version: 66.06
glider: 143
mission: 10
dive: 391
start: 12 27 109 4 46 1
data:
$ID,143
$MISSION,10
$DIVE,391
$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,-44017.68
$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,2800
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,26
$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
$GPS1,044006,6726.446,-5753.552,7,1.1,24,-38.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-70.0
$GPS2,044543,6726.459,-5753.676,9,1.6,14,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6726.459,-5725.527
$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,128.4,20000,-16.9,-9.167
$D_GRID,369
$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,-146.0,0.0,0.0,0,113,0.00,0.00,-94.85,0.000,2,0.000,0.000,125,2798,3089,0,0,0,0,0,0
$GC,117,-0.73,-146.0,3.0,-5.1,19,143,10.98,0.00,-8.45,0.000,6,0.284,0.000,2447,2796,3398,0,0,0,0,0,0
$GC,481,-0.73,-146.0,45.3,-10.1,84,487,0.00,2.85,0.00,0.000,4,0.000,0.091,2447,3917,3400,0,0,6,0,0,0
$GC,662,-0.77,-146.0,64.6,-10.4,116,668,0.00,2.70,0.00,0.000,6,0.000,0.063,2447,2793,3399,0,0,5,0,0,0
$GC,1005,-0.84,-146.0,99.6,-10.0,177,1011,0.00,2.83,0.00,0.000,4,0.000,0.090,2447,3910,3398,0,0,6,0,0,0
$GC,1254,-0.91,-146.0,122.6,-8.6,200,1260,0.15,2.67,0.00,0.000,6,0.119,0.064,2399,2799,3397,0,0,4,0,0,0
$GC,1579,-0.84,-146.0,155.6,-10.2,230,1584,0.00,2.83,0.00,0.000,4,0.000,0.089,2399,3917,3396,0,0,7,0,0,0
$GC,1764,-0.78,-146.0,174.2,-9.8,246,1770,0.15,2.70,0.00,0.000,6,0.205,0.063,2432,2798,3395,0,0,4,0,0,0
$GC,2089,-0.84,-146.0,201.2,-8.3,276,2094,0.00,2.83,0.00,0.000,4,0.000,0.088,2432,3908,3395,0,0,7,0,0,0
$GC,2185,-0.89,-146.0,209.3,-8.6,284,2189,0.00,2.67,0.00,0.000,6,0.000,0.061,2432,2799,3395,0,0,4,0,0,0
$GC,2510,-0.97,-146.0,234.9,-7.8,314,2515,0.17,2.83,0.00,0.000,4,0.109,0.083,2361,3920,3395,0,0,5,0,0,0
$GC,2623,-0.80,-146.0,247.3,-11.3,323,2629,0.28,2.67,0.00,0.000,6,0.202,0.059,2427,2798,3395,0,0,4,0,0,0
$GC,2948,-0.85,-146.0,274.1,-8.3,354,2953,0.00,2.80,0.00,0.000,4,0.000,0.084,2428,3922,3396,0,0,6,0,0,0
$GC,3055,-0.92,-146.0,283.2,-9.4,363,3060,0.00,2.67,0.00,0.000,6,0.000,0.058,2427,2797,3396,0,0,4,0,0,0
$GC,3380,-0.98,-146.0,308.0,-8.2,393,3385,0.17,2.83,0.00,0.000,4,0.107,0.081,2361,3923,3397,0,0,5,0,0,0
$GC,3482,-0.79,-146.0,318.5,-9.8,401,3488,0.28,2.65,0.00,0.000,6,0.198,0.057,2428,2799,3397,0,0,4,0,0,0
$GC,3807,-0.86,-146.0,341.9,-6.7,432,3812,0.00,2.78,0.00,0.000,4,0.000,0.081,2428,3916,3398,0,0,6,0,0,0
$GC,3874,-0.92,-146.0,346.6,-7.1,437,3879,0.00,2.65,0.00,0.000,6,0.000,0.056,2428,2800,3398,0,0,4,0,0,0
$STATE,4185,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4185,begin apogee
$GC,4191,-0.16,0.0,369.2,7.3,467,4313,0.73,0.00,118.50,0.954,6,0.171,0.000,2633,2395,2800,0,0,0,0,0,0
$STATE,4314,end apogee,CONTROL_FINISHED_OK
$STATE,4314,begin climb
$GC,4316,0.73,146.0,370.0,0.0,479,4450,0.93,2.12,121.57,0.912,4,0.126,0.081,2923,813,2202,0,0,0,0,0,0
$GC,4569,0.67,146.0,344.7,12.1,502,4574,0.00,1.92,0.00,0.000,6,0.000,0.058,2924,2409,2198,0,0,0,0,0,0
$GC,4894,0.61,146.0,302.5,13.7,533,4904,0.15,3.67,0.00,0.000,4,0.203,0.075,2877,3923,2195,0,0,5,0,0,0
$GC,4960,0.61,146.0,294.0,12.7,539,4966,0.00,3.65,0.00,0.000,6,0.000,0.061,2892,2409,2195,0,0,3,0,0,0
