version: 66.06
glider: 143
mission: 8
dive: 24
start: 10 13 109 1 4 13
data:
$ID,143
$MISSION,8
$DIVE,24
$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,-19442.615
$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,19
$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
$GPS1,004900,6636.515,-6043.187,32,2.0,48,-37.9
$_CALLS,2
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-45.4
$GPS2,010352,6636.199,-6043.410,12,2.3,31,-37.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_ADD1_WB
$TGT_LATLONG,6647.000,-5956.000
$TGT_RADIUS,10000.000
$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,52.9,39978,-18.3,-10.000
$D_GRID,427
$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,15,-1.05,-146.0,0.0,0.0,0,186,0.00,0.00,-167.32,0.000,2,0.000,0.000,125,2308,2996,0,0,0,0,0,0
$GC,188,-1.05,-146.0,3.4,-5.4,31,216,10.18,2.80,-11.45,0.000,4,0.317,0.113,2133,712,3397,0,0,0,0,0,0
$GC,256,-0.81,-146.0,19.0,-20.9,43,262,0.35,2.75,0.00,0.000,6,0.230,0.092,2214,2303,3400,0,0,0,0,0,0
$GC,599,-0.81,-146.0,64.4,-12.5,104,605,0.00,2.80,0.00,0.000,4,0.000,0.109,2215,3893,3401,0,0,0,0,0,0
$GC,763,-0.81,-146.0,84.8,-12.2,133,770,0.00,2.65,0.00,0.000,6,0.000,0.078,2215,2312,3401,0,0,0,0,0,0
$GC,1100,-0.81,-146.0,126.6,-12.8,175,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2312,3402,0,0,0,0,0,0
$GC,1420,-0.81,-146.0,166.6,-12.0,205,1424,0.00,2.75,0.00,0.000,4,0.000,0.107,2215,3887,3402,0,0,0,0,0,0
$GC,1576,-0.81,-146.0,185.4,-11.2,218,1582,0.00,2.62,0.00,0.000,6,0.000,0.080,2215,2310,3401,0,0,0,0,0,0
$GC,1900,-0.81,-146.0,222.4,-10.9,249,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2309,3401,0,0,0,0,0,0
$GC,2221,-0.86,-146.0,252.5,-8.8,279,2225,0.00,2.70,0.00,0.000,4,0.000,0.104,2215,706,3401,0,0,0,0,0,0
$GC,2305,-0.86,-146.0,260.2,-9.1,286,2309,0.00,2.70,0.00,0.000,6,0.000,0.091,2215,2323,3400,0,0,0,0,0,0
$GC,2630,-0.93,-146.0,288.2,-9.1,316,2635,0.12,2.70,0.00,0.000,4,0.124,0.107,2163,3890,3400,0,0,0,0,0,0
$GC,2730,-0.83,-146.0,300.2,-12.0,324,2736,0.20,2.60,0.00,0.000,6,0.232,0.081,2208,2313,3400,0,0,0,0,0,0
$GC,3055,-0.89,-146.0,331.0,-9.3,355,3056,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2313,3400,0,0,0,0,0,0
$GC,3375,-0.95,-146.0,362.2,-9.8,385,3376,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2313,3400,0,0,0,0,0,0
$GC,3694,-1.04,-146.0,392.6,-9.6,415,3699,0.20,2.72,0.00,0.000,4,0.110,0.107,2142,3893,3399,0,0,0,0,0,0
$GC,3789,-0.91,-146.0,405.2,-13.7,423,3794,0.17,2.58,0.00,0.000,6,0.228,0.081,2180,2324,3399,0,0,0,0,0,0
$STATE,3984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3984,begin apogee
$GC,3989,-0.24,0.0,427.2,10.7,441,4111,0.77,0.00,117.95,1.095,6,0.203,0.000,2394,2105,2800,0,0,0,0,0,0
