version: 66.06
glider: 143
mission: 7
dive: 4
start: 8 26 109 21 51 24
data:
$ID,143
$MISSION,7
$DIVE,4
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$D_ABORT,100
$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,30
$T_MISSION,60
$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,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,500
$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,-17171.424
$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,50
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,5
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,214556,4806.659,-12223.086,12,1.5,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-68.1
$GPS2,215036,4806.655,-12223.104,14,1.5,24,18.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.195,-0.173
$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,113.4,1826,-18.2,-10.000
$D_GRID,99
$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,-0.86,-146.6,0.0,0.0,0,103,0.00,0.00,-85.40,0.000,2,0.000,0.000,118,2200,3160,0,0,0,0,0,0
$GC,105,-0.86,-146.6,3.2,-6.8,17,132,9.30,2.78,-10.70,0.000,4,0.283,0.078,2219,436,3662,0,0,0,0,0,0
$GC,323,-0.86,-146.6,39.4,-16.1,56,328,0.00,2.70,0.00,0.000,6,0.000,0.054,2219,2209,3664,0,0,0,0,0,0
$GC,396,-0.86,-146.6,50.4,-15.4,69,401,0.00,2.65,0.00,0.000,4,0.000,0.067,2219,3902,3665,0,0,0,0,0,0
$GC,424,-0.86,-146.6,54.7,-15.3,74,429,0.00,2.60,0.00,0.000,6,0.000,0.050,2219,2196,3665,0,0,0,0,0,0
$GC,497,-0.86,-146.6,65.8,-14.8,87,502,0.00,2.70,0.00,0.000,4,0.000,0.066,2219,3910,3665,0,0,0,0,0,0
$GC,533,-0.86,-146.6,70.8,-15.0,93,538,0.00,2.60,0.00,0.000,6,0.000,0.050,2219,2200,3665,0,0,0,0,0,0
$GC,606,-0.86,-146.6,82.0,-14.4,106,611,0.00,2.70,0.00,0.000,4,0.000,0.066,2219,3908,3666,0,0,0,0,0,0
$GC,633,-0.86,-146.6,86.2,-15.1,111,639,0.00,2.60,0.00,0.000,6,0.000,0.050,2219,2198,3665,0,0,0,0,0,0
$STATE,659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,659,begin apogee
$GC,664,-0.19,0.0,90.3,14.2,116,776,0.70,0.00,104.60,0.661,6,0.170,0.000,2430,2197,3064,0,0,0,0,0,0
$STATE,777,end apogee,CONTROL_FINISHED_OK
$STATE,777,begin climb
$GC,779,0.86,146.6,95.3,0.0,138,897,1.05,2.92,106.32,0.650,4,0.115,0.070,2780,457,2464,0,0,0,0,0,0
$GC,925,0.87,159.3,89.9,9.4,166,941,0.00,2.75,10.68,0.551,6,0.000,0.051,2780,2198,2413,0,0,0,0,0,0
$GC,1009,0.87,159.3,81.0,10.9,181,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2198,2411,0,0,0,0,0,0
$GC,1081,0.87,159.3,73.0,11.7,194,1086,0.00,2.80,0.00,0.000,4,0.000,0.070,2793,452,2410,0,0,0,0,0,0
$GC,1154,0.87,159.3,65.1,11.5,207,1159,0.00,2.72,0.00,0.000,6,0.000,0.053,2794,2208,2411,0,0,0,0,0,0
$GC,1227,0.87,159.3,57.1,11.0,220,1232,0.00,2.70,0.00,0.000,4,0.000,0.067,2793,3911,2410,0,0,0,0,0,0
$GC,1243,0.87,159.3,55.2,10.9,223,1249,0.00,2.67,0.00,0.000,6,0.000,0.054,2806,2198,2409,0,0,0,0,0,0
$GC,1316,0.87,159.3,47.1,10.9,236,1322,0.00,2.75,0.00,0.000,4,0.000,0.071,2819,448,2409,0,0,0,0,0,0
$GC,1372,0.87,159.3,40.7,11.8,246,1378,0.17,2.70,0.00,0.000,6,0.207,0.054,2779,2203,2409,0,0,0,0,0,0
$GC,1446,0.87,159.3,33.0,10.0,259,1451,0.00,2.78,0.00,0.000,4,0.000,0.069,2790,439,2409,0,0,0,0,0,0
$GC,1474,0.87,159.3,30.0,10.4,264,1479,0.00,2.70,0.00,0.000,6,0.000,0.051,2790,2207,2409,0,0,0,0,0,0
$GC,1546,0.87,159.3,22.2,10.3,277,1552,0.00,2.78,0.00,0.000,4,0.000,0.069,2803,439,2409,0,0,0,0,0,0
$GC,1619,0.87,159.3,14.6,10.9,290,1625,0.00,2.67,0.00,0.000,6,0.000,0.051,2803,2199,2409,0,0,0,0,0,0
$GC,1693,0.87,161.6,7.0,9.9,303,1698,0.00,2.62,0.00,0.000,4,0.000,0.065,2803,3914,2408,0,0,0,0,0,0
$GC,1715,0.89,175.2,5.0,9.4,307,1736,0.00,2.65,12.15,0.578,6,0.000,0.052,2816,2188,2348,0,0,0,0,0,0
$GC,1804,1.14,381.4,2.6,0.6,323,1856,0.15,0.00,48.53,0.622,2,0.102,0.000,2869,2188,1915,0,0,0,0,0,0
$STATE,1857,end climb,SURFACE_DEPTH_REACHED
$STATE,1857,begin surface coast
$FINISH,0.2,1.018483
$STATE,1918,end surface coast,CONTROL_FINISHED_OK
$STATE,1918,begin surface
$SM_CCo,1933,97.30,0.610,0,0,1024,500.17
$SM_GC,1.10,0.00,0.00,97.30,0.000,0.000,0.610,122,2187,1024,-7.43,-0.37,500.17
$RAFOS_CLK,215
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4735.69,-12152.84,201198,212129
$TT8_MAMPS,0.026845
$HUMID,1078684506
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,20.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.8,49.6
$24V_AH,24.7,1.566
$10V_AH,10.6,0.500
$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,19.250,59.550,282.275,97.300,0.000,0.000,0.000,0.000,0.750,0.000,26.262,503.363,594.173,453.607,521.555,47.152,29.237,806.875,0.000,502.534,0.000,5.554,0.000
$DEVICE_MAMPS,283.023,78.234,661.154,609.765,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,230.197,243.752,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,264264
$DATA_FILE_SIZE,12751,344
$CAP_FILE_SIZE,74823,0
$CFSIZE,260165632,257257472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1486.1
$GPS,260809,222608,4806.470,-12223.120,9,1.1,10,18.3