version: 66.06
glider: 143
mission: 10
dive: 382
start: 12 26 109 4 57 56
data:
$ID,143
$MISSION,10
$DIVE,382
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,360
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51204
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,90
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,325
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-43573.777
$T_RSLEEP,60
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,127
$PITCH_MAX,4070
$C_PITCH,2690
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,31
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,290
$ROLL_MAX,3915
$ROLL_DEG,45
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,442
$VBD_MAX,3793
$C_VBD,2800
$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,0
$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,-24.446302
$PRESSURE_SLOPE,0.0001163694
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$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
$GPS1,045207,6721.930,-5741.767,62,1.5,62,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-65.3
$GPS2,045738,6721.901,-5741.893,15,1.5,15,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6721.901,-5713.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,128.2,20000,-16.9,-9.167
$D_GRID,452
$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,15,-0.73,-146.0,0.0,0.0,0,132,0.00,0.00,-112.43,0.000,6,0.000,0.000,130,2696,3397,0,0,0,0,0,0
$GC,136,-0.73,-146.0,3.1,-4.5,23,153,11.65,2.42,0.00,0.000,4,0.304,0.080,2453,1098,3400,0,0,1,0,0,0
$GC,345,-0.61,-146.0,35.4,-12.6,60,351,0.15,2.30,0.00,0.000,6,0.216,0.072,2488,2680,3402,0,0,0,0,0,0
$GC,690,-0.77,-146.0,69.3,-9.3,121,696,0.15,3.03,0.00,0.000,4,0.113,0.087,2429,3933,3401,0,0,6,0,0,0
$GC,870,-0.77,-146.0,88.5,-10.7,153,876,0.00,2.83,0.00,0.000,6,0.000,0.063,2428,2696,3400,0,0,5,0,0,0
$GC,1202,-0.77,-146.0,120.6,-9.7,194,1207,0.00,2.97,0.00,0.000,4,0.000,0.089,2428,3930,3400,0,0,6,0,0,0
$GC,1398,-0.77,-146.0,140.2,-9.6,211,1403,0.00,2.83,0.00,0.000,6,0.000,0.064,2428,2696,3399,0,0,5,0,0,0
$GC,1722,-0.77,-146.0,170.0,-8.8,241,1727,0.00,2.97,0.00,0.000,4,0.000,0.089,2428,3935,3398,0,0,6,0,0,0
$GC,1852,-0.77,-146.0,181.4,-9.0,252,1857,0.00,2.83,0.00,0.000,6,0.000,0.064,2428,2698,3397,0,0,5,0,0,0
$GC,2176,-0.77,-146.0,209.2,-8.3,282,2181,0.00,2.97,0.00,0.000,4,0.000,0.087,2428,3928,3397,0,0,6,0,0,0
$GC,2306,-0.77,-146.0,220.1,-8.6,293,2311,0.00,2.83,0.00,0.000,6,0.000,0.062,2428,2696,3397,0,0,4,0,0,0
$GC,2631,-0.77,-146.0,245.9,-7.1,323,2636,0.00,2.95,0.00,0.000,4,0.000,0.086,2428,3924,3397,0,0,6,0,0,0