$GC,5284,0.61,146.0,258.0,11.0,569,5290,0.00,3.65,0.00,0.000,4,0.000,0.075,2892,3911,2195,0,0,5,0,0,0
$GC,5335,0.61,146.0,251.9,12.0,573,5340,0.00,3.60,0.00,0.000,6,0.000,0.062,2909,2394,2193,0,0,4,0,0,0
$GC,5658,0.61,146.0,215.1,11.2,603,5664,0.00,3.67,0.00,0.000,4,0.000,0.076,2909,3918,2194,0,0,5,0,0,0
$GC,5710,0.51,146.0,208.8,12.9,607,5720,0.28,3.60,0.00,0.000,6,0.197,0.064,2858,2399,2194,0,0,4,0,0,0
$GC,6038,0.70,165.6,179.8,8.3,638,6063,0.17,3.67,15.88,0.787,4,0.106,0.075,2919,3918,2124,0,0,5,0,0,0
$GC,6127,0.61,165.6,168.8,14.3,646,6137,0.20,3.62,0.00,0.000,6,0.199,0.063,2889,2395,2123,0,0,4,0,0,0
$GC,6455,0.69,165.6,134.4,9.9,677,6461,0.00,3.67,0.00,0.000,4,0.000,0.074,2889,3918,2123,0,0,5,0,0,0
$GC,6511,0.69,165.6,128.3,11.0,681,6517,0.00,3.60,0.00,0.000,6,0.000,0.062,2904,2401,2123,0,0,4,0,0,0
$GC,6838,0.79,182.6,96.5,8.5,715,6864,0.12,3.67,15.82,0.744,4,0.103,0.074,2952,3922,2054,0,0,5,0,0,0
$GC,6899,0.65,182.6,89.1,13.1,726,6906,0.28,3.60,0.00,0.000,6,0.199,0.062,2903,2400,2052,0,0,5,0,0,0
$GC,7246,0.79,201.4,60.4,8.4,787,7272,0.15,3.70,16.73,0.736,4,0.113,0.075,2954,3906,1977,0,0,6,0,0,0
$GC,7391,0.69,201.4,42.5,12.8,813,7398,0.22,3.62,0.00,0.000,6,0.194,0.063,2917,2392,1975,0,0,4,0,0,0
$GC,7736,0.86,232.7,13.6,7.8,874,7773,0.15,3.75,26.85,0.729,4,0.113,0.077,2969,3912,1850,0,0,6,0,0,0
$FREEZE,8.65,-1.486,-1.826,0,1,0
$FREEZE,7.99,-1.486,-1.825,0,1,0
$FREEZE,7.26,-1.494,-1.824,0,1,0
$FREEZE,6.71,-1.503,-1.824,0,1,0
$FREEZE,6.14,-1.513,-1.824,0,1,0
$FREEZE,5.49,-1.510,-1.823,0,1,0
$FREEZE,4.97,-1.510,-1.823,0,1,0
$FREEZE,4.33,-1.514,-1.822,0,1,0
$FREEZE,3.67,-1.512,-1.822,0,1,0
$FREEZE,2.88,-1.512,-1.821,0,1,0
$FREEZE,2.34,-1.525,-1.821,0,1,0
$FREEZE,1.59,-1.513,-1.820,0,1,0
$STATE,7845,end climb,SURFACE_DEPTH_REACHED
$STATE,7846,begin surface coast
$FREEZE,0.94,-1.520,-1.820,0,1,0
$FREEZE,0.43,-1.517,-1.819,0,1,0
$FREEZE,0.38,-1.390,-1.724,0,1,0
$FINISH,0.4,1.025338
$STATE,7863,end surface coast,CONTROL_FINISHED_OK
$STATE,7863,begin surface
$SM_CCo,7883,59.58,0.716,0,0,1475,325.02
$SM_GC,1.25,0.00,0.00,59.58,0.000,0.000,0.716,126,2796,1475,-8.01,-0.08,325.02
$RAFOS_CLK,484
$RAFOS,6,1261889341,4.833333,4.816945,82,67,65,0,0,0,694,175,208,0,0,0
$RAFOS,4,1261888386,4.566667,4.551667,91,56,56,0,0,0,817,202,141,0,0,0
$RAFOS_FIX,6727.093262,-5801.823730,271209,040440,2,86,0.00
$IRIDIUM_FIX,6658.43,-5754.93,230399,020253
$TT8_MAMPS,0.027612
$HUMID,45.58
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.30
$XPDR_PINGS,3
$ALTIM_TOP_PING,20.0,19.7
$ALTIM_BOTTOM_PING,300.8,132.3
$24V_AH,22.8,70.328
$10V_AH,10.1,37.768
$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,24.000,106.425,315.350,59.575,0.000,29.614,28.324,160.912,1.500,0.000,15.659,1500.823,4387.979,500.413,1516.162,380.435,0.000,1305.689,0.000,1487.208,360.000,8.462,0.000
$DEVICE_MAMPS,283.790,90.506,954.148,715.611,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,652.063,609.172,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152572
$DATA_FILE_SIZE,34659,897
$CAP_FILE_SIZE,103375,0
$CFSIZE,260165632,219701248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,155,0,0
$SOUNDSPEED,1464.4
$GPS,271209,070000,6726.951,-5753.776,34,1.6,40,-38.4