version: 66.06
glider: 143
mission: 7
dive: 30
start: 8 27 109 16 39 11
data:
$ID,143
$MISSION,7
$DIVE,30
$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,-18071.031
$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,37
$R_STBD_OVSHOOT,33
$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
$GPS1,163438,4807.717,-12223.868,11,1.5,11,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-74.3
$GPS2,163844,4807.726,-12223.857,11,1.5,11,18.3
$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,335.4,538,-17.2,-8.000
$D_GRID,103
$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,-0.78,-113.6,0.0,0.0,0,78,0.00,0.00,-60.42,0.000,2,0.000,0.000,121,2412,2950,0,0,0,0,0,0
$GC,80,-0.82,-146.6,3.4,-5.6,12,113,9.57,2.25,-15.25,0.000,4,0.283,0.087,2234,3801,3662,0,0,0,0,0,0
$GC,209,-0.82,-146.6,26.0,-15.0,35,214,0.00,2.17,0.00,0.000,6,0.000,0.048,2234,2391,3663,0,0,0,0,0,0
$GC,282,-0.82,-146.6,36.4,-13.8,48,287,0.00,2.17,0.00,0.000,4,0.000,0.064,2234,991,3663,0,0,0,0,0,0
$GC,309,-0.82,-146.6,40.5,-14.4,53,315,0.00,2.20,0.00,0.000,6,0.000,0.056,2234,2402,3663,0,0,0,0,0,0
$GC,383,-0.82,-146.6,51.0,-14.4,66,389,0.00,2.22,0.00,0.000,4,0.000,0.069,2234,3807,3663,0,0,0,0,0,0
$GC,467,-0.82,-146.6,62.9,-14.0,81,473,0.00,2.12,0.00,0.000,6,0.000,0.047,2234,2409,3664,0,0,0,0,0,0
$GC,542,-0.82,-146.6,73.2,-13.7,94,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2409,3664,0,0,0,0,0,0
$GC,615,-0.82,-146.6,83.4,-13.7,107,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2409,3664,0,0,0,0,0,0
$GC,687,-0.82,-146.6,93.2,-13.3,120,692,0.00,2.22,0.00,0.000,4,0.000,0.067,2234,3816,3664,0,0,0,0,0,0
$GC,749,-0.82,-146.6,101.9,-13.5,131,755,0.00,2.12,0.00,0.000,6,0.000,0.048,2234,2411,3664,0,0,0,0,0,0
$STATE,758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,758,begin apogee
$GC,763,-0.19,0.0,103.4,13.7,133,879,0.68,0.00,107.47,0.694,6,0.173,0.000,2434,2196,3062,0,0,0,0,0,0
$STATE,880,end apogee,CONTROL_FINISHED_OK
$STATE,880,begin climb
$GC,882,0.82,146.6,108.6,0.0,155,1002,1.02,2.35,108.62,0.674,4,0.120,0.063,2765,805,2464,0,0,0,0,0,0
$GC,1009,0.84,169.7,104.4,6.9,179,1035,0.00,2.25,19.02,0.610,6,0.000,0.048,2765,2210,2371,0,0,0,0,0,0
$GC,1104,0.84,169.7,94.5,11.5,196,1109,0.00,2.28,0.00,0.000,4,0.000,0.063,2775,794,2369,0,0,0,0,0,0
$GC,1137,0.84,169.7,90.3,12.0,202,1144,0.00,2.20,0.00,0.000,6,0.000,0.050,2775,2198,2369,0,0,0,0,0,0
$GC,1212,0.84,169.7,81.7,11.5,215,1217,0.00,2.22,0.00,0.000,4,0.000,0.063,2786,797,2368,0,0,0,0,0,0
$GC,1245,0.84,169.7,77.7,11.9,221,1251,0.00,2.15,0.00,0.000,6,0.000,0.050,2786,2183,2369,0,0,0,0,0,0
$GC,1318,0.84,169.7,69.0,11.8,234,1324,0.00,2.17,0.00,0.000,4,0.000,0.064,2796,805,2368,0,0,0,0,0,0
$GC,1347,0.84,169.7,65.5,12.1,239,1353,0.00,2.12,0.00,0.000,6,0.000,0.051,2796,2178,2368,0,0,0,0,0,0
$GC,1420,0.84,169.7,56.8,11.5,252,1426,0.00,2.15,0.00,0.000,4,0.000,0.064,2806,806,2368,0,0,0,0,0,0
$GC,1460,0.84,169.7,52.3,11.5,259,1466,0.15,2.08,0.00,0.000,6,0.203,0.051,2773,2155,2368,0,0,0,0,0,0
$GC,1533,0.84,169.7,44.6,10.0,272,1538,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2155,2367,0,0,0,0,0,0
$GC,1606,0.84,169.7,37.2,10.1,285,1611,0.00,2.10,0.00,0.000,4,0.000,0.063,2781,805,2367,0,0,0,0,0,0
$GC,1645,0.84,169.7,32.9,10.6,292,1650,0.00,2.05,0.00,0.000,6,0.000,0.051,2781,2144,2367,0,0,0,0,0,0
$GC,1718,0.84,169.7,25.3,10.5,305,1723,0.00,2.10,0.00,0.000,4,0.000,0.064,2791,793,2367,0,0,0,0,0,0
$GC,1752,0.84,169.7,21.8,10.3,311,1757,0.00,2.05,0.00,0.000,6,0.000,0.050,2791,2139,2367,0,0,0,0,0,0
$GC,1824,0.84,169.7,14.4,10.3,324,1830,0.00,2.08,0.00,0.000,4,0.000,0.064,2801,802,2367,0,0,0,0,0,0
$GC,1847,0.84,169.7,12.0,10.5,328,1852,0.00,2.03,0.00,0.000,6,0.000,0.050,2801,2131,2367,0,0,0,0,0,0
$GC,1919,0.84,169.7,5.0,9.0,341,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2131,2367,0,0,0,0,0,0
$GC,1992,1.06,347.1,3.4,-0.4,354,2084,0.12,0.00,88.97,0.617,2,0.112,0.000,2847,2131,1750,0,0,0,0,0,0
$STATE,2086,end climb,SURFACE_DEPTH_REACHED
$STATE,2086,begin surface coast
$FINISH,0.3,1.009553
$STATE,2125,end surface coast,CONTROL_FINISHED_OK
$STATE,2125,begin surface
$SM_CCo,2141,25.88,0.583,0,0,1512,380.21
$SM_GC,0.80,0.00,0.00,25.88,0.000,0.000,0.583,120,2403,1512,-7.44,0.06,380.21
$RAFOS_CLK,100
$RAFOS,4,1251391442,16.750000,16.733889,43,38,37,0,0,0,1590,1733,964,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12226.29,211198,161601
$TT8_MAMPS,0.026845
$HUMID,1078570958
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,19.90
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,70.8,49.3
$24V_AH,24.4,3.668
$10V_AH,10.6,1.116
$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,19.475,52.600,324.100,25.875,0.000,28.795,35.055,94.206,1.250,0.000,13.450,611.002,610.915,416.691,558.909,234.614,0.000,802.345,0.000,549.339,360.000,5.553,0.000
$DEVICE_MAMPS,283.023,86.671,694.135,582.920,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,252.417,266.593,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,264556
$DATA_FILE_SIZE,12756,378
$CAP_FILE_SIZE,55496,0
$CFSIZE,260165632,256507904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1484.9
$CURRENT,0.092,260.4,1
$GPS,270809,171628,4807.984,-12224.035,7,2.1,26,18.3