$GC,2762,-0.81,-146.0,255.8,-7.6,334,2767,0.00,2.80,0.00,0.000,6,0.000,0.061,2428,2702,3397,0,0,4,0,0,0
$GC,3086,-0.81,-146.0,279.9,-6.6,364,3091,0.00,2.95,0.00,0.000,4,0.000,0.084,2428,3935,3398,0,0,5,0,0,0
$GC,3255,-0.86,-146.0,293.1,-8.0,378,3261,0.00,2.80,0.00,0.000,6,0.000,0.059,2428,2697,3398,0,0,4,0,0,0
$GC,3581,-0.92,-146.0,315.6,-6.5,409,3586,0.00,2.95,0.00,0.000,4,0.000,0.082,2427,3935,3399,0,0,5,0,0,0
$GC,3744,-0.96,-146.0,326.5,-7.1,423,3750,0.15,2.80,0.00,0.000,6,0.105,0.058,2374,2698,3399,0,0,4,0,0,0
$GC,4068,-0.84,-146.0,355.5,-9.6,453,4074,0.17,2.95,0.00,0.000,4,0.199,0.081,2413,3935,3400,0,0,6,0,0,0
$GC,4255,-0.84,-146.0,370.3,-7.9,469,4260,0.00,2.80,0.00,0.000,6,0.000,0.057,2413,2703,3400,0,0,4,0,0,0
$GC,4579,-0.84,-146.0,395.1,-7.6,499,4584,0.00,2.92,0.00,0.000,4,0.000,0.081,2413,3936,3401,0,0,6,0,0,0
$GC,4700,-0.84,-146.0,405.0,-8.8,509,4705,0.00,2.80,0.00,0.000,6,0.000,0.055,2413,2696,3401,0,0,4,0,0,0
$GC,5026,-0.84,-146.0,433.6,-8.8,539,5031,0.00,2.92,0.00,0.000,4,0.000,0.080,2413,3924,3401,0,0,5,0,0,0
$GC,5162,-0.84,-146.0,445.5,-9.1,550,5167,0.00,2.78,0.00,0.000,6,0.000,0.054,2413,2698,3402,0,0,4,0,0,0
$STATE,5229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5229,begin apogee
$GC,5235,-0.16,0.0,452.1,9.1,557,5362,0.77,0.00,120.40,1.002,6,0.175,0.000,2628,1993,2800,0,0,0,0,0,0
$STATE,5363,end apogee,CONTROL_FINISHED_OK
$STATE,5363,begin climb
$GC,5365,0.73,146.0,453.4,0.0,570,5499,0.93,1.92,123.82,0.956,4,0.122,0.083,2920,372,2202,0,0,0,0,0,0
$GC,5534,0.66,146.0,438.1,12.4,586,5538,0.00,1.88,0.00,0.000,6,0.000,0.054,2920,2030,2199,0,0,0,0,0,0
$GC,5864,0.60,146.0,398.8,11.5,617,5874,0.15,3.72,0.00,0.000,4,0.198,0.071,2878,3588,2195,0,0,7,0,0,0
$GC,6020,0.60,146.0,381.9,10.8,631,6030,0.00,3.80,0.00,0.000,6,0.000,0.064,2893,1991,2194,0,0,3,0,0,0
$GC,6349,0.60,146.0,348.3,10.2,662,6358,0.00,3.75,0.00,0.000,4,0.000,0.073,2893,3588,2194,0,0,6,0,0,0
$GC,6505,0.60,146.0,330.4,11.4,676,6515,0.00,3.75,0.00,0.000,6,0.000,0.066,2910,1992,2193,0,0,4,0,0,0
$GC,6834,0.60,146.0,295.0,10.7,707,6843,0.00,3.72,0.00,0.000,4,0.000,0.072,2910,3591,2193,0,0,7,0,0,0
$GC,6973,0.50,146.0,278.0,12.5,719,6979,0.30,3.75,0.00,0.000,6,0.189,0.066,2852,1998,2193,0,0,3,0,0,0
$GC,7297,0.72,190.4,252.8,7.3,750,7343,0.22,3.83,36.12,0.854,4,0.094,0.072,2932,3582,2023,0,0,6,0,0,0
$GC,7500,0.61,190.4,225.4,14.9,768,7507,0.25,3.75,0.00,0.000,6,0.193,0.066,2889,1997,2019,0,0,4,0,0,0
$GC,7826,0.70,190.4,191.4,10.2,799,7836,0.00,3.72,0.00,0.000,4,0.000,0.071,2889,3585,2018,0,0,6,0,0,0
