version: 66.06
glider: 143
mission: 8
dive: 55
start: 10 16 109 5 34 10
data:
$ID,143
$MISSION,8
$DIVE,55
$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,-21323.445
$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
$GPS1,051906,6622.813,-6025.299,54,1.6,54,-37.6
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-67.2
$GPS2,053349,6622.430,-6025.530,11,2.0,11,-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,57.0,174133,-18.3,-10.000
$D_GRID,445
$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,13,begin dive
$GC,15,-1.05,-146.0,0.0,0.0,0,93,0.00,0.00,-75.03,0.000,2,0.000,0.000,126,2306,2830,0,0,0,0,0,0
$GC,95,-1.05,-146.0,3.1,-3.3,14,132,10.23,2.83,-17.00,0.000,4,0.320,0.108,2132,709,3400,0,0,0,0,0,0
$GC,185,-0.69,-146.0,22.8,-20.5,30,191,0.50,2.70,0.00,0.000,6,0.232,0.087,2252,2300,3403,0,0,0,0,0,0
$GC,530,-0.79,-146.0,61.6,-10.1,91,536,0.00,2.78,0.00,0.000,4,0.000,0.105,2252,3890,3403,0,0,0,0,0,0
$GC,610,-0.91,-146.0,69.6,-9.7,105,617,0.20,2.65,0.00,0.000,6,0.106,0.073,2186,2290,3403,0,0,0,0,0,0
$GC,949,-0.82,-146.0,114.8,-13.8,156,951,0.12,0.00,0.00,0.000,6,0.232,0.000,2211,2290,3403,0,0,0,0,0,0
$GC,1268,-0.82,-146.0,152.0,-11.4,186,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2290,3404,0,0,0,0,0,0
$GC,1587,-0.82,-146.0,188.8,-10.8,216,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2211,2290,3404,0,0,0,0,0,0
$GC,1906,-0.86,-146.0,222.4,-10.9,246,1911,0.00,2.75,0.00,0.000,4,0.000,0.104,2211,3893,3404,0,0,0,0,0,0
$GC,2041,-0.93,-146.0,237.1,-11.0,257,2047,0.00,2.60,0.00,0.000,6,0.000,0.076,2212,2305,3403,0,0,0,0,0,0
$GC,2366,-0.99,-146.0,270.7,-10.5,288,2372,0.17,2.67,0.00,0.000,4,0.111,0.100,2155,706,3403,0,0,0,0,0,0
$GC,2422,-0.84,-146.0,278.5,-14.2,292,2429,0.20,2.65,0.00,0.000,6,0.240,0.086,2201,2317,3403,0,0,0,0,0,0
$GC,2747,-0.90,-146.0,311.6,-9.7,323,2752,0.00,2.67,0.00,0.000,4,0.000,0.106,2201,3891,3402,0,0,0,0,0,0
$GC,2960,-0.95,-146.0,332.0,-9.5,341,2966,0.00,2.58,0.00,0.000,6,0.000,0.076,2201,2309,3401,0,0,0,0,0,0
$GC,3285,-1.00,-146.0,361.6,-9.2,372,3286,0.15,0.00,0.00,0.000,6,0.117,0.000,2152,2309,3401,0,0,0,0,0,0
$GC,3603,-0.90,-146.0,398.5,-11.8,402,3608,0.15,2.70,0.00,0.000,4,0.233,0.100,2174,3892,3401,0,0,0,0,0,0
$GC,3738,-0.90,-146.0,413.3,-10.4,413,3744,0.00,2.55,0.00,0.000,6,0.000,0.074,2174,2315,3401,0,0,0,0,0,0
$STATE,4051,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4051,begin apogee
$GC,4056,-0.24,0.0,445.0,10.1,443,4182,0.77,0.00,118.30,1.085,6,0.200,0.000,2392,2103,2799,0,0,0,0,0,0
$STATE,4182,end apogee,CONTROL_FINISHED_OK
$STATE,4183,begin climb
