version: 66.06
glider: 143
mission: 8
dive: 71
start: 10 17 109 20 33 45
data:
$ID,143
$MISSION,8
$DIVE,71
$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,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,-21788.369
$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,15
$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
$GPS1,202658,6615.154,-6020.787,8,99.0,27,-37.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-70.9
$GPS2,203257,6615.090,-6020.862,14,1.8,27,-37.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SW
$TGT_LATLONG,6619.000,-5907.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.258,0.034
$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,119.9,55422,-18.3,-10.000
$D_GRID,426
$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,12,begin dive
$GC,14,-1.05,-146.0,0.0,0.0,0,88,0.00,0.00,-70.47,0.000,2,0.000,0.000,125,2308,2762,0,0,0,0,0,0
$GC,90,-1.05,-146.0,3.1,-3.7,14,127,10.20,2.75,-20.90,0.000,4,0.324,0.108,2130,706,3395,0,0,0,0,0,0
$GC,353,-0.75,-146.0,52.2,-18.0,61,359,0.43,2.67,0.00,0.000,6,0.229,0.087,2234,2303,3399,0,0,0,0,0,0
$GC,696,-0.81,-146.0,90.5,-10.7,122,702,0.00,2.70,0.00,0.000,4,0.000,0.098,2235,706,3399,0,0,0,0,0,0
$GC,753,-0.88,-146.0,97.0,-11.4,132,759,0.12,2.65,0.00,0.000,6,0.124,0.086,2195,2300,3399,0,0,0,0,0,0
$GC,1079,-0.88,-146.0,138.1,-12.7,165,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2300,3399,0,0,0,0,0,0
$GC,1399,-0.88,-146.0,176.8,-12.4,195,1403,0.00,2.75,0.00,0.000,4,0.000,0.107,2194,3892,3399,0,0,0,0,0,0
$GC,1408,-0.88,-146.0,178.3,-12.6,195,1414,0.00,2.65,0.00,0.000,6,0.000,0.077,2194,2280,3399,0,0,0,0,0,0
$GC,1733,-0.88,-146.0,215.6,-11.4,226,1737,0.00,2.60,0.00,0.000,4,0.000,0.100,2195,716,3399,0,0,0,0,0,0
$GC,1742,-0.88,-146.0,216.8,-11.5,226,1748,0.00,2.60,0.00,0.000,6,0.000,0.085,2195,2298,3399,0,0,0,0,0,0
$GC,2067,-0.88,-146.0,255.2,-11.4,257,2071,0.00,2.67,0.00,0.000,4,0.000,0.100,2195,708,3399,0,0,0,0,0,0
$GC,2324,-0.88,-146.0,282.1,-10.0,279,2330,0.00,2.62,0.00,0.000,6,0.000,0.088,2195,2307,3398,0,0,0,0,0,0
$GC,2649,-0.88,-146.0,309.6,-8.2,310,2653,0.00,2.67,0.00,0.000,4,0.000,0.100,2195,708,3398,0,0,0,0,0,0
$GC,2805,-0.88,-146.0,324.9,-10.4,323,2811,0.00,2.62,0.00,0.000,6,0.000,0.087,2194,2304,3398,0,0,0,0,0,0
$GC,3129,-0.88,-146.0,357.0,-10.6,354,3133,0.00,2.65,0.00,0.000,4,0.000,0.099,2194,713,3397,0,0,0,0,0,0
$GC,3138,-0.88,-146.0,358.1,-10.8,354,3145,0.00,2.70,0.00,0.000,6,0.000,0.084,2195,2336,3397,0,0,0,0,0,0
$GC,3464,-0.94,-146.0,390.8,-9.3,385,3468,0.00,2.70,0.00,0.000,4,0.000,0.097,2194,710,3397,0,0,0,0,0,0
$GC,3536,-0.94,-146.0,398.1,-9.9,391,3541,0.00,2.65,0.00,0.000,6,0.000,0.084,2195,2329,3397,0,0,0,0,0,0
$STATE,3849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3849,begin apogee
