version: 66.06
glider: 143
mission: 8
dive: 25
start: 10 13 109 3 44 16
data:
$ID,143
$MISSION,8
$DIVE,25
$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,-19508.322
$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,18
$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
$GPS1,032557,6634.294,-6042.888,116,99.0,135,-37.9
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-55.3
$GPS2,034355,6633.856,-6042.879,46,1.9,63,-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,47.5,42000,-18.3,-10.000
$D_GRID,437
$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,-146.0,0.0,0.0,0,103,0.00,0.00,-85.05,0.000,2,0.000,0.000,125,2294,2960,0,0,0,0,0,0
$GC,105,-1.05,-146.0,3.3,-5.2,16,137,10.38,2.78,-13.98,0.000,4,0.324,0.116,2133,714,3399,0,0,0,0,0,0
$GC,267,-0.72,-146.0,29.9,-15.7,45,274,0.45,2.72,0.00,0.000,6,0.235,0.091,2240,2310,3402,0,0,0,0,0,0
$GC,613,-0.77,-146.0,75.8,-11.0,106,619,0.00,2.75,0.00,0.000,4,0.000,0.107,2240,3887,3402,0,0,0,0,0,0
$GC,820,-0.87,-146.0,102.4,-12.0,141,827,0.12,2.62,0.00,0.000,6,0.125,0.075,2201,2302,3402,0,0,0,0,0,0
$GC,1145,-0.82,-146.0,148.2,-13.9,172,1150,0.00,2.67,0.00,0.000,4,0.000,0.103,2201,717,3402,0,0,0,0,0,0
$GC,1211,-0.76,-146.0,157.9,-14.2,177,1218,0.15,2.67,0.00,0.000,6,0.237,0.090,2231,2315,3403,0,0,0,0,0,0
$GC,1536,-0.83,-146.0,192.7,-9.9,208,1541,0.00,2.70,0.00,0.000,4,0.000,0.108,2231,3884,3402,0,0,0,0,0,0
$GC,1645,-0.93,-146.0,203.4,-9.8,217,1650,0.17,2.60,0.00,0.000,6,0.111,0.078,2174,2310,3402,0,0,0,0,0,0
$GC,1970,-0.83,-146.0,243.5,-11.4,247,1972,0.15,0.00,0.00,0.000,6,0.223,0.000,2206,2310,3402,0,0,0,0,0,0
$GC,2288,-0.83,-146.0,275.7,-9.3,277,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2309,3402,0,0,0,0,0,0
$GC,2609,-0.88,-146.0,305.6,-9.3,307,2610,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2310,3402,0,0,0,0,0,0
$GC,2926,-0.94,-146.0,337.9,-10.2,337,2931,0.00,2.72,0.00,0.000,4,0.000,0.110,2206,3885,3401,0,0,0,0,0,0
$GC,3134,-1.01,-146.0,358.3,-9.7,355,3139,0.17,2.60,0.00,0.000,6,0.114,0.081,2148,2306,3400,0,0,0,0,0,0
$GC,3459,-0.89,-146.0,396.9,-12.1,385,3464,0.17,2.67,0.00,0.000,4,0.228,0.103,2192,710,3399,0,0,0,0,0,0
$GC,3543,-0.89,-146.0,406.5,-10.4,392,3547,0.00,2.65,0.00,0.000,6,0.000,0.089,2192,2316,3400,0,0,0,0,0,0
$STATE,3865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3865,begin apogee
$GC,3870,-0.24,0.0,437.7,8.1,422,3992,0.75,0.00,118.12,1.098,6,0.199,0.000,2400,2104,2800,0,0,0,0,0,0
$STATE,3993,end apogee,CONTROL_FINISHED_OK
$STATE,3993,begin climb
$GC,3996,1.05,146.0,441.1,0.0,434,4127,1.40,0.00,122.28,1.038,6,0.140,0.000,2806,2104,2202,0,0,0,0,0,0
$GC,4445,0.68,146.0,378.9,15.3,477,4451,0.40,2.83,0.00,0.000,4,0.224,0.097,2697,3693,2192,0,0,0,0,0,0
$GC,4703,0.54,146.0,348.1,11.5,499,4710,0.22,2.65,0.00,0.000,6,0.215,0.080,2655,2126,2190,0,0,0,0,0,0
