version: 66.06
glider: 143
mission: 8
dive: 53
start: 10 16 109 0 20 42
data:
$ID,143
$MISSION,8
$DIVE,53
$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,-21282.141
$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,19
$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
$GPS1,000744,6625.243,-6025.905,104,99.0,123,-37.6
$_CALLS,2
$_XMS_NAKs,25
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-60.3
$GPS2,002022,6625.213,-6026.092,19,99.0,38,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$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,79.2,172342,-18.3,-10.000
$D_GRID,463
$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,-146.0,0.0,0.0,0,84,0.00,0.00,-66.38,0.000,2,0.000,0.000,123,2292,2688,0,0,0,0,0,0
$GC,87,-1.05,-146.0,3.1,-4.9,13,129,10.68,2.78,-23.12,0.000,4,0.331,0.111,2130,721,3399,0,0,0,0,0,0
$GC,309,-0.70,-146.0,50.6,-20.7,53,316,0.50,2.67,0.00,0.000,6,0.235,0.087,2250,2307,3402,0,0,0,0,0,0
$GC,654,-0.78,-146.0,90.0,-10.0,114,660,0.00,2.72,0.00,0.000,4,0.000,0.103,2250,3888,3403,0,0,0,0,0,0
$GC,666,-0.85,-146.0,91.2,-9.6,116,673,0.15,2.53,0.00,0.000,6,0.112,0.073,2201,2358,3403,0,0,0,0,0,0
$GC,996,-0.78,-146.0,133.5,-13.5,153,1000,0.00,2.65,0.00,0.000,4,0.000,0.102,2201,3896,3403,0,0,0,0,0,0
$GC,1118,-0.78,-146.0,149.4,-12.6,163,1125,0.00,2.55,0.00,0.000,6,0.000,0.074,2201,2347,3403,0,0,0,0,0,0
$GC,1442,-0.78,-146.0,186.2,-10.6,194,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2347,3403,0,0,0,0,0,0
$GC,1762,-0.78,-146.0,221.9,-11.4,224,1764,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2347,3403,0,0,0,0,0,0
$GC,2081,-0.78,-146.0,256.3,-10.5,254,2083,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2347,3403,0,0,0,0,0,0
$GC,2400,-0.78,-146.0,289.2,-11.0,284,2404,0.00,2.62,0.00,0.000,4,0.000,0.104,2201,3887,3402,0,0,0,0,0,0
$GC,2563,-0.78,-146.0,307.2,-10.7,298,2567,0.00,2.53,0.00,0.000,6,0.000,0.077,2201,2340,3402,0,0,0,0,0,0
$GC,2888,-0.78,-146.0,340.2,-10.0,328,2892,0.00,2.70,0.00,0.000,4,0.000,0.099,2201,717,3402,0,0,0,0,0,0
$GC,2987,-0.78,-146.0,350.7,-9.9,336,2993,0.00,2.67,0.00,0.000,6,0.000,0.086,2201,2345,3402,0,0,0,0,0,0
$GC,3314,-0.83,-146.0,381.1,-9.7,367,3318,0.00,2.60,0.00,0.000,4,0.000,0.104,2201,3886,3401,0,0,0,0,0,0
$GC,3433,-0.88,-146.0,392.3,-9.2,377,3437,0.00,2.50,0.00,0.000,6,0.000,0.076,2201,2346,3401,0,0,0,0,0,0
$GC,3758,-0.94,-146.0,421.8,-9.2,407,3762,0.00,2.70,0.00,0.000,4,0.000,0.097,2201,706,3401,0,0,0,0,0,0
$GC,3812,-0.94,-146.0,427.5,-9.7,411,3819,0.00,2.70,0.00,0.000,6,0.000,0.085,2201,2356,3401,0,0,0,0,0,0
$GC,4137,-1.02,-146.0,456.8,-9.2,442,4142,0.15,2.58,0.00,0.000,4,0.111,0.100,2139,3888,3400,0,0,0,0,0,0
$STATE,4190,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4190,begin apogee
$GC,4198,-0.24,0.0,463.3,11.9,446,4324,0.93,0.00,118.43,1.095,6,0.212,0.000,2391,2103,2799,0,0,0,0,0,0
$STATE,4325,end apogee,CONTROL_FINISHED_OK
$STATE,4325,begin climb
$GC,4327,1.05,146.0,467.3,0.0,459,4462,1.42,3.00,121.75,1.042,4,0.138,0.093,2811,3685,2202,0,0,0,0,0,0
