version: 66.06
glider: 143
mission: 7
dive: 12
start: 8 27 109 3 36 17
data:
$ID,143
$MISSION,7
$DIVE,12
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$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,30
$T_MISSION,45
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$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,420
$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,-17726.924
$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,35
$R_STBD_OVSHOOT,33
$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,30
$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
$GPS1,033132,4806.108,-12223.360,10,1.8,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-73.2
$GPS2,033525,4806.097,-12223.331,11,1.6,16,18.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.259,-0.027
$KALMAN_X,-1133.0,-676.1,-341.4,1873.6,-99.6
$KALMAN_Y,-89.8,-72.6,-29.8,-839.3,7.0
$MHEAD_RNG_PITCHd_Wd,77.5,1656,-18.2,-10.000
$D_GRID,90
$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,-0.86,-146.6,0.0,0.0,0,84,0.00,0.00,-65.82,0.000,2,0.000,0.000,118,2205,2923,0,0,0,0,0,0
$GC,86,-0.86,-146.6,3.2,-7.6,13,118,9.68,2.22,-16.23,0.000,4,0.291,0.078,2218,784,3661,0,0,0,0,0,0
$GC,370,-0.86,-146.6,49.7,-16.2,64,377,0.00,2.15,0.00,0.000,6,0.000,0.053,2217,2199,3664,0,0,0,0,0,0
$GC,444,-0.86,-146.6,60.9,-14.9,77,450,0.00,2.17,0.00,0.000,4,0.000,0.064,2218,792,3664,0,0,0,0,0,0
$GC,461,-0.86,-146.6,63.6,-15.1,80,466,0.00,2.17,0.00,0.000,6,0.000,0.052,2218,2222,3664,0,0,0,0,0,0
$GC,534,-0.86,-146.6,74.8,-15.7,93,539,0.00,2.17,0.00,0.000,4,0.000,0.067,2218,3614,3664,0,0,0,0,0,0
$GC,612,-0.86,-146.6,86.6,-14.5,107,618,0.00,2.08,0.00,0.000,6,0.000,0.051,2218,2255,3664,0,0,0,0,0,0
$STATE,635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,635,begin apogee
$GC,640,-0.19,0.0,90.1,16.0,111,753,0.73,0.00,105.28,0.647,6,0.170,0.000,2434,2191,3063,0,0,0,0,0,0
$STATE,753,end apogee,CONTROL_FINISHED_OK
$STATE,753,begin climb
$GC,755,0.86,146.6,95.6,0.0,133,873,1.00,2.33,106.53,0.629,4,0.096,0.066,2778,801,2465,0,0,0,0,0,0
$GC,935,0.86,146.6,87.0,10.2,167,941,0.00,2.20,0.00,0.000,6,0.000,0.051,2777,2203,2463,0,0,0,0,0,0
$GC,1008,0.87,155.0,80.0,9.6,180,1024,0.00,2.33,7.45,0.535,4,0.000,0.065,2789,792,2430,0,0,0,0,0,0
$GC,1052,0.87,155.0,75.5,10.5,188,1058,0.00,2.17,0.00,0.000,6,0.000,0.050,2788,2190,2430,0,0,0,0,0,0
$GC,1125,0.87,155.0,67.8,10.6,201,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2190,2430,0,0,0,0,0,0
$GC,1198,0.87,155.9,60.4,10.0,214,1203,0.00,2.20,0.00,0.000,4,0.000,0.066,2799,790,2430,0,0,0,0,0,0
$GC,1220,0.87,155.9,58.0,10.2,218,1225,0.00,2.15,0.00,0.000,6,0.000,0.051,2799,2191,2430,0,0,0,0,0,0
$GC,1293,0.87,155.9,50.2,10.8,231,1298,0.00,2.17,0.00,0.000,4,0.000,0.066,2809,798,2430,0,0,0,0,0,0
$GC,1361,0.87,155.9,42.9,11.0,243,1367,0.00,2.10,0.00,0.000,6,0.000,0.051,2809,2176,2429,0,0,0,0,0,0
$GC,1436,0.87,155.9,34.5,12.0,256,1441,0.00,2.15,0.00,0.000,4,0.000,0.065,2819,792,2429,0,0,0,0,0,0
$GC,1452,0.87,155.9,32.5,11.8,259,1458,0.17,2.05,0.00,0.000,6,0.206,0.051,2778,2140,2429,0,0,0,0,0,0
$GC,1526,0.87,160.6,24.8,9.8,272,1537,0.00,2.10,5.60,0.504,4,0.000,0.064,2786,793,2408,0,0,0,0,0,0
$GC,1610,0.87,160.6,16.1,10.3,287,1616,0.00,2.03,0.00,0.000,6,0.000,0.051,2786,2127,2407,0,0,0,0,0,0
$GC,1685,0.90,184.4,9.3,8.9,300,1711,0.00,2.15,18.58,0.598,4,0.000,0.065,2796,792,2310,0,0,0,0,0,0
$GC,1717,0.97,241.1,6.6,7.4,306,1767,0.00,2.05,41.97,0.599,6,0.000,0.051,2796,2127,2078,0,0,0,0,0,0
$GC,1835,1.23,451.0,2.8,0.4,328,1882,0.25,0.00,43.47,0.585,2,0.084,0.000,2893,2127,1700,0,0,0,0,0,0
$STATE,1883,end climb,SURFACE_DEPTH_REACHED
$STATE,1883,begin surface coast
$FINISH,0.2,1.019441
$STATE,1933,end surface coast,CONTROL_FINISHED_OK
$STATE,1933,begin surface
$SM_CCo,1949,39.53,0.577,0,0,1349,420.20
$SM_GC,1.74,0.00,0.00,39.53,0.000,0.000,0.577,124,2207,1349,-7.43,0.20,420.20
$RAFOS_CLK,95
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12221.84,211198,030302
$TT8_MAMPS,0.028379
$HUMID,1078727087
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,19.90
$XPDR_PINGS,1
$24V_AH,24.6,2.264
$10V_AH,10.6,0.681
$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,19.750,43.325,328.875,39.525,0.000,29.845,28.654,85.053,2.500,0.000,17.506,511.734,576.166,414.555,520.104,211.466,33.323,770.914,0.000,504.866,360.000,17.140,0.000
$DEVICE_MAMPS,290.693,134.992,646.581,576.784,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,231.401,244.384,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,264152
$DATA_FILE_SIZE,12782,346
$CAP_FILE_SIZE,49951,0
$CFSIZE,260165632,257081344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1485.9
$GPS,270809,041037,4805.949,-12223.191,28,1.0,28,18.3