$GC,5028,0.66,179.0,319.8,8.5,530,5060,0.12,2.78,26.05,0.966,4,0.130,0.097,2692,3686,2069,0,0,0,0,0,0
$GC,5072,0.67,186.9,315.5,9.6,534,5087,0.00,2.70,8.10,0.852,6,0.000,0.081,2704,2125,2037,0,0,0,0,0,0
$GC,5412,0.67,191.1,279.9,9.8,566,5424,0.00,2.80,4.45,0.708,4,0.000,0.104,2716,514,2021,0,0,0,0,0,0
$GC,5435,0.67,191.1,277.6,10.0,568,5440,0.00,2.72,0.00,0.000,6,0.000,0.083,2716,2122,2021,0,0,0,0,0,0
$GC,5761,0.67,191.1,242.1,11.6,598,5765,0.00,2.72,0.00,0.000,4,0.000,0.103,2716,3695,2020,0,0,0,0,0,0
$GC,6002,0.61,191.1,211.8,12.7,619,6008,0.20,2.62,0.00,0.000,6,0.205,0.083,2681,2139,2019,0,0,0,0,0,0
$GC,6328,0.76,234.4,183.7,8.0,649,6370,0.12,0.00,36.65,0.927,6,0.129,0.000,2719,2139,1843,0,0,0,0,0,0
$GC,6689,0.80,234.4,145.5,10.2,683,6693,0.00,2.72,0.00,0.000,4,0.000,0.102,2719,3696,1836,0,0,0,0,0,0
$GC,6845,0.80,234.4,128.4,10.6,696,6851,0.00,2.62,0.00,0.000,6,0.000,0.084,2731,2149,1835,0,0,0,0,0,0
$GC,7171,0.81,240.1,97.1,9.7,729,7182,0.00,0.00,4.80,0.719,6,0.000,0.000,2731,2149,1821,0,0,0,0,0,0
$GC,7520,0.86,240.1,59.8,11.8,791,7525,0.00,2.67,0.00,0.000,4,0.000,0.104,2731,3694,1819,0,0,0,0,0,0
$GC,7710,0.86,240.1,38.1,12.0,825,7716,0.00,2.58,0.00,0.000,6,0.000,0.084,2742,2154,1819,0,0,0,0,0,0
$GC,8053,0.99,308.9,6.7,6.8,886,8117,0.17,2.75,56.58,0.840,4,0.116,0.098,2800,3693,1537,0,0,0,0,0,0
$STATE,8122,end climb,SURFACE_DEPTH_REACHED
$STATE,8123,begin surface coast
$FINISH,0.7,1.025643
$STATE,8133,end surface coast,CONTROL_FINISHED_OK
$STATE,8133,begin surface
$SM_CCo,8212,0.00,0.000,0,0,1529,311.78
$SM_GC,1.63,8.18,0.00,0.00,0.093,0.000,0.000,126,2292,1529,-7.32,-0.23,311.78
$RAFOS_CLK,592
$RAFOS,4,1255409044,4.750000,4.734445,45,45,43,0,0,0,381,464,829,0,0,0
$RAFOS,3,1255408441,4.583333,4.566945,43,42,41,0,0,0,452,964,1079,0,0,0
$RAFOS,2,1255407848,4.416667,4.402222,43,41,40,0,0,0,664,674,1257,0,0,0
$RAFOS,1,1255407242,4.250000,4.233889,47,39,38,0,0,0,1103,511,451,0,0,0
$RAFOS,0,1255406643,4.083333,4.067500,46,41,41,0,0,0,1486,616,784,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6604.29,-6039.42,070199,030351
$TT8_MAMPS,0.027612
$HUMID,52.63
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,16.20
$XPDR_PINGS,5
$24V_AH,23.4,7.340
$10V_AH,10.2,2.666
$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,23.350,70.150,377.025,0.000,0.000,84.315,118.793,585.504,1.250,0.000,65.075,1572.042,4785.954,469.268,1523.138,939.540,0.000,1242.059,0.000,1458.960,1800.000,0.530,0.000
$DEVICE_MAMPS,323.674,115.817,1098.344,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,666.369,617.453,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151816
$DATA_FILE_SIZE,34765,901
$CAP_FILE_SIZE,108101,0
$CFSIZE,260165632,249315328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.7
$CURRENT,0.431,174.4,1
$GPS,131009,060355,6633.000,-6042.207,124,1.7,124,-37.8