version: 66.06
glider: 143
mission: 7
dive: 26
start: 8 27 109 13 33 21
data:
$ID,143
$MISSION,7
$DIVE,26
$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,50
$T_MISSION,70
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$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,2
$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,-17993.949
$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,41
$R_STBD_OVSHOOT,29
$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,70
$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
$GPS1,132904,4807.008,-12223.492,8,3.4,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-74.0
$GPS2,133302,4806.968,-12223.468,13,1.2,13,18.3
$SPEED_LIMITS,0.139,0.242
$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,322.7,2022,-14.9,-8.000
$D_GRID,99
$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,-0.73,-146.6,0.0,0.0,0,78,0.00,0.00,-60.00,0.000,2,0.000,0.000,124,2405,2960,0,0,0,0,0,0
$GC,80,-0.73,-146.6,3.7,-5.9,12,113,9.73,2.28,-15.15,0.000,4,0.285,0.084,2256,3811,3662,0,0,0,0,0,0
$GC,209,-0.73,-146.6,23.2,-13.0,35,214,0.00,2.15,0.00,0.000,6,0.000,0.047,2257,2403,3664,0,0,0,0,0,0
$GC,282,-0.73,-146.6,32.7,-12.9,48,287,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2403,3664,0,0,0,0,0,0
$GC,354,-0.73,-146.6,41.6,-12.3,61,360,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2403,3665,0,0,0,0,0,0
$GC,428,-0.73,-146.6,50.6,-12.4,74,433,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2403,3665,0,0,0,0,0,0
$GC,500,-0.73,-146.6,59.8,-12.6,87,505,0.00,2.22,0.00,0.000,4,0.000,0.066,2257,3809,3665,0,0,0,0,0,0
$GC,578,-0.73,-146.6,69.6,-12.5,101,588,0.00,2.15,0.00,0.000,6,0.000,0.046,2257,2395,3665,0,0,0,0,0,0
$GC,656,-0.73,-146.6,78.9,-12.2,114,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2395,3665,0,0,0,0,0,0
$GC,728,-0.73,-146.6,87.8,-11.8,127,733,0.00,2.22,0.00,0.000,4,0.000,0.067,2257,3805,3665,0,0,0,0,0,0
$GC,773,-0.73,-146.6,93.3,-12.2,135,778,0.00,2.12,0.00,0.000,6,0.000,0.046,2257,2400,3665,0,0,0,0,0,0
$STATE,816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,816,begin apogee
$GC,821,-0.19,0.0,99.0,12.9,143,935,0.60,0.00,107.18,0.687,6,0.167,0.000,2436,2187,3063,0,0,0,0,0,0
$STATE,936,end apogee,CONTROL_FINISHED_OK
$STATE,936,begin climb
$GC,937,0.73,146.6,104.0,0.0,165,1058,0.93,2.33,108.20,0.668,4,0.120,0.063,2736,806,2465,0,0,0,0,0,0
$GC,1092,0.74,154.9,98.1,7.7,194,1108,0.00,2.20,7.93,0.540,6,0.000,0.047,2737,2202,2431,0,0,0,0,0,0
$GC,1176,0.74,154.9,90.6,8.7,209,1182,0.00,2.22,0.00,0.000,4,0.000,0.062,2747,806,2429,0,0,0,0,0,0
$GC,1222,0.74,154.9,86.4,9.1,217,1228,0.00,2.17,0.00,0.000,6,0.000,0.049,2746,2201,2429,0,0,0,0,0,0
$GC,1296,0.74,154.9,79.6,9.3,230,1301,0.00,2.20,0.00,0.000,4,0.000,0.062,2756,805,2428,0,0,0,0,0,0
$GC,1324,0.74,154.9,76.9,9.2,235,1330,0.00,2.15,0.00,0.000,6,0.000,0.049,2757,2197,2428,0,0,0,0,0,0
$GC,1397,0.74,154.9,69.9,9.7,248,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2197,2428,0,0,0,0,0,0
$GC,1469,0.74,154.9,63.4,8.7,261,1476,0.00,2.17,0.00,0.000,4,0.000,0.062,2767,804,2428,0,0,0,0,0,0
$GC,1481,0.74,154.9,62.4,8.7,263,1487,0.00,2.12,0.00,0.000,6,0.000,0.049,2767,2192,2428,0,0,0,0,0,0
$GC,1554,0.74,154.9,55.6,9.3,276,1560,0.00,2.17,0.00,0.000,4,0.000,0.062,2777,796,2427,0,0,0,0,0,0
$GC,1576,0.74,154.9,53.3,9.4,280,1582,0.15,2.12,0.00,0.000,6,0.202,0.050,2744,2186,2428,0,0,0,0,0,0
$GC,1650,0.74,154.9,47.1,8.2,293,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2186,2427,0,0,0,0,0,0
$GC,1724,0.75,158.8,41.3,7.9,306,1735,0.00,2.20,4.20,0.450,4,0.000,0.064,2752,804,2415,0,0,0,0,0,0
$GC,1785,0.75,158.8,36.0,8.5,317,1791,0.00,2.10,0.00,0.000,6,0.000,0.050,2752,2185,2415,0,0,0,0,0,0
$GC,1860,0.75,158.8,29.5,9.0,330,1865,0.00,2.15,0.00,0.000,4,0.000,0.064,2762,797,2415,0,0,0,0,0,0
$GC,1887,0.75,158.8,27.1,8.8,335,1893,0.00,2.10,0.00,0.000,6,0.000,0.050,2762,2178,2415,0,0,0,0,0,0
$GC,1960,0.75,158.8,20.7,8.6,348,1966,0.00,2.12,0.00,0.000,4,0.000,0.063,2773,802,2415,0,0,0,0,0,0
$GC,2017,0.75,158.8,15.9,9.1,358,2023,0.12,2.05,0.00,0.000,6,0.201,0.050,2745,2156,2415,0,0,0,0,0,0
$GC,2091,0.77,180.2,10.0,7.2,371,2111,0.00,0.00,17.02,0.609,6,0.000,0.000,2744,2155,2328,0,0,0,0,0,0
$GC,2179,0.92,302.6,4.9,3.5,387,2270,0.17,2.40,79.88,0.635,4,0.091,0.066,2808,3594,1827,0,0,0,0,0,0
$STATE,2274,end climb,SURFACE_DEPTH_REACHED
$STATE,2274,begin surface coast
$FINISH,0.5,1.019796
$STATE,2326,end surface coast,CONTROL_FINISHED_OK
$STATE,2326,begin surface
$SM_CCo,2344,33.47,0.603,0,0,1512,380.21
$SM_GC,1.70,0.00,0.00,33.47,0.000,0.000,0.603,124,2406,1512,-7.43,0.17,380.21
$RAFOS_CLK,113
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12219.12,211198,121210
$TT8_MAMPS,0.026845
$HUMID,1078560635
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,20.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,70.3,44.9
$24V_AH,24.4,3.350
$10V_AH,10.6,1.016
$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,19.675,52.350,324.400,33.475,0.000,28.106,34.780,85.016,1.000,0.000,16.057,658.243,695.799,432.966,610.097,228.096,0.000,847.421,0.000,599.804,0.000,5.553,0.000
$DEVICE_MAMPS,284.557,84.370,687.232,602.862,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,276.493,295.814,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,264524
$DATA_FILE_SIZE,15901,414
$CAP_FILE_SIZE,58260,0
$CFSIZE,260165632,256634880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1485.2
$CURRENT,0.132,225.4,1
$GPS,270809,141350,4807.117,-12223.771,9,1.6,9,18.3