version: 66.06
glider: 143
mission: 7
dive: 28
start: 8 27 109 15 11 5
data:
$ID,143
$MISSION,7
$DIVE,28
$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,-18025.404
$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,42
$R_STBD_OVSHOOT,30
$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
$GPS1,150356,4807.270,-12223.648,9,2.0,9,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-69.2
$GPS2,151044,4807.237,-12223.661,12,1.9,12,18.3
$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,333.1,1474,-14.9,-8.000
$D_GRID,101
$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,-0.73,-146.6,0.0,0.0,0,126,0.00,0.00,-107.95,0.000,2,0.000,0.000,126,2400,3042,0,0,0,0,0,0
$GC,129,-0.73,-146.6,3.5,-5.4,21,161,9.45,2.33,-12.98,0.000,4,0.277,0.084,2260,3810,3663,0,0,0,0,0,0
$GC,324,-0.73,-146.6,32.4,-11.9,56,330,0.00,2.15,0.00,0.000,6,0.000,0.047,2260,2399,3665,0,0,0,0,0,0
$GC,397,-0.73,-146.6,41.4,-11.9,69,403,0.00,2.17,0.00,0.000,4,0.000,0.063,2260,988,3665,0,0,0,0,0,0
$GC,437,-0.73,-146.6,46.3,-12.2,76,443,0.00,2.20,0.00,0.000,6,0.000,0.054,2260,2409,3665,0,0,0,0,0,0
$GC,510,-0.73,-146.6,55.2,-12.4,89,516,0.00,2.20,0.00,0.000,4,0.000,0.067,2260,3807,3665,0,0,0,0,0,0
$GC,605,-0.73,-146.6,66.5,-11.7,106,611,0.00,2.12,0.00,0.000,6,0.000,0.047,2260,2408,3666,0,0,0,0,0,0
$GC,682,-0.73,-146.6,75.2,-11.3,119,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2408,3666,0,0,0,0,0,0
$GC,755,-0.73,-146.6,84.1,-12.0,132,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2407,3666,0,0,0,0,0,0
$GC,828,-0.73,-146.6,92.9,-12.0,145,834,0.00,2.20,0.00,0.000,4,0.000,0.067,2260,3807,3665,0,0,0,0,0,0
$GC,878,-0.73,-146.6,98.9,-11.7,154,884,0.00,2.10,0.00,0.000,6,0.000,0.047,2260,2416,3666,0,0,0,0,0,0
$STATE,899,end dive,TARGET_DEPTH_EXCEEDED
$STATE,899,begin apogee
$GC,904,-0.19,0.0,101.6,12.1,158,1019,0.57,0.00,107.20,0.686,6,0.164,0.000,2434,2187,3063,0,0,0,0,0,0
$STATE,1020,end apogee,CONTROL_FINISHED_OK
$STATE,1020,begin climb
$GC,1022,0.73,146.6,106.7,0.0,180,1143,0.95,2.33,108.57,0.666,4,0.121,0.062,2743,804,2464,0,0,0,0,0,0
$GC,1172,0.74,154.5,101.1,7.7,208,1188,0.00,2.22,7.47,0.532,6,0.000,0.047,2743,2209,2432,0,0,0,0,0,0
$GC,1255,0.74,154.5,93.1,10.1,223,1262,0.00,2.25,0.00,0.000,4,0.000,0.061,2753,800,2431,0,0,0,0,0,0
$GC,1312,0.74,154.5,87.4,9.8,233,1318,0.00,2.15,0.00,0.000,6,0.000,0.050,2753,2182,2431,0,0,0,0,0,0
$GC,1386,0.74,154.5,80.2,9.5,246,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2182,2430,0,0,0,0,0,0
$GC,1458,0.74,154.5,73.2,9.7,259,1464,0.00,2.17,0.00,0.000,4,0.000,0.062,2764,794,2430,0,0,0,0,0,0
$GC,1469,0.74,154.5,71.8,9.7,261,1475,0.00,2.12,0.00,0.000,6,0.000,0.049,2764,2176,2430,0,0,0,0,0,0
$GC,1543,0.81,207.6,65.7,6.1,274,1590,0.00,2.33,40.20,0.644,4,0.000,0.067,2764,3605,2215,0,0,0,0,0,0
$GC,1607,0.81,207.6,60.9,8.3,286,1612,0.00,2.20,0.00,0.000,6,0.000,0.051,2774,2205,2213,0,0,0,0,0,0
$GC,1680,0.81,207.6,52.8,11.9,299,1686,0.00,2.22,0.00,0.000,4,0.000,0.063,2784,786,2212,0,0,0,0,0,0
$GC,1692,0.81,207.6,51.2,12.1,301,1697,0.00,2.17,0.00,0.000,6,0.000,0.048,2784,2192,2212,0,0,0,0,0,0
$GC,1765,0.81,207.6,42.1,12.6,314,1770,0.00,2.20,0.00,0.000,4,0.000,0.062,2795,792,2212,0,0,0,0,0,0
$GC,1804,0.81,207.6,37.3,12.4,321,1810,0.15,2.12,0.00,0.000,6,0.197,0.049,2761,2176,2212,0,0,0,0,0,0
$GC,1878,0.81,207.6,28.7,11.2,334,1883,0.00,2.15,0.00,0.000,4,0.000,0.061,2769,796,2211,0,0,0,0,0,0
$GC,1928,0.81,207.6,22.9,11.7,343,1934,0.00,2.10,0.00,0.000,6,0.000,0.050,2769,2167,2211,0,0,0,0,0,0
$GC,2002,0.81,207.6,14.8,11.0,356,2007,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2167,2211,0,0,0,0,0,0
$GC,2075,0.81,207.6,6.9,10.7,369,2080,0.00,2.12,0.00,0.000,4,0.000,0.064,2779,796,2211,0,0,0,0,0,0
$STATE,2180,end climb,SURFACE_DEPTH_REACHED
$STATE,2180,begin surface coast
$FINISH,1.4,1.020195
$STATE,2219,end surface coast,CONTROL_FINISHED_OK
$STATE,2220,begin surface
$SM_CCo,2238,77.30,0.623,0,0,1512,380.21
$SM_GC,1.64,0.00,0.00,77.30,0.000,0.000,0.623,127,2397,1512,-7.42,-0.08,380.21
$RAFOS_CLK,120
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12223.57,211198,151506
$TT8_MAMPS,0.026845
$HUMID,1078516764
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,20.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.5,46.8
$24V_AH,24.4,3.522
$10V_AH,10.6,1.068
$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,18.825,53.175,263.450,77.300,0.000,60.123,110.913,87.904,1.000,0.000,14.449,634.026,724.790,459.707,583.925,333.736,0.000,851.414,0.000,573.043,0.000,5.548,0.000
$DEVICE_MAMPS,276.887,83.603,685.698,622.804,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,263.542,281.268,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,264516
$DATA_FILE_SIZE,15859,395
$CAP_FILE_SIZE,55516,0
$CFSIZE,260165632,256577536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1484.9
$CURRENT,0.104,249.8,1
$GPS,270809,155052,4807.478,-12223.878,8,2.2,27,18.3