$STATE,4112,end apogee,CONTROL_FINISHED_OK
$STATE,4112,begin climb
$GC,4114,1.05,146.0,430.4,0.0,453,4250,1.42,3.03,121.80,1.032,4,0.143,0.098,2807,3682,2199,0,0,0,0,0,0
$GC,4289,0.56,146.0,411.4,18.0,469,4296,0.68,2.83,0.00,0.000,6,0.230,0.084,2666,2105,2195,0,0,0,0,0,0
$GC,4613,0.59,165.1,381.0,9.1,500,4634,0.00,0.00,15.12,0.948,6,0.000,0.000,2666,2105,2126,0,0,0,0,0,0
$GC,4953,0.66,178.7,349.3,9.4,532,4974,0.00,2.88,12.35,0.935,4,0.000,0.100,2666,3683,2070,0,0,0,0,0,0
$GC,5178,0.66,178.7,324.5,11.4,552,5183,0.00,2.70,0.00,0.000,6,0.000,0.083,2675,2107,2067,0,0,0,0,0,0
$GC,5503,0.73,178.7,291.0,10.0,582,5508,0.12,2.80,0.00,0.000,4,0.127,0.102,2715,3689,2067,0,0,0,0,0,0
$GC,5513,0.73,178.7,289.7,10.1,582,5519,0.00,2.65,0.00,0.000,6,0.000,0.083,2727,2128,2067,0,0,0,0,0,0
$GC,5838,0.65,178.7,252.5,10.9,613,5843,0.15,2.72,0.00,0.000,4,0.210,0.101,2694,3689,2066,0,0,0,0,0,0
$GC,6095,0.65,178.7,224.8,10.5,635,6101,0.00,2.62,0.00,0.000,6,0.000,0.083,2704,2125,2066,0,0,0,0,0,0
$GC,6421,0.67,198.6,195.0,9.1,666,6445,0.00,2.80,17.38,0.918,4,0.000,0.102,2704,3692,1988,0,0,0,0,0,0
$GC,6698,0.67,198.6,165.1,10.6,691,6703,0.00,2.62,0.00,0.000,6,0.000,0.084,2715,2145,1985,0,0,0,0,0,0
$GC,7023,0.71,229.5,134.1,8.6,721,7053,0.00,0.00,25.38,0.908,6,0.000,0.000,2715,2145,1864,0,0,0,0,0,0
$GC,7372,0.81,255.4,101.6,8.8,754,7398,0.00,0.00,22.45,0.884,6,0.000,0.000,2715,2145,1757,0,0,0,0,0,0
$GC,7737,0.94,272.5,66.2,9.2,817,7758,0.20,0.00,15.07,0.852,6,0.100,0.000,2782,2145,1687,0,0,0,0,0,0
$GC,8097,0.81,272.5,23.5,12.4,881,8104,0.17,2.72,0.00,0.000,4,0.213,0.101,2733,3697,1681,0,0,0,0,0,0
$STATE,8244,end climb,SURFACE_DEPTH_REACHED
$STATE,8244,begin surface coast
$FINISH,0.9,1.025705
$STATE,8249,end surface coast,CONTROL_FINISHED_OK
$STATE,8249,begin surface
$SM_CCo,8327,0.00,0.000,0,0,1671,276.70
$SM_GC,1.86,7.70,0.00,0.00,0.088,0.000,0.000,128,2299,1671,-7.32,0.00,276.70
$RAFOS_CLK,590
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6609.62,-6046.20,070199,010124
$TT8_MAMPS,0.026845
$HUMID,53.11
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,16.20
$XPDR_PINGS,3
$24V_AH,23.3,7.188
$10V_AH,10.3,2.602
$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,22.450,65.550,347.500,0.000,0.000,56.812,74.420,559.935,0.750,0.000,33.727,1561.417,4800.678,495.858,1522.932,836.753,0.000,1297.364,0.000,1485.949,0.000,0.530,0.000
$DEVICE_MAMPS,316.771,112.749,1095.276,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,668.114,621.470,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151760
$DATA_FILE_SIZE,34812,908
$CAP_FILE_SIZE,105512,0
$CFSIZE,260165632,249372672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.5
$CURRENT,0.649,178.4,1
$GPS,131009,032557,6634.294,-6042.888,116,99.0,135,-37.9