version: 66.06
glider: 143
mission: 10
dive: 383
start: 12 26 109 7 56 13
data:
$ID,143
$MISSION,10
$DIVE,383
$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,-43859.949
$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,19
$R_STBD_OVSHOOT,14
$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
$GPS1,045738,6721.901,-5741.893,181,99.0,181,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-30.3
$GPS2,075556,6723.086,-5743.298,79,2.1,98,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6723.086,-5715.215
$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,420
$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,16,-0.73,-146.0,0.0,0.0,0,99,0.00,0.00,-80.35,0.000,2,0.000,0.000,124,2688,2862,0,0,0,0,0,0
$GC,101,-0.73,-146.0,3.7,-6.6,16,133,11.48,2.40,-14.85,0.000,4,0.298,0.094,2445,1087,3398,0,0,0,0,0,0
$GC,346,-0.73,-146.0,34.7,-11.4,60,352,0.00,2.35,0.00,0.000,6,0.000,0.071,2445,2696,3400,0,0,0,0,0,0
$GC,690,-0.73,-146.0,72.0,-10.9,121,695,0.00,2.97,0.00,0.000,4,0.000,0.091,2445,3926,3400,0,0,6,0,0,0
$GC,870,-0.79,-146.0,91.0,-10.4,153,876,0.00,2.85,0.00,0.000,6,0.000,0.064,2446,2693,3399,0,0,4,0,0,0
$GC,1206,-0.85,-146.0,122.8,-8.7,192,1211,0.00,2.97,0.00,0.000,4,0.000,0.089,2446,3928,3399,0,0,6,0,0,0
$GC,1418,-0.93,-146.0,140.0,-8.0,210,1424,0.17,2.80,0.00,0.000,6,0.117,0.064,2389,2700,3398,0,0,5,0,0,0
$GC,1743,-0.84,-146.0,173.2,-9.4,241,1749,0.12,2.97,0.00,0.000,4,0.214,0.087,2413,3928,3398,0,0,6,0,0,0
$GC,1929,-0.84,-146.0,188.9,-8.1,257,1934,0.00,2.83,0.00,0.000,6,0.000,0.063,2413,2700,3397,0,0,4,0,0,0
$GC,2253,-0.84,-146.0,213.3,-7.4,287,2258,0.00,2.95,0.00,0.000,4,0.000,0.087,2413,3930,3397,0,0,6,0,0,0
$GC,2417,-0.84,-146.0,226.1,-8.3,301,2421,0.00,2.83,0.00,0.000,6,0.000,0.061,2413,2694,3396,0,0,5,0,0,0
$GC,2741,-0.84,-146.0,251.6,-7.8,331,2746,0.00,2.95,0.00,0.000,4,0.000,0.084,2413,3934,3396,0,0,6,0,0,0
$GC,2926,-0.84,-146.0,267.4,-8.8,347,2931,0.00,2.83,0.00,0.000,6,0.000,0.058,2413,2694,3397,0,0,4,0,0,0
$GC,3251,-0.84,-146.0,295.9,-9.3,377,3255,0.00,2.92,0.00,0.000,4,0.000,0.082,2413,3925,3398,0,0,6,0,0,0
$GC,3442,-0.84,-146.0,313.9,-10.4,393,3448,0.00,2.80,0.00,0.000,6,0.000,0.058,2413,2697,3398,0,0,4,0,0,0
$GC,3767,-0.84,-146.0,341.2,-8.4,424,3772,0.00,2.92,0.00,0.000,4,0.000,0.081,2413,3932,3399,0,0,6,0,0,0
$GC,3956,-0.84,-146.0,357.8,-9.3,440,3963,0.00,2.80,0.00,0.000,6,0.000,0.056,2413,2698,3399,0,0,4,0,0,0
$GC,4281,-0.84,-146.0,384.9,-8.2,471,4286,0.00,2.95,0.00,0.000,4,0.000,0.080,2413,3938,3400,0,0,6,0,0,0
$GC,4444,-0.84,-146.0,397.8,-7.9,485,4449,0.00,2.80,0.00,0.000,6,0.000,0.056,2413,2701,3401,0,0,4,0,0,0
$STATE,4714,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4714,begin apogee
$GC,4721,-0.16,0.0,420.5,9.6,510,4847,0.77,0.00,119.97,0.983,6,0.176,0.000,2630,1996,2799,0,0,0,0,0,0
$STATE,4848,end apogee,CONTROL_FINISHED_OK
$STATE,4848,begin climb
$GC,4850,0.73,146.0,423.9,0.0,523,4984,0.93,1.98,122.57,0.942,4,0.123,0.085,2921,410,2203,0,0,0,0,0,0
$GC,5119,0.66,146.0,399.8,11.9,548,5123,0.00,1.77,0.00,0.000,6,0.000,0.054,2921,2023,2198,0,0,0,0,0,0
$GC,5450,0.60,146.0,362.2,11.5,579,5460,0.15,3.72,0.00,0.000,4,0.204,0.071,2881,3585,2195,0,0,7,0,0,0
$GC,5599,0.60,146.0,345.2,11.6,592,5606,0.00,3.75,0.00,0.000,6,0.000,0.065,2896,1990,2195,0,0,5,0,0,0
$GC,5924,0.60,146.0,313.1,9.4,623,5934,0.00,3.75,0.00,0.000,4,0.000,0.072,2896,3585,2195,0,0,6,0,0,0
