version: 66.06
glider: 143
mission: 7
dive: 8
start: 8 27 109 1 51 2
data:
$ID,143
$MISSION,7
$DIVE,8
$D_SURF,2
$D_FLARE,3
$D_TGT,100
$D_ABORT,130
$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,40
$T_MISSION,80
$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,-17666.416
$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,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,5
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,32
$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,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
$GPS1,014632,4806.245,-12223.463,11,1.4,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-71.5
$GPS2,015008,4806.247,-12223.472,11,1.5,11,18.3
$SPEED_LIMITS,0.144,0.245
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.243,-0.034
$KALMAN_X,-685.1,-475.5,-342.6,1050.1,-19.1
$KALMAN_Y,-66.3,-39.6,-23.8,-628.5,-19.0
$MHEAD_RNG_PITCHd_Wd,79.7,1877,-15.5,-8.333
$D_GRID,37
$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,-0.75,-146.6,0.0,0.0,0,99,0.00,0.00,-80.95,0.000,2,0.000,0.000,115,2196,3025,0,0,0,0,0,0
$GC,101,-0.75,-146.6,3.3,-4.5,16,133,9.68,2.22,-14.12,0.000,4,0.285,0.079,2251,797,3663,0,0,0,0,0,0
$GC,335,-0.75,-146.6,36.5,-13.7,58,341,0.00,2.12,0.00,0.000,6,0.000,0.051,2252,2199,3666,0,0,0,0,0,0
$STATE,344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,344,begin apogee
$GC,349,-0.19,0.0,37.9,13.8,60,461,0.60,0.00,104.60,0.604,6,0.168,0.000,2431,2199,3064,0,0,0,0,0,0
$STATE,462,end apogee,CONTROL_FINISHED_OK
$STATE,462,begin climb
$GC,464,0.75,146.6,43.2,0.0,82,582,0.95,2.35,106.05,0.592,4,0.117,0.064,2744,800,2464,0,0,0,0,0,0
$GC,605,0.81,190.5,38.8,6.7,109,646,0.00,2.20,33.60,0.576,6,0.000,0.048,2744,2202,2285,0,0,0,0,0,0
$GC,714,0.81,190.5,28.3,9.9,129,720,0.00,2.25,0.00,0.000,4,0.000,0.064,2754,788,2283,0,0,0,0,0,0
$GC,770,0.81,190.5,22.0,11.3,139,776,0.00,2.20,0.00,0.000,6,0.000,0.048,2754,2212,2283,0,0,0,0,0,0
$GC,845,0.81,190.5,14.0,10.5,152,850,0.00,2.22,0.00,0.000,4,0.000,0.064,2765,797,2282,0,0,0,0,0,0
$GC,878,0.81,190.5,10.3,10.4,158,884,0.00,2.15,0.00,0.000,6,0.000,0.049,2764,2201,2282,0,0,0,0,0,0
$GC,953,0.85,226.1,4.0,7.0,171,979,0.00,2.22,19.80,0.555,4,0.000,0.064,2775,794,2140,0,0,0,0,0,0
$STATE,1000,end climb,SURFACE_DEPTH_REACHED
$STATE,1000,begin surface coast
$FINISH,1.9,1.019782
$STATE,1007,end surface coast,CONTROL_FINISHED_OK
$STATE,1007,begin surface
$SM_CCo,1024,124.90,0.574,0,0,1023,500.17
$SM_GC,1.06,0.00,0.00,124.90,0.000,0.000,0.574,119,2204,1023,-7.44,0.11,500.17
$RAFOS_CLK,46
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12226.29,211198,010108
$TT8_MAMPS,0.027612
$HUMID,1078552893
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,20.20
$XPDR_PINGS,1
$24V_AH,24.7,1.984
$10V_AH,10.7,0.609
$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,18.950,22.150,264.050,124.900,0.000,25.228,34.062,72.362,0.250,0.000,12.577,258.735,233.635,431.523,273.542,185.345,33.321,650.299,0.000,271.982,0.000,1.000,0.000
$DEVICE_MAMPS,284.557,79.001,604.396,574.483,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,117.303,123.672,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,264232
$DATA_FILE_SIZE,6494,181
$CAP_FILE_SIZE,28711,0
$CFSIZE,260165632,257200128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1486.8
$GPS,270809,021107,4806.198,-12223.459,8,1.2,13,18.3