version: 66.06
glider: 143
mission: 8
dive: 23
start: 10 12 109 22 24 12
data:
$ID,143
$MISSION,8
$DIVE,23
$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,-19408.264
$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,17
$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
$GPS1,220229,6638.790,-6041.813,50,2.3,69,-38.0
$_CALLS,5
$_XMS_NAKs,20
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-61.7
$GPS2,222352,6638.479,-6042.521,31,4.3,50,-38.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SW
$TGT_LATLONG,6619.000,-5907.000
$TGT_RADIUS,5000.000
$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,109.9,79692,-18.3,-10.000
$D_GRID,435
$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,16,-1.05,-146.0,0.0,0.0,0,90,0.00,0.00,-71.32,0.000,2,0.000,0.000,122,2309,2764,0,0,0,0,0,0
$GC,92,-1.05,-146.0,3.4,-7.5,14,130,10.25,2.78,-19.17,0.000,4,0.320,0.111,2133,713,3400,0,0,0,0,0,0
$GC,164,-0.76,-146.0,18.4,-18.5,27,171,0.45,2.72,0.00,0.000,6,0.239,0.090,2230,2305,3402,0,0,0,0,0,0
$GC,508,-0.76,-146.0,62.2,-10.5,88,514,0.00,2.75,0.00,0.000,4,0.000,0.100,2230,704,3402,0,0,0,0,0,0
$GC,582,-0.76,-146.0,71.2,-12.8,101,588,0.00,2.67,0.00,0.000,6,0.000,0.088,2230,2293,3402,0,0,0,0,0,0
$GC,925,-0.76,-146.0,111.8,-11.6,154,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2293,3403,0,0,0,0,0,0
$GC,1245,-0.76,-146.0,145.8,-10.3,184,1249,0.00,2.67,0.00,0.000,4,0.000,0.101,2230,713,3403,0,0,0,0,0,0
$GC,1254,-0.76,-146.0,147.0,-10.2,184,1261,0.00,2.65,0.00,0.000,6,0.000,0.087,2230,2307,3403,0,0,0,0,0,0
$GC,1579,-0.81,-146.0,183.7,-12.2,215,1584,0.00,2.70,0.00,0.000,4,0.000,0.101,2230,712,3403,0,0,0,0,0,0
$GC,1836,-0.85,-146.0,214.6,-11.6,237,1842,0.00,2.65,0.00,0.000,6,0.000,0.091,2230,2307,3403,0,0,0,0,0,0
$GC,2161,-0.94,-146.0,246.1,-8.9,268,2167,0.17,2.72,0.00,0.000,4,0.110,0.102,2173,703,3402,0,0,0,0,0,0
$GC,2172,-0.94,-146.0,247.2,-9.3,268,2178,0.00,2.67,0.00,0.000,6,0.000,0.091,2172,2314,3403,0,0,0,0,0,0
$GC,2496,-0.84,-146.0,285.2,-12.0,299,2502,0.15,2.75,0.00,0.000,4,0.244,0.102,2209,702,3403,0,0,0,0,0,0
$GC,2525,-0.84,-146.0,288.2,-10.9,301,2529,0.00,2.78,0.00,0.000,6,0.000,0.091,2209,2372,3402,0,0,0,0,0,0
$GC,2849,-0.84,-146.0,321.7,-10.2,331,2853,0.00,2.80,0.00,0.000,4,0.000,0.103,2209,710,3402,0,0,0,0,0,0
$GC,3105,-0.84,-146.0,349.3,-10.9,353,3111,0.00,2.78,0.00,0.000,6,0.000,0.094,2209,2371,3402,0,0,0,0,0,0
$GC,3431,-0.90,-146.0,379.9,-9.1,384,3435,0.00,2.80,0.00,0.000,4,0.000,0.103,2209,708,3401,0,0,0,0,0,0
$GC,3584,-0.90,-146.0,394.8,-9.5,397,3588,0.00,2.78,0.00,0.000,6,0.000,0.093,2209,2376,3401,0,0,0,0,0,0
$GC,3908,-0.98,-146.0,423.9,-9.0,427,3910,0.15,0.00,0.00,0.000,6,0.112,0.000,2159,2376,3401,0,0,0,0,0,0
$STATE,4012,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4013,begin apogee
$GC,4018,-0.24,0.0,435.6,11.3,437,4140,0.88,0.00,118.07,1.105,6,0.210,0.000,2393,2094,2800,0,0,0,0,0,0
