$GC,3705,-0.90,-146.0,412.2,-10.9,415,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2331,3399,0,0,0,0,0,0
$GC,4025,-0.83,-146.0,445.8,-10.5,445,4030,0.17,2.70,0.00,0.000,4,0.227,0.108,2197,3896,3399,0,0,0,0,0,0
$GC,4103,-0.88,-146.0,453.3,-9.9,451,4108,0.00,2.55,0.00,0.000,6,0.000,0.080,2197,2335,3398,0,0,0,0,0,0
$STATE,4287,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4287,begin apogee
$GC,4292,-0.24,0.0,470.8,9.7,469,4414,0.73,0.00,117.72,1.120,6,0.198,0.000,2396,2099,2800,0,0,0,0,0,0
$STATE,4415,end apogee,CONTROL_FINISHED_OK
$STATE,4415,begin climb
$GC,4417,1.05,146.0,474.4,0.0,481,4547,1.42,3.03,122.65,1.062,4,0.137,0.102,2811,3687,2202,0,0,0,0,0,0
$GC,4554,0.62,146.0,462.6,14.9,495,4561,0.62,2.90,0.00,0.000,6,0.239,0.084,2688,2098,2200,0,0,0,0,0,0
$GC,4879,0.57,146.0,425.5,10.9,525,4880,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2098,2192,0,0,0,0,0,0
$GC,5199,0.57,149.1,392.3,9.9,555,5203,0.00,2.80,0.00,0.000,4,0.000,0.102,2687,3689,2191,0,0,0,0,0,0
$GC,5456,0.48,149.1,364.7,10.9,577,5463,0.25,2.70,0.00,0.000,6,0.206,0.083,2638,2097,2190,0,0,0,0,0,0
$GC,5781,0.69,213.2,341.4,7.1,608,5842,0.20,0.00,53.92,1.001,6,0.112,0.000,2700,2098,1930,0,0,0,0,0,0
$GC,6159,0.69,213.2,300.4,11.5,644,6164,0.00,2.83,0.00,0.000,4,0.000,0.104,2701,3692,1923,0,0,0,0,0,0
$GC,6415,0.65,213.2,266.4,13.5,666,6421,0.00,2.67,0.00,0.000,6,0.000,0.084,2713,2117,1921,0,0,0,0,0,0
$GC,6740,0.65,213.2,225.6,11.5,697,6741,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2117,1921,0,0,0,0,0,0
$GC,7060,0.68,239.6,193.7,8.8,727,7091,0.00,2.88,21.45,0.920,4,0.000,0.107,2713,3694,1822,0,0,0,0,0,0
$GC,7343,0.68,239.6,164.4,10.2,752,7349,0.00,2.70,0.00,0.000,6,0.000,0.086,2725,2106,1817,0,0,0,0,0,0
$GC,7668,0.69,247.9,132.6,9.6,783,7682,0.00,2.83,7.47,0.829,4,0.000,0.106,2725,3683,1789,0,0,0,0,0,0
$GC,7700,0.69,247.9,129.1,11.6,786,7705,0.15,2.67,0.00,0.000,6,0.212,0.086,2704,2114,1788,0,0,0,0,0,0
$GC,8025,0.85,272.1,99.0,8.9,817,8054,0.15,2.88,21.58,0.889,4,0.119,0.105,2750,3692,1689,0,0,0,0,0,0
$GC,8219,0.79,272.1,73.9,13.6,851,8224,0.00,2.70,0.00,0.000,6,0.000,0.087,2763,2112,1684,0,0,0,0,0,0
$GC,8562,0.79,272.1,34.9,11.8,912,8567,0.00,2.75,0.00,0.000,4,0.000,0.108,2774,514,1682,0,0,0,0,0,0
$GC,8573,0.79,272.1,33.4,11.7,914,8580,0.15,2.70,0.00,0.000,6,0.202,0.087,2741,2119,1682,0,0,0,0,0,0
$STATE,8820,end climb,SURFACE_DEPTH_REACHED
$STATE,8820,begin surface coast
$FINISH,0.9,1.015650
$STATE,8837,end surface coast,CONTROL_FINISHED_OK
$STATE,8838,begin surface
$SM_CCo,8854,184.70,0.798,0,0,441,578.42
$SM_GC,1.57,0.00,0.00,184.70,0.000,0.000,0.798,127,2311,441,-7.35,0.31,578.42
$RAFOS_CLK,668
$RAFOS,2,1255364641,16.416666,16.400278,45,44,41,0,0,0,1512,431,1650,0,0,0
$RAFOS,1,1255364043,16.250000,16.234167,48,39,39,0,0,0,850,344,1214,0,0,0
$RAFOS,0,1255363446,16.083334,16.068333,48,46,45,0,0,0,1230,601,558,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6609.62,-6043.56,060199,141439
$TT8_MAMPS,0.027612
$HUMID,51.33
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,16.30
$XPDR_PINGS,5
$24V_AH,23.3,6.568
$10V_AH,10.3,2.347
$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,23.325,72.000,344.800,184.700,0.000,137.607,233.799,446.140,1.250,0.000,51.549,1665.493,5398.788,643.865,1584.091,1040.083,0.000,1439.897,0.000,1528.455,1080.000,0.532,0.000
$DEVICE_MAMPS,330.577,115.050,1119.820,798.447,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,706.868,660.720,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151324
$DATA_FILE_SIZE,37910,961
$CAP_FILE_SIZE,113207,0
$CFSIZE,260165632,249561088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.1
$CURRENT,0.315,184.5,1
$GPS,121009,163800,6639.312,-6040.733,41,1.2,46,-38.0