$GC,7965,0.70,190.4,175.5,11.6,811,7971,0.00,3.72,0.00,0.000,6,0.000,0.065,2904,1999,2018,0,0,4,0,0,0
$GC,8289,0.76,190.4,140.8,10.4,842,8298,0.00,3.75,0.00,0.000,4,0.000,0.071,2904,3593,2018,0,0,6,0,0,0
$GC,8423,0.76,190.4,126.2,11.2,854,8432,0.00,3.75,0.00,0.000,6,0.000,0.065,2921,1998,2018,0,0,3,0,0,0
$GC,8755,0.83,190.4,93.2,10.6,890,8761,0.10,3.75,0.00,0.000,4,0.118,0.071,2960,3593,2018,0,0,6,0,0,0
$GC,8881,0.69,190.4,76.9,13.2,912,8888,0.25,3.75,0.00,0.000,6,0.198,0.065,2917,1997,2018,0,0,3,0,0,0
$GC,9226,0.85,222.8,45.1,7.8,973,9263,0.15,3.80,27.38,0.746,4,0.113,0.074,2969,3593,1890,0,0,5,0,0,0
$GC,9455,0.77,222.8,16.9,13.4,1014,9461,0.20,3.78,0.00,0.000,6,0.194,0.066,2939,1999,1887,0,0,3,0,0,0
$FREEZE,8.95,-0.591,-1.834,0,1,0
$FREEZE,8.50,-0.599,-1.834,0,1,0
$FREEZE,8.06,-0.601,-1.833,0,1,0
$FREEZE,7.32,-0.600,-1.833,0,1,0
$FREEZE,6.75,-0.617,-1.832,0,1,0
$FREEZE,6.17,-0.612,-1.832,0,1,0
$FREEZE,5.56,-0.621,-1.831,0,1,0
$FREEZE,5.25,-0.621,-1.831,0,1,0
$FREEZE,4.74,-0.601,-1.830,0,1,0
$FREEZE,4.16,-0.626,-1.830,0,1,0
$FREEZE,3.54,-0.640,-1.829,0,1,0
$FREEZE,2.97,-0.640,-1.829,0,1,0
$FREEZE,2.45,-0.631,-1.828,0,1,0
$FREEZE,2.18,-0.651,-1.828,0,1,0
$FREEZE,1.65,-0.679,-1.828,0,1,0
$STATE,9606,end climb,SURFACE_DEPTH_REACHED
$STATE,9607,begin surface coast
$FREEZE,1.34,-0.677,-1.827,0,1,0
$FREEZE,0.81,-0.754,-1.827,0,1,0
$FREEZE,0.65,-0.755,-1.826,0,1,0
$FREEZE,0.74,-0.784,-1.827,0,1,0
$FINISH,0.7,1.026782
$STATE,9630,end surface coast,CONTROL_FINISHED_OK
$STATE,9630,begin surface
$SM_CCo,9648,72.47,0.729,0,0,1474,325.02
$SM_GC,1.86,0.00,0.00,72.47,0.000,0.000,0.729,125,2685,1474,-8.02,-0.42,325.02
$RAFOS_CLK,592
$RAFOS_FIX,6721.157227,-5742.658691,261209,040428,2,82,0.09
$IRIDIUM_FIX,6652.93,-5745.45,220399,020244
$TT8_MAMPS,0.027612
$HUMID,46.61
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,18.9
$ALTIM_BOTTOM_PING,400.2,69.1
$24V_AH,22.6,69.360
$10V_AH,10.1,37.238
$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,23.750,128.950,307.725,72.475,0.000,28.816,29.369,149.449,1.500,0.000,16.652,1771.084,5485.517,534.361,1859.646,394.674,0.000,1499.347,0.000,1821.576,0.000,10.769,0.000
$DEVICE_MAMPS,303.732,88.972,1001.702,729.417,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,760.407,711.370,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152548
$DATA_FILE_SIZE,41004,1045
$CAP_FILE_SIZE,118819,0
$CFSIZE,260165632,220241920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,177,0,0
$SOUNDSPEED,1466.4
$GPS,261209,045738,6721.901,-5741.893,181,99.0,181,-38.2