version: 66.06
glider: 143
mission: 7
dive: 27
start: 8 27 109 14 18 41
data:
$ID,143
$MISSION,7
$DIVE,27
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$D_ABORT,200
$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,50
$T_MISSION,70
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,50964
$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,380
$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,-18010.328
$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,2500
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,50
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,290
$ROLL_MAX,3915
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,5
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,442
$VBD_MAX,3793
$C_VBD,3063
$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,-23.51395
$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,7
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,70
$ALTIM_PING_DELTA,10
$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
$GPS1,141350,4807.117,-12223.771,9,1.6,9,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-73.8
$GPS2,141820,4807.081,-12223.761,14,1.8,14,18.3
$SPEED_LIMITS,0.139,0.242
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.070,0.247
$KALMAN_X,-1510.3,-705.2,-148.5,2209.4,65.4
$KALMAN_Y,-909.2,-270.8,-53.9,308.3,-227.8
$MHEAD_RNG_PITCHd_Wd,358.4,1729,-14.9,-8.000
$D_GRID,96
$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,-0.73,-146.6,0.0,0.0,0,78,0.00,0.00,-60.67,0.000,2,0.000,0.000,124,2406,2978,0,0,0,0,0,0
$GC,81,-0.73,-146.6,3.8,-7.0,12,113,9.70,2.25,-14.27,0.000,4,0.284,0.078,2257,1002,3664,0,0,0,0,0,0
$GC,146,-0.73,-146.6,16.8,-14.1,24,152,0.00,2.17,0.00,0.000,6,0.000,0.054,2257,2392,3664,0,0,0,0,0,0
$GC,219,-0.73,-146.6,26.7,-13.4,37,225,0.00,2.28,0.00,0.000,4,0.000,0.071,2257,3816,3665,0,0,0,0,0,0
$GC,478,-0.73,-146.6,60.1,-12.2,83,484,0.00,2.12,0.00,0.000,6,0.000,0.048,2257,2423,3666,0,0,0,0,0,0
$GC,552,-0.73,-146.6,69.5,-12.9,96,560,0.00,2.20,0.00,0.000,4,0.000,0.067,2257,3810,3666,0,0,0,0,0,0
$GC,701,-0.73,-146.6,88.3,-12.2,122,708,0.00,2.08,0.00,0.000,6,0.000,0.047,2258,2445,3666,0,0,0,0,0,0
$STATE,762,end dive,TARGET_DEPTH_EXCEEDED
$STATE,762,begin apogee
$GC,767,-0.19,0.0,96.2,12.1,133,883,0.60,0.00,107.50,0.692,6,0.169,0.000,2436,2187,3062,0,0,0,0,0,0
$STATE,883,end apogee,CONTROL_FINISHED_OK
$STATE,883,begin climb
$GC,885,0.73,146.6,101.3,0.0,155,1000,0.93,0.00,108.40,0.667,6,0.122,0.000,2726,2186,2465,0,0,0,0,0,0
$GC,1068,0.73,147.7,93.8,8.0,189,1074,0.00,2.22,0.00,0.000,4,0.000,0.064,2736,795,2463,0,0,0,0,0,0
$GC,1130,0.73,147.7,88.6,8.7,200,1135,0.00,2.17,0.00,0.000,6,0.000,0.049,2736,2190,2462,0,0,0,0,0,0
$GC,1203,0.73,147.7,82.2,8.7,213,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2190,2462,0,0,0,0,0,0
$GC,1275,0.73,147.7,76.1,8.5,226,1281,0.00,2.20,0.00,0.000,4,0.000,0.064,2746,796,2462,0,0,0,0,0,0
$GC,1343,0.73,147.7,69.8,8.9,238,1349,0.00,2.12,0.00,0.000,6,0.000,0.051,2746,2175,2462,0,0,0,0,0,0
$GC,1417,0.73,147.7,63.7,8.6,251,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2175,2462,0,0,0,0,0,0
$GC,1489,0.73,147.7,57.6,8.1,264,1494,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2176,2461,0,0,0,0,0,0
$GC,1563,0.73,147.7,51.6,8.2,277,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2176,2462,0,0,0,0,0,0
$GC,1635,0.73,147.7,45.6,8.1,290,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2175,2462,0,0,0,0,0,0
$GC,1708,0.74,153.0,39.8,7.8,303,1720,0.00,2.15,5.90,0.520,4,0.000,0.063,2756,801,2438,0,0,0,0,0,0
$GC,1754,0.74,153.0,35.9,8.1,311,1759,0.00,2.10,0.00,0.000,6,0.000,0.051,2756,2180,2438,0,0,0,0,0,0
$GC,1827,0.74,153.0,29.8,8.4,324,1832,0.00,2.15,0.00,0.000,4,0.000,0.064,2767,793,2438,0,0,0,0,0,0
$GC,1889,0.74,153.0,24.3,8.8,335,1894,0.00,2.10,0.00,0.000,6,0.000,0.050,2766,2175,2437,0,0,0,0,0,0
$GC,1962,0.74,153.0,18.0,8.7,348,1967,0.00,2.12,0.00,0.000,4,0.000,0.064,2776,801,2438,0,0,0,0,0,0
$GC,1995,0.74,153.0,15.1,8.8,354,2002,0.15,2.08,0.00,0.000,6,0.198,0.050,2742,2171,2438,0,0,0,0,0,0
$GC,2071,0.78,182.1,9.5,6.9,367,2102,0.00,2.22,22.55,0.622,4,0.000,0.064,2749,796,2320,0,0,0,0,0,0
$GC,2312,1.07,418.4,5.0,-0.7,410,2326,0.28,2.08,8.60,0.568,2,0.082,0.050,2852,2162,2278,0,0,0,0,0,0
$FREEZE,5.04,15.137,-1.541,0,1,0
$STATE,2327,end climb,NO_VERTICAL_VELOCITY
$STATE,2327,begin surface
$SM_CCo,2330,227.40,0.610,0,0,442,642.93
$SM_GC,1.23,7.93,0.00,0.00,0.065,0.000,0.000,126,2400,437,-7.38,0.00,644.16
$RAFOS_CLK,129
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12221.84,211198,131312
$TT8_MAMPS,0.026845
$HUMID,1078555474
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,19.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.2,46.6
$24V_AH,24.4,3.446
$10V_AH,10.6,1.042
$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,19.575,39.575,252.950,227.400,0.000,26.026,39.197,107.928,1.000,0.000,15.750,672.773,857.427,553.050,609.825,251.351,0.000,938.796,0.000,596.774,0.000,5.557,0.000
$DEVICE_MAMPS,283.790,78.234,691.834,609.765,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,277.076,292.981,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,264472
$DATA_FILE_SIZE,15917,412
$CAP_FILE_SIZE,52823,0
$CFSIZE,260165632,256614400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1485.0
$CURRENT,0.044,212.2,1
$GPS,270809,150356,4807.270,-12223.648,9,2.0,9,18.3