version: 66.06
glider: 143
mission: 8
dive: 37
start: 10 14 109 9 8 12
data:
$ID,143
$MISSION,8
$DIVE,37
$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,-20833.525
$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,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
$GPS1,090206,6627.615,-6037.246,10,1.0,26,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-67.8
$GPS2,090751,6627.614,-6037.313,13,1.4,14,-37.7
$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,54.0,46891,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.05,-146.0,0.0,0.0,0,102,0.00,0.00,-84.12,0.000,2,0.000,0.000,124,2301,2805,0,0,0,0,0,0
$GC,105,-1.05,-146.0,3.4,-5.5,16,142,10.48,2.83,-18.20,0.000,4,0.326,0.110,2131,707,3400,0,0,0,0,0,0
$GC,221,-0.73,-146.0,27.4,-21.8,37,227,0.45,2.72,0.00,0.000,6,0.239,0.087,2237,2309,3402,0,0,0,0,0,0
$GC,564,-0.73,-146.0,70.9,-10.6,98,570,0.00,2.75,0.00,0.000,4,0.000,0.106,2237,3888,3403,0,0,0,0,0,0
$GC,621,-0.82,-146.0,77.0,-10.5,108,627,0.00,2.65,0.00,0.000,6,0.000,0.074,2237,2285,3403,0,0,0,0,0,0
$GC,958,-0.89,-146.0,112.6,-10.8,158,960,0.15,0.00,0.00,0.000,6,0.117,0.000,2190,2286,3404,0,0,0,0,0,0
$GC,1280,-0.80,-146.0,154.6,-13.3,188,1285,0.12,2.78,0.00,0.000,4,0.235,0.103,2208,3885,3403,0,0,0,0,0,0
$GC,1386,-0.80,-146.0,168.6,-12.9,197,1391,0.00,2.60,0.00,0.000,6,0.000,0.075,2207,2306,3403,0,0,0,0,0,0
$GC,1710,-0.80,-146.0,207.0,-11.3,227,1715,0.00,2.67,0.00,0.000,4,0.000,0.100,2207,706,3403,0,0,0,0,0,0
$GC,1771,-0.80,-146.0,214.0,-11.6,232,1776,0.00,2.65,0.00,0.000,6,0.000,0.088,2207,2306,3403,0,0,0,0,0,0
$GC,2095,-0.80,-146.0,250.8,-11.1,262,2100,0.00,2.70,0.00,0.000,4,0.000,0.107,2207,3885,3403,0,0,0,0,0,0
$GC,2280,-0.86,-146.0,270.8,-10.7,278,2285,0.00,2.58,0.00,0.000,6,0.000,0.077,2207,2312,3403,0,0,0,0,0,0
$GC,2605,-0.91,-146.0,303.8,-9.8,308,2610,0.00,2.67,0.00,0.000,4,0.000,0.100,2207,705,3402,0,0,0,0,0,0
$GC,2734,-0.91,-146.0,317.3,-11.0,319,2739,0.00,2.65,0.00,0.000,6,0.000,0.087,2207,2314,3402,0,0,0,0,0,0
$GC,3059,-0.96,-146.0,349.2,-10.0,349,3064,0.12,2.70,0.00,0.000,4,0.122,0.103,2153,3890,3402,0,0,0,0,0,0
$GC,3136,-0.87,-146.0,359.2,-13.1,355,3144,0.20,2.58,0.00,0.000,6,0.229,0.076,2197,2308,3401,0,0,0,0,0,0
$GC,3461,-0.87,-146.0,391.5,-9.5,386,3465,0.00,2.65,0.00,0.000,4,0.000,0.099,2197,707,3402,0,0,0,0,0,0
$GC,3556,-0.87,-146.0,401.3,-10.6,394,3560,0.00,2.65,0.00,0.000,6,0.000,0.087,2198,2321,3402,0,0,0,0,0,0
$GC,3881,-0.92,-146.0,431.5,-8.8,424,3886,0.00,2.65,0.00,0.000,4,0.000,0.106,2197,3884,3401,0,0,0,0,0,0
$STATE,3918,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3918,begin apogee
$GC,3926,-0.24,0.0,435.0,9.0,427,4052,0.70,0.00,118.22,1.091,6,0.199,0.000,2394,2096,2799,0,0,0,0,0,0
$STATE,4052,end apogee,CONTROL_FINISHED_OK
$STATE,4053,begin climb
