version: 66.06
glider: 143
mission: 8
dive: 56
start: 10 16 109 7 59 15
data:
$ID,143
$MISSION,8
$DIVE,56
$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,-21417.943
$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,24
$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
$GPS1,075058,6621.574,-6024.947,11,6.9,30,-37.5
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-65.1
$GPS2,075855,6621.459,-6025.084,92,1.4,92,-37.5
$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,56.4,174627,-18.3,-10.000
$D_GRID,444
$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,16,-1.05,-146.0,0.0,0.0,0,81,0.00,0.00,-62.58,0.000,2,0.000,0.000,123,2287,2615,0,0,0,0,0,0
$GC,84,-1.05,-146.0,3.3,-5.0,12,127,10.60,2.70,-25.75,0.000,4,0.333,0.107,2132,710,3398,0,0,0,0,0,0
$GC,235,-0.72,-146.0,34.4,-19.7,39,241,0.47,2.67,0.00,0.000,6,0.239,0.087,2245,2300,3401,0,0,0,0,0,0
$GC,581,-0.80,-146.0,75.4,-9.7,100,586,0.00,2.75,0.00,0.000,4,0.000,0.104,2245,3888,3402,0,0,0,0,0,0
$GC,734,-0.90,-146.0,90.4,-10.3,127,740,0.17,2.60,0.00,0.000,6,0.113,0.074,2188,2309,3402,0,0,0,0,0,0
$GC,1064,-0.82,-146.0,130.5,-11.4,165,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2308,3402,0,0,0,0,0,0
$GC,1384,-0.78,-146.0,167.5,-11.7,195,1390,0.17,2.67,0.00,0.000,4,0.229,0.099,2229,716,3402,0,0,0,0,0,0
$GC,1473,-0.84,-146.0,177.6,-10.6,202,1480,0.00,2.62,0.00,0.000,6,0.000,0.085,2229,2310,3402,0,0,0,0,0,0
$GC,1798,-0.95,-146.0,211.8,-10.9,233,1804,0.17,2.70,0.00,0.000,4,0.112,0.102,2160,3895,3402,0,0,0,0,0,0
$GC,1962,-0.83,-146.0,236.0,-15.2,247,1967,0.22,2.62,0.00,0.000,6,0.231,0.077,2211,2301,3401,0,0,0,0,0,0
$GC,2287,-0.88,-146.0,270.6,-9.8,277,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2301,3401,0,0,0,0,0,0
$GC,2607,-0.94,-146.0,301.0,-8.9,307,2611,0.00,2.70,0.00,0.000,4,0.000,0.104,2210,3885,3400,0,0,0,0,0,0
$GC,2741,-1.03,-146.0,313.8,-9.2,318,2748,0.20,2.58,0.00,0.000,6,0.110,0.077,2144,2309,3400,0,0,0,0,0,0
$GC,3066,-0.89,-146.0,352.2,-11.4,349,3068,0.20,0.00,0.00,0.000,6,0.229,0.000,2188,2308,3400,0,0,0,0,0,0
$GC,3385,-0.89,-146.0,381.9,-8.6,379,3389,0.00,2.70,0.00,0.000,4,0.000,0.104,2189,3893,3400,0,0,0,0,0,0
$GC,3491,-0.89,-146.0,391.9,-9.4,388,3495,0.00,2.58,0.00,0.000,6,0.000,0.075,2189,2305,3399,0,0,0,0,0,0
$GC,3815,-0.89,-146.0,420.0,-8.2,418,3816,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2305,3399,0,0,0,0,0,0
$STATE,4089,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4089,begin apogee
$GC,4094,-0.24,0.0,444.8,9.1,444,4216,0.75,0.00,117.80,1.082,6,0.199,0.000,2397,2093,2800,0,0,0,0,0,0
$STATE,4217,end apogee,CONTROL_FINISHED_OK
$STATE,4217,begin climb
$GC,4219,1.05,146.0,447.4,0.0,456,4354,1.40,3.00,121.35,1.025,4,0.137,0.092,2810,3680,2202,0,0,0,0,0,0
$GC,4365,0.60,146.0,431.8,18.0,470,4371,0.65,2.83,0.00,0.000,6,0.227,0.077,2676,2103,2199,0,0,0,0,0,0
$GC,4689,0.60,146.0,396.2,10.5,500,4694,0.00,2.80,0.00,0.000,4,0.000,0.095,2676,3690,2192,0,0,0,0,0,0