$GC,6070,0.55,146.0,298.2,10.2,636,6080,0.17,3.75,0.00,0.000,6,0.199,0.067,2872,1995,2194,0,0,4,0,0,0
$GC,6399,0.69,181.1,272.0,7.7,667,6435,0.12,3.80,28.83,0.862,4,0.120,0.072,2915,3578,2061,0,0,5,0,0,0
$GC,6583,0.61,181.1,251.3,12.1,683,6593,0.17,3.78,0.00,0.000,6,0.199,0.067,2893,1998,2057,0,0,4,0,0,0
$GC,6911,0.68,181.1,219.7,10.2,714,6921,0.00,3.78,0.00,0.000,4,0.000,0.072,2893,3585,2056,0,0,5,0,0,0
$GC,7034,0.68,181.1,206.6,11.5,725,7043,0.00,3.75,0.00,0.000,6,0.000,0.067,2908,1993,2056,0,0,4,0,0,0
$GC,7362,0.68,181.1,170.9,11.1,756,7371,0.00,3.70,0.00,0.000,4,0.000,0.072,2908,3579,2056,0,0,7,0,0,0
$GC,7512,0.68,181.1,153.1,12.3,769,7518,0.00,3.75,0.00,0.000,6,0.000,0.065,2925,1986,2056,0,0,3,0,0,0
$GC,7837,0.68,181.1,117.8,10.4,800,7846,0.00,3.72,0.00,0.000,4,0.000,0.071,2925,3581,2056,0,0,6,0,0,0
$GC,7948,0.63,181.1,105.2,11.8,810,7958,0.20,3.72,0.00,0.000,6,0.192,0.065,2893,1996,2056,0,0,4,0,0,0
$GC,8292,0.80,197.2,75.5,8.5,866,8314,0.17,3.72,14.50,0.740,4,0.107,0.073,2955,3579,1995,0,0,6,0,0,0
$GC,8499,0.69,197.2,48.5,12.6,903,8506,0.22,3.75,0.00,0.000,6,0.197,0.067,2919,1993,1992,0,0,4,0,0,0
$GC,8846,0.82,213.0,18.7,8.5,964,8868,0.12,3.78,14.15,0.729,4,0.121,0.074,2963,3584,1931,0,0,5,0,0,0
$FREEZE,8.87,-0.922,-1.830,0,2,0
$FREEZE,8.21,-0.902,-1.829,0,2,0
$FREEZE,7.42,-0.898,-1.829,0,2,0
$FREEZE,6.78,-0.907,-1.828,0,2,0
$FREEZE,6.06,-0.895,-1.828,0,2,0
$FREEZE,5.41,-0.929,-1.827,0,2,0
$FREEZE,4.74,-0.931,-1.827,0,2,0
$FREEZE,4.02,-0.927,-1.826,0,2,0
$FREEZE,3.22,-0.943,-1.825,0,2,0
$FREEZE,2.58,-0.940,-1.825,0,2,0
$FREEZE,1.78,-0.955,-1.825,0,2,0
$STATE,8985,end climb,SURFACE_DEPTH_REACHED
$STATE,8985,begin surface coast
$FREEZE,1.13,-0.958,-1.824,0,2,0
$FREEZE,0.66,-1.027,-1.824,0,2,0
$FREEZE,0.57,-1.002,-1.784,0,2,0
$FINISH,0.6,1.026185
$STATE,9003,end surface coast,CONTROL_FINISHED_OK
$STATE,9003,begin surface
$SM_CCo,9022,70.97,0.729,0,0,1474,325.02
$SM_GC,1.34,0.00,0.00,70.97,0.000,0.000,0.729,131,2692,1474,-8.00,-0.23,325.02
$RAFOS_CLK,624
$RAFOS,6,1261817347,8.833333,8.818611,123,65,60,0,0,0,676,131,154,0,0,0
$RAFOS,5,1261816869,8.700000,8.685833,75,65,59,0,0,0,661,205,220,0,0,0
$RAFOS,4,1261816382,8.566667,8.550555,91,59,59,0,0,0,837,206,146,0,0,0
$RAFOS,3,1261815902,8.433333,8.417222,64,61,60,0,0,0,164,197,153,0,0,0
$RAFOS,2,1261815421,8.300000,8.283611,60,57,56,0,0,0,175,218,193,0,0,0
$RAFOS,1,1261814945,8.166667,8.151389,57,53,51,0,0,0,208,221,136,0,0,0
$RAFOS,0,1261814462,8.033334,8.017222,61,58,57,0,0,0,210,113,199,0,0,0
$RAFOS_FIX,6722.061523,-5747.197266,261209,080840,3,96,1.20
$IRIDIUM_FIX,6652.93,-5743.71,220399,070733
$TT8_MAMPS,0.027612
$HUMID,46.77
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,17.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,19.1
$ALTIM_BOTTOM_PING,300.5,146.2
$24V_AH,22.7,69.475
$10V_AH,10.1,37.306
$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,23.125,114.700,300.025,70.975,0.000,92.428,94.466,198.105,1.500,0.000,100.881,1667.097,5214.023,507.986,1856.606,590.954,0.000,1421.368,0.000,1739.379,2520.000,7.442,0.000
$DEVICE_MAMPS,297.596,94.341,983.294,728.650,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,725.165,675.018,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152592
$DATA_FILE_SIZE,37900,992
$CAP_FILE_SIZE,113627,0
$CFSIZE,260165632,220184576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,161,0,0
$SOUNDSPEED,1466.1
$GPS,261209,102925,6724.207,-5745.717,39,1.4,39,-38.3