$GC,4184,1.05,146.0,449.0,0.0,456,4315,1.45,0.00,121.82,1.029,6,0.137,0.000,2814,2103,2203,0,0,0,0,0,0
$GC,4633,0.70,146.0,385.7,15.8,499,4638,0.40,2.78,0.00,0.000,4,0.211,0.096,2722,508,2192,0,0,0,0,0,0
$GC,4645,0.38,146.0,383.8,15.3,499,4651,0.43,2.70,0.00,0.000,6,0.194,0.076,2612,2105,2192,0,0,0,0,0,0
$GC,4972,0.70,221.0,360.9,6.6,530,5043,0.25,2.88,61.38,0.983,4,0.100,0.094,2699,3691,1898,0,0,0,0,0,0
$GC,5271,0.65,221.0,322.8,13.6,557,5276,0.00,2.70,0.00,0.000,6,0.000,0.077,2711,2115,1891,0,0,0,0,0,0
$GC,5595,0.65,221.0,277.7,13.6,587,5596,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2114,1888,0,0,0,0,0,0
$GC,5915,0.65,221.0,236.0,12.7,617,5919,0.00,2.70,0.00,0.000,4,0.000,0.095,2711,3687,1888,0,0,0,0,0,0
$GC,6138,0.60,221.0,206.0,13.4,636,6144,0.20,2.62,0.00,0.000,6,0.203,0.078,2676,2111,1888,0,0,0,0,0,0
$GC,6463,0.77,237.1,175.6,9.3,667,6483,0.15,0.00,13.48,0.876,6,0.116,0.000,2724,2111,1832,0,0,0,0,0,0
$GC,6801,0.77,237.1,138.9,10.0,699,6805,0.00,2.70,0.00,0.000,4,0.000,0.096,2725,3690,1829,0,0,0,0,0,0
$GC,7035,0.77,237.1,112.6,11.4,719,7041,0.00,2.62,0.00,0.000,6,0.000,0.080,2736,2109,1828,0,0,0,0,0,0
$GC,7372,0.77,237.1,75.3,11.5,769,7378,0.00,2.67,0.00,0.000,4,0.000,0.097,2736,3687,1828,0,0,0,0,0,0
$GC,7628,0.88,276.8,46.4,8.2,814,7671,0.00,2.53,33.88,0.851,6,0.000,0.082,2748,2165,1669,0,0,0,0,0,0
$GC,8008,0.88,276.8,5.5,12.0,882,8014,0.00,2.62,0.00,0.000,4,0.000,0.098,2747,3689,1662,0,0,0,0,0,0
$STATE,8040,end climb,SURFACE_DEPTH_REACHED
$STATE,8040,begin surface coast
$FINISH,0.7,1.023861
$STATE,8058,end surface coast,CONTROL_FINISHED_OK
$STATE,8058,begin surface
$SM_CCo,8136,0.00,0.000,0,0,1656,280.62
$SM_GC,1.86,7.65,0.00,0.00,0.081,0.000,0.000,124,2289,1656,-7.33,-0.31,280.62
$RAFOS_CLK,576
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6553.70,-6028.61,100199,050538
$TT8_MAMPS,0.026845
$HUMID,52.95
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.30
$XPDR_PINGS,3
$24V_AH,23.3,10.995
$10V_AH,10.3,4.336
$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,23.025,64.350,348.850,0.000,0.000,76.685,88.680,467.668,0.750,0.000,12.999,1565.360,4753.435,437.717,1475.742,785.836,0.000,1211.140,0.000,1460.695,0.000,0.530,0.000
$DEVICE_MAMPS,319.839,108.147,1085.305,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,651.239,614.750,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150808
$DATA_FILE_SIZE,34733,891
$CAP_FILE_SIZE,102532,0
$CFSIZE,260165632,247758848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.6
$CURRENT,0.441,179.7,1
$GPS,161009,075058,6621.574,-6024.947,11,6.9,30,-37.5