version: 66.06
glider: 143
mission: 7
dive: 25
start: 8 27 109 12 48 19
data:
$ID,143
$MISSION,7
$DIVE,25
$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,-17977.262
$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,34
$R_STBD_OVSHOOT,31
$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
$GPS1,124401,4806.976,-12223.249,11,1.9,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-74.0
$GPS2,124802,4806.938,-12223.195,12,1.6,12,18.3
$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,314.9,2204,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.83,-146.6,0.0,0.0,0,78,0.00,0.00,-60.00,0.000,2,0.000,0.000,125,2403,2953,0,0,0,0,0,0
$GC,80,-0.83,-146.6,3.6,-7.0,12,112,9.48,2.28,-15.27,0.000,4,0.281,0.085,2228,3810,3663,0,0,0,0,0,0
$GC,180,-0.83,-146.6,21.4,-15.3,30,186,0.00,2.17,0.00,0.000,6,0.000,0.048,2229,2399,3664,0,0,0,0,0,0
$GC,253,-0.83,-146.6,32.1,-14.1,43,258,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2399,3665,0,0,0,0,0,0
$GC,325,-0.83,-146.6,42.4,-14.3,56,330,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2398,3665,0,0,0,0,0,0
$GC,397,-0.83,-146.6,52.5,-13.7,69,403,0.00,2.25,0.00,0.000,4,0.000,0.067,2229,3813,3666,0,0,0,0,0,0
$GC,454,-0.83,-146.6,60.5,-14.1,79,460,0.00,2.15,0.00,0.000,6,0.000,0.047,2229,2403,3666,0,0,0,0,0,0
$GC,527,-0.83,-146.6,70.9,-13.9,92,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2403,3666,0,0,0,0,0,0
$GC,599,-0.83,-146.6,80.9,-14.0,105,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2403,3666,0,0,0,0,0,0
$GC,671,-0.83,-146.6,90.9,-13.8,118,677,0.00,2.22,0.00,0.000,4,0.000,0.066,2229,3812,3666,0,0,0,0,0,0
$GC,729,-0.83,-146.6,98.7,-14.0,128,734,0.00,2.12,0.00,0.000,6,0.000,0.047,2229,2410,3666,0,0,0,0,0,0
$STATE,742,end dive,TARGET_DEPTH_EXCEEDED
$STATE,742,begin apogee
$GC,747,-0.19,0.0,100.4,13.6,130,860,0.70,0.00,107.32,0.689,6,0.172,0.000,2436,2195,3063,0,0,0,0,0,0
$STATE,861,end apogee,CONTROL_FINISHED_OK
$STATE,861,begin climb
$GC,862,0.83,146.6,105.9,0.0,152,980,1.02,0.00,108.57,0.668,6,0.121,0.000,2757,2194,2463,0,0,0,0,0,0
$GC,1048,0.83,152.6,96.4,9.3,187,1058,0.00,0.00,6.05,0.512,6,0.000,0.000,2756,2194,2439,0,0,0,0,0,0
$GC,1125,0.83,152.6,88.9,9.9,201,1131,0.00,2.20,0.00,0.000,4,0.000,0.064,2767,803,2439,0,0,0,0,0,0
$GC,1181,0.83,152.6,83.2,10.2,211,1187,0.00,2.17,0.00,0.000,6,0.000,0.049,2767,2203,2438,0,0,0,0,0,0
$GC,1256,0.83,152.6,75.9,10.1,224,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2203,2438,0,0,0,0,0,0
$GC,1328,0.83,152.6,68.6,9.8,237,1333,0.00,2.20,0.00,0.000,4,0.000,0.063,2777,804,2437,0,0,0,0,0,0
$GC,1373,0.84,155.1,64.1,9.4,245,1378,0.00,2.12,0.00,0.000,6,0.000,0.051,2777,2187,2438,0,0,0,0,0,0
$GC,1446,0.85,167.7,57.4,9.0,258,1461,0.00,0.00,12.35,0.597,6,0.000,0.000,2777,2187,2378,0,0,0,0,0,0
$GC,1529,0.85,167.7,49.0,10.4,273,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2187,2377,0,0,0,0,0,0
$GC,1601,0.85,167.7,41.7,10.3,286,1606,0.00,2.15,0.00,0.000,4,0.000,0.064,2788,807,2377,0,0,0,0,0,0
$GC,1634,0.85,167.7,38.3,10.5,292,1640,0.00,2.12,0.00,0.000,6,0.000,0.051,2788,2195,2377,0,0,0,0,0,0
$GC,1707,0.85,167.7,30.5,10.3,305,1713,0.00,2.17,0.00,0.000,4,0.000,0.064,2798,798,2377,0,0,0,0,0,0
$GC,1791,0.85,167.7,21.6,9.9,320,1797,0.00,2.10,0.00,0.000,6,0.000,0.051,2798,2174,2377,0,0,0,0,0,0
$GC,1864,0.85,167.7,14.2,9.8,333,1870,0.00,2.12,0.00,0.000,4,0.000,0.064,2809,802,2377,0,0,0,0,0,0
$GC,1887,0.85,167.7,11.8,10.6,337,1893,0.15,2.08,0.00,0.000,6,0.206,0.051,2775,2165,2377,0,0,0,0,0,0
$GC,1961,0.87,182.4,5.1,8.9,350,1981,0.00,2.35,11.93,0.586,4,0.000,0.067,2774,3611,2319,0,0,0,0,0,0
$GC,2234,1.13,393.2,4.2,0.3,399,2312,0.22,2.15,71.30,0.634,2,0.091,0.052,2864,2204,1800,0,0,0,0,0,0
$STATE,2314,end climb,SURFACE_DEPTH_REACHED
$STATE,2314,begin surface coast
$FINISH,1.1,1.019656
$STATE,2324,end surface coast,CONTROL_FINISHED_OK
$STATE,2324,begin surface
$SM_CCo,2341,32.40,0.605,0,0,1512,380.21
$SM_GC,1.51,0.00,0.00,32.40,0.000,0.000,0.605,124,2405,1512,-7.43,0.14,380.21
$RAFOS_CLK,108
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12224.57,211198,121219
$TT8_MAMPS,0.026845
$HUMID,1078598055
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,20.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,100.4,15.1
$24V_AH,24.4,3.275
$10V_AH,10.6,0.991
$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,19.875,39.775,317.525,32.400,0.000,31.226,33.342,88.432,2.750,0.000,15.196,616.584,759.990,402.200,614.874,232.058,0.000,805.826,0.000,602.242,0.000,15.948,0.000
$DEVICE_MAMPS,280.722,85.137,688.766,605.163,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,279.149,297.145,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,264576
$DATA_FILE_SIZE,15908,416
$CAP_FILE_SIZE,55559,0
$CFSIZE,260165632,256675840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1486.4
$GPS,270809,132904,4807.008,-12223.492,8,3.4,27,18.3