version: 66.06
glider: 143
mission: 10
dive: 392
start: 12 27 109 7 5 55
data:
$ID,143
$MISSION,10
$DIVE,392
$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,-44034.105
$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,23
$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
$GPS1,070000,6726.951,-5753.776,34,1.6,40,-38.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-68.5
$GPS2,070537,6727.003,-5753.870,9,1.5,14,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6727.003,-5725.709
$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,324
$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,-146.0,0.0,0.0,0,113,0.00,0.00,-95.25,0.000,2,0.000,0.000,126,2797,3118,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.3,-5.6,19,142,11.15,2.85,-7.65,0.000,4,0.289,0.100,2446,3912,3398,0,0,7,0,0,0
$GC,397,-0.73,-146.0,38.1,-11.1,69,402,0.00,2.70,0.00,0.000,6,0.000,0.061,2446,2796,3400,0,0,4,0,0,0
$GC,739,-0.73,-146.0,72.9,-10.6,130,745,0.00,2.83,0.00,0.000,4,0.000,0.088,2446,3913,3399,0,0,6,0,0,0
$GC,888,-0.81,-146.0,87.7,-9.2,156,893,0.00,2.67,0.00,0.000,6,0.000,0.062,2446,2801,3398,0,0,4,0,0,0
$GC,1222,-0.89,-146.0,116.1,-8.4,199,1224,0.12,0.00,0.00,0.000,6,0.126,0.000,2405,2802,3397,0,0,0,0,0,0
$GC,1541,-0.83,-146.0,148.3,-9.9,229,1546,0.00,2.80,0.00,0.000,4,0.000,0.088,2404,3910,3397,0,0,6,0,0,0
$GC,1798,-0.79,-146.0,173.3,-9.2,251,1805,0.12,2.67,0.00,0.000,6,0.209,0.061,2431,2801,3396,0,0,3,0,0,0
$GC,2124,-0.85,-146.0,199.9,-8.2,282,2129,0.00,2.80,0.00,0.000,4,0.000,0.086,2431,3916,3396,0,0,6,0,0,0
$GC,2213,-0.91,-146.0,207.9,-8.5,289,2218,0.00,2.65,0.00,0.000,6,0.000,0.059,2431,2799,3396,0,0,4,0,0,0
$GC,2538,-0.98,-146.0,237.1,-9.1,320,2543,0.17,2.80,0.00,0.000,4,0.109,0.082,2361,3918,3396,0,0,6,0,0,0
$GC,2723,-0.80,-146.0,259.7,-12.5,336,2729,0.28,2.67,0.00,0.000,6,0.199,0.058,2428,2793,3396,0,0,4,0,0,0
$GC,3048,-0.85,-146.0,288.5,-7.6,366,3053,0.00,2.78,0.00,0.000,4,0.000,0.083,2428,3909,3397,0,0,6,0,0,0
$GC,3161,-0.91,-146.0,297.8,-8.3,375,3167,0.00,2.60,0.00,0.000,6,0.000,0.057,2428,2799,3397,0,0,5,0,0,0
$GC,3486,-0.97,-146.0,322.4,-7.4,406,3492,0.15,2.78,0.00,0.000,4,0.112,0.081,2373,3909,3397,0,0,6,0,0,0
$STATE,3501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3501,begin apogee
$GC,3511,-0.16,0.0,324.0,8.6,407,3636,0.95,0.00,117.60,0.930,6,0.189,0.000,2631,2406,2800,0,0,0,0,0,0
$STATE,3636,end apogee,CONTROL_FINISHED_OK
$STATE,3637,begin climb
$GC,3638,0.73,146.0,328.3,0.0,420,3767,0.93,2.10,120.75,0.890,4,0.123,0.080,2924,800,2202,0,0,0,0,0,0
$GC,3828,0.66,146.0,314.1,11.9,437,3834,0.00,2.00,0.00,0.000,6,0.000,0.057,2924,2396,2199,0,0,0,0,0,0
$GC,4153,0.60,146.0,277.5,11.1,468,4163,0.17,3.65,0.00,0.000,4,0.199,0.074,2878,3927,2196,0,0,6,0,0,0
$GC,4235,0.60,146.0,268.4,10.5,475,4242,0.00,3.62,0.00,0.000,6,0.000,0.061,2892,2402,2194,0,0,5,0,0,0
$GC,4560,0.60,146.0,236.7,10.0,506,4566,0.00,3.70,0.00,0.000,4,0.000,0.076,2892,3918,2194,0,0,5,0,0,0
$GC,4627,0.55,146.0,228.8,12.1,511,4634,0.17,3.62,0.00,0.000,6,0.204,0.063,2869,2394,2194,0,0,4,0,0,0
$GC,4951,0.66,146.0,198.9,9.3,542,4957,0.00,3.67,0.00,0.000,4,0.000,0.075,2870,3916,2194,0,0,5,0,0,0
