version: 66.06
glider: 143
mission: 7
dive: 14
start: 8 27 109 5 2 31
data:
$ID,143
$MISSION,7
$DIVE,14
$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,-17755.672
$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,46
$R_STBD_OVSHOOT,28
$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
$GPS1,045743,4806.071,-12223.164,7,1.5,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-73.0
$GPS2,050138,4806.049,-12223.138,10,1.4,10,18.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.033,0.259
$KALMAN_X,-1394.7,-704.8,-233.0,2288.6,-30.5
$KALMAN_Y,-555.4,-214.2,-52.2,-296.7,-249.1
$MHEAD_RNG_PITCHd_Wd,334.4,3767,-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,-146.6,0.0,0.0,0,72,0.00,0.00,-55.75,0.000,2,0.000,0.000,120,2398,2845,0,0,0,0,0,0
$GC,75,-0.86,-146.6,3.1,-7.1,11,112,9.70,2.28,-18.00,0.000,4,0.292,0.078,2220,985,3662,0,0,0,0,0,0
$GC,174,-0.86,-146.6,21.2,-16.9,29,180,0.00,2.20,0.00,0.000,6,0.000,0.054,2220,2401,3663,0,0,0,0,0,0
$GC,247,-0.86,-146.6,33.0,-16.0,42,252,0.00,2.25,0.00,0.000,4,0.000,0.071,2220,3817,3664,0,0,0,0,0,0
$GC,347,-0.86,-146.6,48.8,-15.9,60,353,0.00,2.15,0.00,0.000,6,0.000,0.051,2221,2416,3664,0,0,0,0,0,0
$GC,420,-0.86,-146.6,59.8,-15.0,73,426,0.00,2.20,0.00,0.000,4,0.000,0.065,2221,989,3664,0,0,0,0,0,0
$GC,449,-0.86,-146.6,64.5,-15.7,78,454,0.00,2.20,0.00,0.000,6,0.000,0.055,2221,2417,3665,0,0,0,0,0,0
$GC,522,-0.86,-146.6,75.4,-15.0,91,527,0.00,2.20,0.00,0.000,4,0.000,0.070,2220,3814,3665,0,0,0,0,0,0
$GC,595,-0.86,-146.6,86.6,-14.9,104,600,0.00,2.15,0.00,0.000,6,0.000,0.050,2220,2405,3665,0,0,0,0,0,0
$GC,667,-0.86,-146.6,97.4,-15.5,117,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2405,3665,0,0,0,0,0,0
$GC,741,-0.86,-146.6,101.7,-0.2,130,747,0.00,2.20,0.00,0.000,4,0.000,0.067,2220,3806,3665,0,0,0,0,0,0
$STATE,841,end dive,NO_VERTICAL_VELOCITY
$STATE,841,begin apogee
$GC,848,-0.19,0.0,101.6,0.0,148,960,0.62,0.00,105.93,0.669,6,0.117,0.000,2433,2197,3062,0,0,0,0,0,0
$STATE,961,end apogee,CONTROL_FINISHED_OK
$STATE,961,begin climb
$GC,963,0.86,146.6,101.6,0.0,170,1081,1.05,2.33,106.90,0.644,4,0.109,0.064,2783,805,2465,0,0,0,0,0,0
$GC,1149,0.86,153.4,93.5,9.7,205,1160,0.00,2.20,6.47,0.519,6,0.000,0.050,2783,2204,2437,0,0,0,0,0,0
$GC,1228,0.86,153.4,85.3,10.7,219,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2204,2436,0,0,0,0,0,0
$GC,1300,0.87,156.4,77.9,9.9,232,1311,0.00,2.28,3.80,0.417,4,0.000,0.065,2794,804,2424,0,0,0,0,0,0
$GC,1317,0.87,156.4,76.2,10.0,235,1322,0.00,2.17,0.00,0.000,6,0.000,0.051,2794,2203,2424,0,0,0,0,0,0
$GC,1390,0.87,159.4,68.6,9.9,248,1401,0.00,2.28,3.88,0.425,4,0.000,0.066,2804,801,2413,0,0,0,0,0,0
$GC,1423,0.87,159.4,65.0,10.5,254,1429,0.00,2.15,0.00,0.000,6,0.000,0.052,2804,2194,2413,0,0,0,0,0,0
$GC,1496,0.87,159.4,57.2,10.5,267,1502,0.00,2.20,0.00,0.000,4,0.000,0.065,2815,792,2412,0,0,0,0,0,0
$GC,1558,0.87,159.4,50.5,10.9,278,1564,0.15,2.12,0.00,0.000,6,0.200,0.051,2780,2176,2412,0,0,0,0,0,0
$GC,1632,0.89,177.8,43.3,9.2,291,1652,0.00,0.00,15.23,0.611,6,0.000,0.000,2780,2176,2337,0,0,0,0,0,0
$GC,1720,0.89,177.8,34.2,11.3,307,1725,0.00,2.15,0.00,0.000,4,0.000,0.064,2788,799,2335,0,0,0,0,0,0
$GC,1748,0.89,177.8,31.3,10.4,312,1753,0.00,2.10,0.00,0.000,6,0.000,0.051,2788,2168,2335,0,0,0,0,0,0
$GC,1821,0.89,177.8,23.8,10.5,325,1826,0.00,2.15,0.00,0.000,4,0.000,0.066,2798,790,2335,0,0,0,0,0,0
$GC,1843,0.89,177.8,21.5,10.2,329,1848,0.00,2.10,0.00,0.000,6,0.000,0.052,2799,2162,2335,0,0,0,0,0,0
$GC,1915,0.89,177.8,13.8,10.3,342,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2162,2335,0,0,0,0,0,0
$GC,1988,0.92,197.3,6.4,9.1,355,2009,0.00,2.15,15.52,0.602,4,0.000,0.064,2809,794,2257,0,0,0,0,0,0
$STATE,2069,end climb,SURFACE_DEPTH_REACHED
$STATE,2070,begin surface coast
$FINISH,2.6,1.020359
$STATE,2177,end surface coast,CONTROL_FINISHED_OK
$STATE,2178,begin surface
$SM_CCo,2180,201.18,0.583,0,0,442,642.93
$SM_GC,1.19,7.70,0.00,0.00,0.060,0.000,0.000,120,2396,437,-7.39,-0.11,644.16
$RAFOS_CLK,119
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4745.30,-12246.05,211198,040422
$TT8_MAMPS,0.026845
$HUMID,1078654829
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,19.90
$XPDR_PINGS,2
$24V_AH,24.6,2.436
$10V_AH,10.6,0.733
$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,19.225,53.300,257.725,201.175,0.000,27.130,30.180,88.537,3.000,0.000,12.833,605.185,797.898,534.569,577.944,220.020,33.327,913.020,0.000,565.563,0.000,18.606,0.000
$DEVICE_MAMPS,292.227,78.234,668.824,582.920,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,261.011,278.500,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,264492
$DATA_FILE_SIZE,12744,389
$CAP_FILE_SIZE,55642,0
$CFSIZE,260165632,257011712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1485.4
$GPS,270809,054510,4806.176,-12223.233,7,2.1,26,18.3