version: 66.06
glider: 143
mission: 8
dive: 21
start: 10 12 109 17 1 54
data:
$ID,143
$MISSION,8
$DIVE,21
$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,275
$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,-19304.678
$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
$GPS1,163800,6639.312,-6040.733,41,1.2,46,-38.0
$_CALLS,5
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-51.4
$GPS2,170132,6638.964,-6040.688,14,1.2,14,-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,47.2,5871,-18.3,-10.000
$D_GRID,454
$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,16,-1.05,-146.0,0.0,0.0,0,200,0.00,0.00,-180.23,0.000,2,0.000,0.000,124,2311,3227,0,0,0,0,0,0
$GC,202,-1.05,-146.0,3.7,-5.9,33,224,10.40,0.00,-5.12,0.000,6,0.324,0.000,2136,2311,3398,0,0,0,0,0,0
$GC,562,-0.80,-146.0,76.3,-18.2,97,568,0.30,2.78,0.00,0.000,4,0.232,0.105,2203,3886,3401,0,0,0,0,0,0
$GC,710,-0.80,-146.0,98.8,-14.2,123,716,0.00,2.67,0.00,0.000,6,0.000,0.079,2203,2294,3401,0,0,0,0,0,0
$GC,1042,-0.75,-146.0,143.7,-12.4,155,1044,0.15,0.00,0.00,0.000,6,0.233,0.000,2234,2294,3402,0,0,0,0,0,0
$GC,1359,-0.84,-146.0,175.0,-9.3,185,1363,0.00,2.78,0.00,0.000,4,0.000,0.108,2234,3885,3402,0,0,0,0,0,0
$GC,1482,-0.96,-146.0,186.4,-9.2,195,1488,0.20,2.62,0.00,0.000,6,0.106,0.080,2167,2302,3402,0,0,0,0,0,0
$GC,1806,-0.83,-146.0,226.1,-12.6,226,1808,0.17,0.00,0.00,0.000,6,0.222,0.000,2206,2301,3402,0,0,0,0,0,0
$GC,2125,-0.83,-146.0,260.7,-10.6,256,2129,0.00,2.75,0.00,0.000,4,0.000,0.110,2206,3883,3401,0,0,0,0,0,0
$GC,2209,-0.83,-146.0,269.7,-11.2,263,2213,0.00,2.62,0.00,0.000,6,0.000,0.081,2206,2302,3401,0,0,0,0,0,0
$GC,2533,-0.83,-146.0,303.8,-10.0,293,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2302,3401,0,0,0,0,0,0
$GC,2853,-0.83,-146.0,335.1,-9.2,323,2854,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2302,3401,0,0,0,0,0,0
$GC,3172,-0.90,-146.0,364.7,-9.5,353,3176,0.00,2.75,0.00,0.000,4,0.000,0.111,2206,3887,3400,0,0,0,0,0,0
$GC,3295,-0.99,-146.0,376.5,-8.9,363,3301,0.15,2.60,0.00,0.000,6,0.119,0.081,2156,2310,3399,0,0,0,0,0,0
$GC,3619,-0.91,-146.0,413.3,-11.4,394,3621,0.12,0.00,0.00,0.000,6,0.231,0.000,2182,2309,3399,0,0,0,0,0,0
$GC,3938,-0.91,-146.0,445.5,-9.8,424,3943,0.00,2.72,0.00,0.000,4,0.000,0.110,2182,3886,3399,0,0,0,0,0,0
$STATE,4020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4020,begin apogee
$GC,4028,-0.24,0.0,454.5,10.8,431,4153,0.75,0.00,117.97,1.110,6,0.204,0.000,2391,2097,2799,0,0,0,0,0,0
$STATE,4154,end apogee,CONTROL_FINISHED_OK
$STATE,4154,begin climb
$GC,4156,1.05,146.0,458.0,0.0,444,4288,1.48,3.05,122.53,1.051,4,0.142,0.100,2813,3682,2202,0,0,0,0,0,0
$GC,4295,0.58,146.0,445.9,14.3,458,4301,0.70,2.88,0.00,0.000,6,0.236,0.084,2672,2104,2199,0,0,0,0,0,0
$GC,4619,0.58,146.0,411.9,10.5,488,4620,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2104,2192,0,0,0,0,0,0