$STATE,4140,end apogee,CONTROL_FINISHED_OK
$STATE,4140,begin climb
$GC,4142,1.05,146.0,439.5,0.0,449,4277,1.42,3.08,121.65,1.042,4,0.143,0.102,2804,3687,2201,0,0,0,0,0,0
$GC,4530,0.59,146.0,385.2,16.7,484,4537,0.60,2.78,0.00,0.000,6,0.233,0.086,2676,2097,2191,0,0,0,0,0,0
$GC,4854,0.60,157.9,353.6,9.5,515,4868,0.00,2.85,9.00,0.894,4,0.000,0.102,2677,3689,2155,0,0,0,0,0,0
$GC,5122,0.60,157.9,325.7,10.4,539,5126,0.00,2.72,0.00,0.000,6,0.000,0.085,2686,2103,2153,0,0,0,0,0,0
$GC,5446,0.62,172.5,294.2,9.3,569,5467,0.00,2.85,13.45,0.938,4,0.000,0.104,2686,3680,2096,0,0,0,0,0,0
$GC,5719,0.62,172.5,264.6,10.7,593,5726,0.00,2.70,0.00,0.000,6,0.000,0.086,2698,2094,2093,0,0,0,0,0,0
$GC,6044,0.62,174.1,232.8,9.9,624,6049,0.00,2.78,0.00,0.000,4,0.000,0.104,2698,3688,2092,0,0,0,0,0,0
$GC,6301,0.57,174.1,205.7,10.2,646,6308,0.17,2.70,0.00,0.000,6,0.206,0.087,2669,2087,2092,0,0,0,0,0,0
$GC,6627,0.77,219.7,180.4,7.9,677,6673,0.17,2.90,39.20,0.940,4,0.117,0.104,2725,3693,1902,0,0,0,0,0,0
$GC,6927,0.71,219.7,146.7,11.8,704,6931,0.00,2.78,0.00,0.000,6,0.000,0.087,2737,2086,1894,0,0,0,0,0,0
$GC,7251,0.71,219.7,112.3,10.0,734,7255,0.00,2.80,0.00,0.000,4,0.000,0.104,2737,3692,1893,0,0,0,0,0,0
$GC,7509,0.64,219.7,81.9,13.5,769,7515,0.25,2.72,0.00,0.000,6,0.203,0.088,2688,2079,1892,0,0,0,0,0,0
$GC,7855,0.86,254.7,55.0,8.4,830,7893,0.22,2.90,28.30,0.871,4,0.107,0.104,2762,3686,1759,0,0,0,0,0,0
$GC,8146,0.80,254.7,25.1,11.2,882,8152,0.15,2.67,0.00,0.000,6,0.200,0.087,2741,2112,1753,0,0,0,0,0,0
$STATE,8358,end climb,SURFACE_DEPTH_REACHED
$STATE,8358,begin surface coast
$FINISH,0.9,1.019078
$STATE,8382,end surface coast,CONTROL_FINISHED_OK
$STATE,8382,begin surface
$SM_CCo,8398,196.88,0.792,0,0,441,578.42
$SM_GC,1.38,0.00,0.00,196.88,0.000,0.000,0.792,128,2307,441,-7.35,0.20,578.42
$RAFOS_CLK,638
$RAFOS,3,1255394041,0.583333,0.566944,45,44,44,0,0,0,831,195,1099,0,0,0
$RAFOS,2,1255393448,0.416667,0.402222,43,42,41,0,0,0,1611,1100,1830,0,0,0
$RAFOS,1,1255392844,0.250000,0.234444,46,42,42,0,0,0,218,243,1692,0,0,0
$RAFOS,0,1255392241,0.083333,0.066944,59,49,41,0,0,0,1064,1181,1740,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6040.90,060199,222236
$TT8_MAMPS,0.027612
$HUMID,51.26
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,23.3,7.047
$10V_AH,10.3,2.542
$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,22.725,83.750,329.675,196.875,0.000,153.969,233.256,461.971,0.000,0.000,53.055,1623.630,4916.654,616.603,1687.066,1035.499,0.000,1469.713,0.000,1625.034,1440.000,0.529,0.000
$DEVICE_MAMPS,319.839,111.215,1105.247,791.544,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,677.806,633.372,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151064
$DATA_FILE_SIZE,34731,924
$CAP_FILE_SIZE,115229,0
$CFSIZE,260165632,249405440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.7
$CURRENT,0.574,184.1,1
$GPS,131009,004900,6636.515,-6043.187,32,2.0,48,-37.9