version: 66.06
glider: 143
mission: 7
dive: 13
start: 8 27 109 4 21 43
data:
$ID,143
$MISSION,7
$DIVE,13
$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,40
$T_MISSION,55
$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,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,-17742.209
$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,36
$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
$GPS1,041037,4805.949,-12223.191,28,1.0,28,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-72.8
$GPS2,042050,4805.885,-12223.086,13,1.0,13,18.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.023,0.260
$KALMAN_X,-1302.8,-706.8,-304.4,2336.9,-85.9
$KALMAN_Y,-313.6,-148.0,-53.0,-904.3,-138.4
$MHEAD_RNG_PITCHd_Wd,336.7,4076,-18.2,-10.000
$D_GRID,120
$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,-146.6,0.0,0.0,0,83,0.00,0.00,-65.55,0.000,2,0.000,0.000,124,2207,2937,0,0,0,0,0,0
$GC,85,-0.86,-146.6,3.2,-7.0,13,117,9.50,1.90,-16.48,0.000,4,0.286,0.078,2217,987,3661,0,0,0,0,0,0
$GC,156,-0.86,-146.6,14.7,-14.2,26,161,0.00,2.17,0.00,0.000,6,0.000,0.054,2217,2393,3662,0,0,0,0,0,0
$GC,229,-0.86,-146.6,25.3,-14.5,39,234,0.00,2.25,0.00,0.000,4,0.000,0.069,2217,3815,3663,0,0,0,0,0,0
$GC,329,-0.86,-146.6,40.8,-14.8,57,334,0.00,2.15,0.00,0.000,6,0.000,0.049,2217,2407,3664,0,0,0,0,0,0
$GC,401,-0.86,-146.6,52.0,-15.2,70,406,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2406,3664,0,0,0,0,0,0
$GC,473,-0.86,-146.6,63.0,-15.1,83,478,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2406,3665,0,0,0,0,0,0
$GC,546,-0.86,-146.6,73.9,-14.5,96,551,0.00,2.20,0.00,0.000,4,0.000,0.067,2217,3809,3665,0,0,0,0,0,0
$GC,607,-0.86,-146.6,83.3,-15.9,107,613,0.00,2.12,0.00,0.000,6,0.000,0.048,2217,2409,3665,0,0,0,0,0,0
$GC,681,-0.86,-146.6,94.4,-15.2,120,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2408,3665,0,0,0,0,0,0
$GC,753,-0.86,-146.6,99.2,0.5,133,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2408,3665,0,0,0,0,0,0
$GC,826,-0.86,-146.6,99.2,0.0,146,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2408,3665,0,0,0,0,0,0
$STATE,857,end dive,NO_VERTICAL_VELOCITY
$STATE,857,begin apogee
$GC,862,-0.19,0.0,99.2,0.0,152,974,0.65,0.00,105.30,0.653,6,0.130,0.000,2433,2192,3063,0,0,0,0,0,0
$STATE,975,end apogee,CONTROL_FINISHED_OK
$STATE,975,begin climb
$GC,977,0.86,146.6,99.2,0.0,174,1089,1.05,0.00,106.62,0.628,6,0.115,0.000,2768,2192,2464,0,0,0,0,0,0
$GC,1157,1.00,266.9,96.1,4.5,208,1255,0.17,2.28,89.03,0.621,4,0.086,0.066,2846,808,1973,0,0,0,0,0,0
$GC,1345,1.00,266.9,78.8,11.9,243,1351,0.00,2.15,0.00,0.000,6,0.000,0.050,2846,2185,1971,0,0,0,0,0,0
$GC,1420,1.00,266.9,70.1,12.9,256,1425,0.00,2.20,0.00,0.000,4,0.000,0.066,2856,798,1970,0,0,0,0,0,0
$GC,1449,1.00,266.9,66.4,12.2,261,1455,0.15,2.10,0.00,0.000,6,0.193,0.051,2821,2154,1970,0,0,0,0,0,0
$GC,1524,1.00,266.9,58.0,11.1,274,1529,0.00,2.12,0.00,0.000,4,0.000,0.065,2829,802,1970,0,0,0,0,0,0
$GC,1553,1.00,266.9,54.7,10.4,279,1558,0.00,2.08,0.00,0.000,6,0.000,0.051,2829,2154,1970,0,0,0,0,0,0
$GC,1627,1.00,266.9,46.4,11.4,292,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2154,1969,0,0,0,0,0,0
$GC,1699,1.00,266.9,38.3,11.1,305,1704,0.00,2.10,0.00,0.000,4,0.000,0.066,2840,807,1968,0,0,0,0,0,0
$GC,1734,1.00,266.9,34.5,11.1,311,1739,0.00,2.05,0.00,0.000,6,0.000,0.051,2840,2149,1969,0,0,0,0,0,0
$GC,1807,1.00,266.9,25.9,12.5,324,1812,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2148,1968,0,0,0,0,0,0
$GC,1879,1.00,266.9,16.6,13.0,337,1884,0.00,2.10,0.00,0.000,4,0.000,0.067,2850,801,1968,0,0,0,0,0,0
$GC,1901,1.00,266.9,13.7,12.9,341,1906,0.00,2.03,0.00,0.000,6,0.000,0.051,2850,2130,1968,0,0,0,0,0,0
$GC,1974,1.00,266.9,4.5,11.4,354,1979,0.00,2.05,0.00,0.000,4,0.000,0.065,2859,806,1968,0,0,0,0,0,0
$STATE,2000,end climb,SURFACE_DEPTH_REACHED
$STATE,2000,begin surface coast
$FINISH,0.5,1.019444
$STATE,2025,end surface coast,CONTROL_FINISHED_OK
$STATE,2025,begin surface
$SM_CCo,2043,59.55,0.598,0,0,1513,380.21
$SM_GC,2.01,0.00,0.00,59.55,0.000,0.000,0.598,120,2398,1513,-7.44,-0.03,380.21
$RAFOS_CLK,115
$RAFOS,4,1251348241,4.750000,4.733611,46,41,41,0,0,0,1240,350,538,0,0,0
$RAFOS,3,1251347644,4.583333,4.567778,51,48,42,0,0,0,270,1090,1625,0,0,0
$RAFOS,2,1251347046,4.416667,4.401667,44,39,38,0,0,0,711,1281,173,0,0,0
$RAFOS,0,1251345842,4.083333,4.067222,47,47,45,0,0,0,1048,1663,810,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12221.84,211198,040432
$TT8_MAMPS,0.026845
$HUMID,1078617410
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,19.70
$XPDR_PINGS,4
$24V_AH,24.6,2.348
$10V_AH,10.6,0.708
$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,19.225,38.825,300.950,59.550,0.000,77.336,204.959,123.219,3.000,0.000,14.657,550.957,742.522,418.265,541.555,475.920,33.326,783.952,0.000,527.773,1080.000,14.303,0.000
$DEVICE_MAMPS,286.091,78.234,652.717,598.260,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,241.512,260.008,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,264440
$DATA_FILE_SIZE,12775,363
$CAP_FILE_SIZE,53553,0
$CFSIZE,260165632,257040384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1484.8
$GPS,270809,045743,4806.071,-12223.164,7,1.5,13,18.3