$GC,4054,1.05,146.0,438.9,0.0,440,4185,1.40,0.00,122.15,1.029,6,0.141,0.000,2803,2096,2202,0,0,0,0,0,0
$GC,4503,0.72,146.0,377.3,15.5,483,4509,0.35,2.75,0.00,0.000,4,0.209,0.097,2725,518,2192,0,0,0,0,0,0
$GC,4514,0.43,146.0,375.7,15.2,483,4521,0.40,2.70,0.00,0.000,6,0.195,0.076,2625,2112,2191,0,0,0,0,0,0
$GC,4839,0.67,198.8,350.9,7.6,514,4891,0.22,2.88,43.00,0.982,4,0.107,0.097,2697,3679,1987,0,0,0,0,0,0
$GC,5099,0.61,198.8,318.2,13.0,537,5105,0.12,2.65,0.00,0.000,6,0.206,0.078,2683,2131,1980,0,0,0,0,0,0
$GC,5424,0.67,199.1,283.3,10.0,568,5425,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2131,1979,0,0,0,0,0,0
$GC,5743,0.78,214.5,253.3,9.3,598,5766,0.15,2.78,12.95,0.908,4,0.117,0.098,2730,3686,1923,0,0,0,0,0,0
$GC,5973,0.68,214.5,224.6,12.2,618,5979,0.17,2.62,0.00,0.000,6,0.204,0.080,2702,2126,1920,0,0,0,0,0,0
$GC,6298,0.72,214.5,190.8,10.1,649,6302,0.00,2.70,0.00,0.000,4,0.000,0.097,2702,3693,1920,0,0,0,0,0,0
$GC,6505,0.72,214.5,168.5,10.5,667,6509,0.00,2.55,0.00,0.000,6,0.000,0.081,2711,2169,1919,0,0,0,0,0,0
$GC,6830,0.78,218.8,136.3,9.8,697,6841,0.00,2.83,4.28,0.698,4,0.000,0.102,2723,508,1908,0,0,0,0,0,0
$GC,6846,0.83,218.8,134.4,10.5,698,6852,0.00,2.75,0.00,0.000,6,0.000,0.080,2724,2174,1908,0,0,0,0,0,0
$GC,7170,0.83,218.8,99.0,10.4,729,7176,0.00,2.58,0.00,0.000,4,0.000,0.099,2724,3694,1907,0,0,0,0,0,0
$GC,7350,0.83,218.8,79.1,10.4,761,7355,0.00,2.53,0.00,0.000,6,0.000,0.082,2735,2178,1907,0,0,0,0,0,0
$GC,7694,0.90,278.1,52.8,7.3,822,7752,0.10,2.70,50.40,0.865,4,0.133,0.099,2768,3689,1665,0,0,0,0,0,0
$GC,7944,0.84,278.1,21.1,14.3,867,7951,0.00,2.50,0.00,0.000,6,0.000,0.081,2779,2219,1656,0,0,0,0,0,0
$STATE,8089,end climb,SURFACE_DEPTH_REACHED
$STATE,8090,begin surface coast
$FINISH,0.9,1.014988
$STATE,8108,end surface coast,CONTROL_FINISHED_OK
$STATE,8108,begin surface
$SM_CCo,8184,0.00,0.000,0,0,1650,282.10
$SM_GC,1.80,7.78,0.00,0.00,0.081,0.000,0.000,130,2313,1650,-7.31,0.37,282.10
$RAFOS_CLK,551
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6558.99,-6042.63,080199,060648
$TT8_MAMPS,0.026078
$HUMID,52.87
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.30
$XPDR_PINGS,3
$24V_AH,23.3,8.879
$10V_AH,10.3,3.352
$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,22.925,86.125,351.000,0.000,0.000,29.748,39.279,170.743,0.750,0.000,15.684,1572.062,4628.249,467.457,1495.243,365.639,0.000,1252.799,0.000,1475.019,0.000,0.530,0.000
$DEVICE_MAMPS,325.975,109.681,1091.441,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,655.820,614.882,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151000
$DATA_FILE_SIZE,34775,896
$CAP_FILE_SIZE,98319,0
$CFSIZE,260165632,248692736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.8
$CURRENT,0.119,120.4,1
$GPS,141009,112552,6628.404,-6035.754,14,99.0,33,-37.7