$GC,4946,0.55,146.0,367.0,11.0,522,4953,0.00,2.67,0.00,0.000,6,0.000,0.076,2686,2108,2191,0,0,0,0,0,0
$GC,5270,0.55,146.0,333.2,10.3,553,5274,0.00,2.72,0.00,0.000,4,0.000,0.097,2686,3686,2191,0,0,0,0,0,0
$GC,5279,0.55,146.0,332.1,10.6,553,5286,0.17,2.65,0.00,0.000,6,0.199,0.077,2658,2103,2190,0,0,0,0,0,0
$GC,5605,0.67,173.9,302.8,8.7,584,5637,0.12,2.83,22.10,0.950,4,0.124,0.096,2696,3683,2089,0,0,0,0,0,0
$GC,5890,0.60,173.9,268.3,12.0,609,5896,0.15,2.65,0.00,0.000,6,0.203,0.078,2675,2105,2086,0,0,0,0,0,0
$GC,6215,0.73,214.9,240.5,8.1,640,6255,0.12,0.00,34.83,0.932,6,0.126,0.000,2713,2105,1922,0,0,0,0,0,0
$GC,6573,0.73,214.9,200.5,11.3,674,6578,0.00,2.75,0.00,0.000,4,0.000,0.096,2713,3694,1916,0,0,0,0,0,0
$GC,6793,0.73,214.9,171.8,13.2,693,6797,0.00,2.65,0.00,0.000,6,0.000,0.080,2725,2112,1914,0,0,0,0,0,0
$GC,7117,0.73,214.9,135.4,10.3,723,7122,0.00,2.70,0.00,0.000,4,0.000,0.097,2725,3686,1913,0,0,0,0,0,0
$GC,7351,0.73,214.9,107.0,11.4,743,7357,0.00,2.58,0.00,0.000,6,0.000,0.080,2736,2137,1913,0,0,0,0,0,0
$GC,7691,0.77,245.8,73.9,8.6,798,7722,0.00,0.00,25.38,0.865,6,0.000,0.000,2736,2137,1797,0,0,0,0,0,0
$GC,8061,0.83,245.8,41.2,10.0,864,8066,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2137,1791,0,0,0,0,0,0
$GC,8403,0.93,330.0,14.6,6.1,925,8481,0.12,2.83,69.65,0.818,4,0.119,0.097,2778,3683,1453,0,0,0,0,0,0
$STATE,8526,end climb,SURFACE_DEPTH_REACHED
$STATE,8526,begin surface coast
$FINISH,0.8,1.025699
$STATE,8538,end surface coast,CONTROL_FINISHED_OK
$STATE,8538,begin surface
$SM_CCo,8617,0.00,0.000,0,0,1440,333.61
$SM_GC,1.64,8.07,0.00,0.00,0.089,0.000,0.000,127,2294,1440,-7.32,-0.17,333.61
$RAFOS_CLK,582
$RAFOS,6,1255682945,8.833333,8.818055,42,42,40,0,0,0,1281,1802,1734,0,0,0
$RAFOS,5,1255682462,8.700000,8.683888,43,41,40,0,0,0,1454,573,1012,0,0,0
$RAFOS,4,1255681984,8.566667,8.551111,43,43,41,0,0,0,1104,1123,1149,0,0,0
$RAFOS,3,1255681506,8.433333,8.418333,48,42,41,0,0,0,1580,778,1795,0,0,0
$RAFOS,2,1255681027,8.300000,8.285277,43,42,40,0,0,0,966,1633,370,0,0,0
$RAFOS,1,1255680545,8.166667,8.151389,46,44,43,0,0,0,1153,920,1811,0,0,0
$RAFOS,0,1255680063,8.033334,8.017500,48,41,40,0,0,0,306,1038,1717,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6553.70,-6023.94,100199,050527
$TT8_MAMPS,0.026845
$HUMID,52.00
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.50
$XPDR_PINGS,4
$24V_AH,23.3,11.122
$10V_AH,10.3,4.394
$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,23.800,70.300,391.100,0.000,0.000,24.368,32.887,238.695,1.000,0.000,93.869,1647.934,4877.825,462.769,1680.841,427.110,0.000,1300.663,0.000,1577.368,2520.000,0.530,0.000
$DEVICE_MAMPS,332.878,106.613,1082.237,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,694.649,653.581,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150816
$DATA_FILE_SIZE,37901,950
$CAP_FILE_SIZE,102293,0
$CFSIZE,260165632,247705600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.8
$CURRENT,0.099,124.9,1
$GPS,161009,102406,6622.326,-6023.859,30,1.0,30,-37.6