$GC,3854,-0.24,0.0,426.6,8.9,420,3975,0.70,0.00,117.55,1.071,6,0.193,0.000,2394,2102,2800,0,0,0,0,0,0
$STATE,3976,end apogee,CONTROL_FINISHED_OK
$STATE,3976,begin climb
$GC,3978,1.05,146.0,428.6,0.0,432,4112,1.42,2.97,121.55,1.016,4,0.139,0.094,2810,3693,2202,0,0,0,0,0,0
$GC,4364,0.59,146.0,367.1,19.3,467,4371,0.62,2.75,0.00,0.000,6,0.227,0.079,2676,2105,2193,0,0,0,0,0,0
$GC,4689,0.61,155.5,333.2,9.6,498,4703,0.00,2.85,7.20,0.837,4,0.000,0.095,2675,3697,2166,0,0,0,0,0,0
$GC,4957,0.62,163.5,307.2,9.6,522,4971,0.00,2.72,8.52,0.871,6,0.000,0.080,2685,2095,2132,0,0,0,0,0,0
$GC,5296,0.62,168.0,275.7,9.8,554,5308,0.00,2.78,5.28,0.762,4,0.000,0.094,2685,3695,2113,0,0,0,0,0,0
$GC,5559,0.62,168.0,245.1,12.8,577,5566,0.00,2.70,0.00,0.000,6,0.000,0.078,2698,2079,2113,0,0,0,0,0,0
$GC,5885,0.62,168.5,209.9,10.0,608,5889,0.00,2.75,0.00,0.000,4,0.000,0.096,2698,3690,2113,0,0,0,0,0,0
$GC,6142,0.56,168.5,180.4,11.4,630,6148,0.20,2.67,0.00,0.000,6,0.200,0.079,2662,2077,2113,0,0,0,0,0,0
$GC,6467,0.75,209.0,151.9,8.1,661,6509,0.20,2.83,35.35,0.896,4,0.107,0.094,2728,3692,1946,0,0,0,0,0,0
$GC,6761,0.68,209.0,116.3,11.6,687,6767,0.15,2.72,0.00,0.000,6,0.199,0.081,2707,2073,1938,0,0,0,0,0,0
$GC,7094,0.77,209.0,84.1,10.2,732,7099,0.00,2.78,0.00,0.000,4,0.000,0.097,2707,3696,1936,0,0,0,0,0,0
$GC,7352,0.77,209.0,53.9,11.9,778,7358,0.00,2.72,0.00,0.000,6,0.000,0.081,2717,2063,1936,0,0,0,0,0,0
$GC,7696,0.98,283.4,27.1,6.6,839,7768,0.22,2.97,61.05,0.830,4,0.102,0.097,2793,3693,1642,0,0,0,0,0,0
$STATE,7897,end climb,SURFACE_DEPTH_REACHED
$STATE,7897,begin surface coast
$FINISH,0.9,1.025339
$STATE,7909,end surface coast,CONTROL_FINISHED_OK
$STATE,7909,begin surface
$SM_CCo,7988,0.00,0.000,0,0,1629,287.00
$SM_GC,1.83,7.95,0.00,0.00,0.082,0.000,0.000,124,2298,1629,-7.33,-0.06,287.00
$RAFOS_CLK,536
$RAFOS,6,1255812543,20.833334,20.817499,44,39,39,0,0,0,801,488,1616,0,0,0
$RAFOS,5,1255812066,20.700001,20.684999,55,48,42,0,0,0,759,412,730,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6548.42,-6014.64,110199,181846
$TT8_MAMPS,0.026845
$HUMID,52.63
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.40
$XPDR_PINGS,3
$24V_AH,23.3,12.878
$10V_AH,10.3,5.213
$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,22.225,81.725,356.500,0.000,0.000,28.519,41.165,170.264,0.750,0.000,29.452,1406.893,4580.465,434.849,1556.522,366.513,29.237,1242.938,0.000,1517.904,720.000,0.529,0.000
$DEVICE_MAMPS,324.441,108.147,1071.499,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,645.229,603.121,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150468
$DATA_FILE_SIZE,34766,878
$CAP_FILE_SIZE,95803,0
$CFSIZE,260165632,246919168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.7
$GPS,171009,224807,6614.883,-6021.879,32,1.3,32,-37.4