$GC,4474,0.62,146.0,452.6,15.8,473,4480,0.62,2.83,0.00,0.000,6,0.232,0.077,2685,2106,2199,0,0,0,0,0,0
$GC,4798,0.62,146.0,417.0,10.4,503,4803,0.00,2.80,0.00,0.000,4,0.000,0.095,2685,3694,2193,0,0,0,0,0,0
$GC,5054,0.53,146.0,387.0,11.7,525,5061,0.17,2.70,0.00,0.000,6,0.203,0.078,2655,2099,2190,0,0,0,0,0,0
$GC,5380,0.62,159.3,356.3,9.4,556,5392,0.00,0.00,10.27,0.924,6,0.000,0.000,2656,2099,2150,0,0,0,0,0,0
$GC,5708,0.74,187.2,326.8,8.7,587,5741,0.20,2.83,24.60,0.970,4,0.110,0.097,2719,3691,2035,0,0,0,0,0,0
$GC,5993,0.61,187.2,289.1,13.8,612,5999,0.22,2.70,0.00,0.000,6,0.209,0.079,2679,2093,2030,0,0,0,0,0,0
$GC,6317,0.69,187.2,255.8,10.2,643,6322,0.00,2.75,0.00,0.000,4,0.000,0.096,2679,3689,2029,0,0,0,0,0,0
$GC,6574,0.69,187.2,227.1,11.2,665,6580,0.00,2.58,0.00,0.000,6,0.000,0.078,2689,2139,2029,0,0,0,0,0,0
$GC,6900,0.79,211.9,197.8,8.9,696,6924,0.15,0.00,20.83,0.917,6,0.105,0.000,2741,2138,1936,0,0,0,0,0,0
$GC,7240,0.79,211.9,156.0,12.3,728,7244,0.00,2.67,0.00,0.000,4,0.000,0.097,2741,3697,1932,0,0,0,0,0,0
$GC,7470,0.68,211.9,126.1,13.5,748,7475,0.20,2.60,0.00,0.000,6,0.204,0.080,2706,2138,1929,0,0,0,0,0,0
$GC,7797,0.84,248.2,96.5,8.3,781,7835,0.15,2.72,30.95,0.879,4,0.120,0.096,2753,3693,1785,0,0,0,0,0,0
$GC,8072,0.74,248.2,62.7,13.5,830,8078,0.17,2.62,0.00,0.000,6,0.200,0.081,2724,2136,1780,0,0,0,0,0,0
$GC,8416,0.87,248.2,30.5,11.0,891,8423,0.12,2.65,0.00,0.000,4,0.123,0.097,2764,3689,1778,0,0,0,0,0,0
$STATE,8647,end climb,SURFACE_DEPTH_REACHED
$STATE,8647,begin surface coast
$FINISH,0.7,1.017775
$STATE,8664,end surface coast,CONTROL_FINISHED_OK
$STATE,8664,begin surface
$SM_CCo,8682,19.42,0.825,0,0,1677,275.23
$SM_GC,1.63,0.00,0.00,19.42,0.000,0.000,0.825,129,2300,1677,-7.35,0.00,275.23
$RAFOS_CLK,602
$RAFOS,6,1255654148,0.833333,0.818889,55,53,51,0,0,0,1780,1163,400,0,0,0
$RAFOS,5,1255653670,0.700000,0.686111,44,40,39,0,0,0,280,1006,180,0,0,0
$RAFOS,4,1255653191,0.566667,0.553056,43,42,40,0,0,0,1803,1123,1361,0,0,0
$RAFOS,3,1255652704,0.433333,0.417778,42,41,39,0,0,0,1234,276,1169,0,0,0
$RAFOS,0,1255651265,0.033333,0.018056,44,43,43,0,0,0,508,801,1942,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6558.99,-6018.64,100199,000023
$TT8_MAMPS,0.027612
$HUMID,53.15
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.30
$XPDR_PINGS,6
$24V_AH,23.3,10.738
$10V_AH,10.2,4.221
$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,23.525,80.275,326.825,19.425,0.000,59.343,109.645,376.834,1.500,0.000,40.298,1673.814,5023.772,444.170,1620.799,699.236,0.000,1270.762,0.000,1575.115,1440.000,0.530,0.000
$DEVICE_MAMPS,331.344,111.215,1095.276,825.292,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,684.345,646.103,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150924
$DATA_FILE_SIZE,34749,935
$CAP_FILE_SIZE,107805,0
$CFSIZE,260165632,247861248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.9
$CURRENT,0.353,182.7,1
$GPS,161009,024707,6624.359,-6025.576,38,1.3,38,-37.6