$GC,5025,0.66,146.0,191.4,10.4,548,5031,0.00,3.60,0.00,0.000,6,0.000,0.063,2884,2401,2194,0,0,4,0,0,0
$GC,5350,0.76,156.4,161.5,8.7,578,5366,0.15,3.70,8.68,0.728,4,0.096,0.076,2940,3927,2161,0,0,5,0,0,0
$GC,5429,0.60,156.4,151.9,13.4,584,5436,0.28,3.62,0.00,0.000,6,0.203,0.063,2891,2390,2160,0,0,4,0,0,0
$GC,5754,0.70,170.4,122.0,8.6,615,5775,0.00,3.67,12.98,0.752,4,0.000,0.074,2891,3918,2104,0,0,6,0,0,0
$GC,5825,0.70,170.4,114.8,10.4,621,5831,0.00,3.60,0.00,0.000,6,0.000,0.062,2905,2400,2104,0,0,4,0,0,0
$GC,6159,0.80,170.4,83.2,9.4,667,6165,0.12,3.67,0.00,0.000,4,0.104,0.074,2950,3919,2103,0,0,6,0,0,0
$GC,6200,0.65,170.4,78.5,12.0,674,6206,0.25,3.60,0.00,0.000,6,0.197,0.062,2904,2400,2103,0,0,4,0,0,0
$GC,6545,0.83,204.8,49.4,7.7,735,6582,0.17,3.72,29.65,0.745,4,0.107,0.077,2964,3914,1963,0,0,6,0,0,0
$GC,6644,0.69,204.8,37.5,13.7,753,6650,0.28,3.62,0.00,0.000,6,0.191,0.063,2914,2398,1960,0,0,5,0,0,0
$FREEZE,8.95,-1.328,-1.828,0,1,0
$FREEZE,8.61,-1.331,-1.828,0,1,0
$FREEZE,8.13,-1.331,-1.828,0,1,0
$FREEZE,7.73,-1.326,-1.827,0,1,0
$FREEZE,7.17,-1.328,-1.826,0,1,0
$FREEZE,6.63,-1.321,-1.826,0,1,0
$GC,6990,0.88,245.3,9.4,7.5,814,7032,0.17,3.75,34.33,0.726,4,0.103,0.077,2975,3919,1798,0,0,6,0,0,0
$FREEZE,5.07,-1.296,-1.825,0,1,0
$FREEZE,4.24,-1.297,-1.824,0,1,0
$FREEZE,3.51,-1.300,-1.824,0,1,0
$FREEZE,2.77,-1.305,-1.823,0,1,0
$FREEZE,2.02,-1.312,-1.823,0,1,0
$FREEZE,1.30,-1.330,-1.822,0,1,0
$STATE,7064,end climb,SURFACE_DEPTH_REACHED
$STATE,7064,begin surface coast
$FREEZE,0.61,-1.324,-1.822,0,1,0
$FREEZE,0.39,-1.393,-1.695,0,1,0
$FINISH,0.4,1.024928
$STATE,7076,end surface coast,CONTROL_FINISHED_OK
$STATE,7076,begin surface
$SM_CCo,7096,52.53,0.709,0,0,1474,325.02
$SM_GC,1.11,0.00,0.00,52.53,0.000,0.000,0.709,129,2796,1474,-8.00,-0.11,325.02
$RAFOS_CLK,434
$RAFOS,6,1261903741,8.833333,8.816944,99,66,57,0,0,0,702,162,218,0,0,0
$RAFOS,5,1261903264,8.700000,8.684444,88,61,59,0,0,0,728,211,198,0,0,0
$RAFOS,4,1261902786,8.566667,8.551666,65,59,56,0,0,0,159,217,203,0,0,0
$RAFOS,3,1261902302,8.433333,8.417222,58,57,57,0,0,0,152,166,211,0,0,0
$RAFOS,2,1261901826,8.300000,8.285000,64,62,59,0,0,0,181,202,213,0,0,0
$RAFOS,1,1261901343,8.166667,8.150833,59,58,57,0,0,0,198,221,123,0,0,0
$RAFOS,0,1261900868,8.033334,8.018888,68,60,58,0,0,0,203,143,225,0,0,0
$RAFOS_FIX,6726.654297,-5759.014160,271209,080856,2,94,0.61
$IRIDIUM_FIX,6658.43,-5747.20,230399,040443
$TT8_MAMPS,0.026845
$HUMID,45.66
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,17.30
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.6,19.3
$ALTIM_BOTTOM_PING,300.7,66.7
$24V_AH,22.9,70.431
$10V_AH,10.1,37.818
$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,24.075,100.850,323.975,52.525,0.000,29.135,34.407,157.056,2.000,0.000,15.798,1376.400,3872.601,487.869,1379.572,377.597,0.000,1226.620,0.000,1355.682,2520.000,7.226,0.000
$DEVICE_MAMPS,289.159,99.710,930.371,709.475,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,607.355,562.109,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152512
$DATA_FILE_SIZE,31620,829
$CAP_FILE_SIZE,95993,0
$CFSIZE,260165632,219660288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,152,0,0
$SOUNDSPEED,1463.9
$GPS,271209,090634,6727.800,-5754.479,13,99.0,32,-38.4