version: 66.06
glider: 143
mission: 7
dive: 16
start: 8 27 109 6 27 37
data:
$ID,143
$MISSION,7
$DIVE,16
$D_SURF,2
$D_FLARE,3
$D_TGT,100
$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,35
$T_MISSION,50
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$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,-17807.793
$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,33
$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,30
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$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
$GPS1,062308,4806.305,-12223.388,8,1.8,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-74.3
$GPS2,062720,4806.291,-12223.384,12,1.7,12,18.3
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.070,0.247
$KALMAN_X,-1510.3,-705.2,-148.5,2209.4,65.4
$KALMAN_Y,-909.2,-270.8,-53.9,308.3,-227.8
$MHEAD_RNG_PITCHd_Wd,328.2,3256,-17.5,-9.524
$D_GRID,100
$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,13,begin dive
$GC,15,-0.83,-146.6,0.0,0.0,0,73,0.00,0.00,-55.33,0.000,2,0.000,0.000,124,2411,2828,0,0,0,0,0,0
$GC,75,-0.83,-146.6,3.1,-5.5,11,112,9.65,2.28,-18.58,0.000,4,0.288,0.086,2226,3797,3662,0,0,0,0,0,0
$GC,364,-0.83,-146.6,49.9,-14.7,63,370,0.00,2.15,0.00,0.000,6,0.000,0.050,2226,2396,3664,0,0,0,0,0,0
$GC,438,-0.83,-146.6,60.8,-14.6,76,443,0.00,2.20,0.00,0.000,4,0.000,0.067,2226,3801,3664,0,0,0,0,0,0
$GC,516,-0.83,-146.6,72.4,-14.5,90,522,0.00,2.12,0.00,0.000,6,0.000,0.049,2226,2399,3665,0,0,0,0,0,0
$GC,589,-0.83,-146.6,83.2,-14.9,103,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2399,3665,0,0,0,0,0,0
$GC,663,-0.83,-146.6,93.9,-14.8,116,668,0.00,2.22,0.00,0.000,4,0.000,0.069,2226,3808,3665,0,0,0,0,0,0
$STATE,678,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,678,begin apogee
$GC,685,-0.19,0.0,96.5,14.8,119,798,0.70,0.00,106.68,0.686,6,0.176,0.000,2432,2193,3062,0,0,0,0,0,0
$STATE,799,end apogee,CONTROL_FINISHED_OK
$STATE,799,begin climb
$GC,801,0.83,146.6,102.8,0.0,141,919,1.00,2.30,107.65,0.657,4,0.094,0.064,2775,795,2464,0,0,0,0,0,0
$GC,1014,0.83,146.6,92.5,9.8,181,1020,0.00,2.20,0.00,0.000,6,0.000,0.049,2775,2199,2462,0,0,0,0,0,0
$GC,1089,0.83,146.6,85.4,9.9,194,1094,0.00,2.22,0.00,0.000,4,0.000,0.064,2785,793,2461,0,0,0,0,0,0
$GC,1118,0.83,146.6,82.5,10.0,199,1124,0.00,2.20,0.00,0.000,6,0.000,0.051,2785,2205,2462,0,0,0,0,0,0
$GC,1192,0.83,146.6,75.2,9.8,212,1197,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2205,2461,0,0,0,0,0,0
$GC,1265,0.84,153.4,68.2,9.2,225,1276,0.00,2.25,6.22,0.529,4,0.000,0.064,2796,783,2436,0,0,0,0,0,0
$GC,1322,0.84,153.4,62.4,10.4,235,1328,0.00,2.17,0.00,0.000,6,0.000,0.053,2796,2192,2436,0,0,0,0,0,0
$GC,1397,0.84,153.4,54.9,9.7,248,1403,0.00,2.20,0.00,0.000,4,0.000,0.066,2806,786,2436,0,0,0,0,0,0
$GC,1487,0.84,153.4,45.3,10.8,264,1493,0.15,2.12,0.00,0.000,6,0.206,0.052,2773,2177,2436,0,0,0,0,0,0
$GC,1561,0.87,182.0,38.7,8.3,277,1586,0.00,0.00,22.08,0.623,6,0.000,0.000,2773,2177,2321,0,0,0,0,0,0
$GC,1654,0.87,185.2,30.1,9.4,294,1665,0.00,2.22,4.10,0.441,4,0.000,0.064,2781,795,2307,0,0,0,0,0,0
$GC,1693,0.87,185.2,26.1,10.1,301,1699,0.00,2.10,0.00,0.000,6,0.000,0.051,2781,2161,2307,0,0,0,0,0,0
$GC,1766,0.87,185.2,18.6,10.1,314,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2161,2306,0,0,0,0,0,0
$GC,1839,0.87,185.2,11.4,10.2,327,1843,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2161,2307,0,0,0,0,0,0
$GC,1911,1.03,309.3,6.4,4.1,340,1999,0.15,2.38,78.97,0.614,4,0.104,0.067,2835,3609,1800,0,0,0,0,0,0
$STATE,2003,end climb,SURFACE_DEPTH_REACHED
$STATE,2003,begin surface coast
$FINISH,0.2,1.009656
$STATE,2038,end surface coast,CONTROL_FINISHED_OK
$STATE,2038,begin surface
$SM_CCo,2055,32.83,0.586,0,0,1513,380.21
$SM_GC,1.31,0.00,0.00,32.83,0.000,0.000,0.586,125,2399,1513,-7.42,-0.03,380.21
$RAFOS_CLK,98
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12223.57,211198,050515
$TT8_MAMPS,0.026845
$HUMID,1078578700
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,20.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,90.5,12.5
$24V_AH,24.5,2.585
$10V_AH,10.6,0.779
$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,19.525,39.825,325.700,32.825,0.000,30.921,35.054,95.986,2.500,0.000,14.391,537.939,638.550,398.252,542.020,232.691,0.000,761.031,0.000,529.824,0.000,14.451,0.000
$DEVICE_MAMPS,288.392,85.904,686.465,585.988,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,242.650,259.304,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,264588
$DATA_FILE_SIZE,12764,364
$CAP_FILE_SIZE,48839,0
$CFSIZE,260165632,256958464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1484.3
$GPS,270809,070334,4806.430,-12223.473,7,99.0,26,18.3