$GC,4938,0.58,146.0,378.3,11.0,518,4943,0.00,2.75,0.00,0.000,4,0.000,0.104,2681,510,2191,0,0,0,0,0,0
$GC,4948,0.58,146.0,377.2,10.5,518,4955,0.00,2.67,0.00,0.000,6,0.000,0.081,2681,2099,2191,0,0,0,0,0,0
$GC,5273,0.58,147.0,342.9,10.0,549,5274,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2100,2191,0,0,0,0,0,0
$GC,5593,0.61,172.4,313.9,8.8,579,5619,0.00,2.80,20.48,0.960,4,0.000,0.104,2682,3689,2096,0,0,0,0,0,0
$GC,5787,0.61,172.4,293.6,10.7,596,5792,0.00,2.72,0.00,0.000,6,0.000,0.084,2694,2088,2092,0,0,0,0,0,0
$GC,6111,0.61,172.4,260.6,10.3,626,6116,0.00,2.70,0.00,0.000,4,0.000,0.104,2706,507,2092,0,0,0,0,0,0
$GC,6121,0.61,172.4,259.5,10.7,626,6128,0.00,2.67,0.00,0.000,6,0.000,0.082,2705,2086,2091,0,0,0,0,0,0
$GC,6446,0.61,172.4,225.1,10.6,657,6451,0.00,2.78,0.00,0.000,4,0.000,0.107,2705,3697,2092,0,0,0,0,0,0
$GC,6635,0.53,172.4,203.3,11.3,673,6641,0.25,2.72,0.00,0.000,6,0.208,0.087,2657,2077,2090,0,0,0,0,0,0
$GC,6960,0.78,237.8,179.2,7.0,704,7022,0.22,2.92,53.22,0.931,4,0.110,0.104,2730,3688,1829,0,0,0,0,0,0
$GC,7240,0.72,237.8,146.0,13.0,729,7246,0.00,2.75,0.00,0.000,6,0.000,0.087,2743,2085,1820,0,0,0,0,0,0
$GC,7565,0.72,237.8,109.6,10.8,760,7569,0.00,2.70,0.00,0.000,4,0.000,0.108,2754,516,1818,0,0,0,0,0,0
$GC,7574,0.72,237.8,108.5,11.5,760,7581,0.17,2.67,0.00,0.000,6,0.206,0.084,2714,2111,1818,0,0,0,0,0,0
$GC,7913,0.83,259.4,75.2,9.0,813,7940,0.00,2.85,17.20,0.860,4,0.000,0.105,2714,3697,1740,0,0,0,0,0,0
$GC,8075,0.90,259.4,58.2,10.4,842,8082,0.15,2.75,0.00,0.000,6,0.117,0.087,2773,2083,1737,0,0,0,0,0,0
$GC,8420,0.82,259.4,16.2,13.6,903,8426,0.00,2.80,0.00,0.000,4,0.000,0.104,2773,3695,1735,0,0,0,0,0,0
$STATE,8533,end climb,SURFACE_DEPTH_REACHED
$STATE,8533,begin surface coast
$FINISH,0.7,1.025612
$STATE,8550,end surface coast,CONTROL_FINISHED_OK
$STATE,8550,begin surface
$SM_CCo,8568,10.75,0.814,0,0,1677,275.23
$SM_GC,1.99,0.00,0.00,10.75,0.000,0.000,0.814,124,2296,1677,-7.36,-0.11,275.23
$RAFOS_CLK,634
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6609.62,-6040.90,060199,171738
$TT8_MAMPS,0.027612
$HUMID,53.81
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.30
$XPDR_PINGS,2
$24V_AH,23.3,6.725
$10V_AH,10.3,2.412
$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,23.025,76.875,331.400,10.750,0.000,147.567,214.936,678.323,0.500,0.000,15.872,1572.038,5209.735,524.696,1492.327,1196.512,0.000,1313.644,0.000,1474.932,0.000,0.529,0.000
$DEVICE_MAMPS,323.674,111.215,1109.849,813.787,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,679.470,635.428,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151288
$DATA_FILE_SIZE,34751,926
$CAP_FILE_SIZE,114152,0
$CFSIZE,260165632,249528320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.2
$CURRENT,0.122,197.6,1
$GPS,121009,192720,6639.546,-6040.859,81,2.6,100,-38.0