version: 66.06
glider: 143
mission: 10
dive: 228
start: 12 2 109 5 7 57
data:
$ID,143
$MISSION,10
$DIVE,228
$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,-2
$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,-1
$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,-35700.973
$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,2460
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.025
$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
$GPS1,042734,6642.477,-6011.609,0,7118.4,0,-37.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.40
$_SM_ANGLEo,-3.3
$GPS2,042734,6642.477,-6011.609,0,7118.4,0,-37.8
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,322.8,10899,-16.9,-9.167
$D_GRID,554
$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,-146.0,0.0,0.0,0,23,0.00,0.00,-5.72,0.000,2,0.000,0.000,2727,366,2661,0,0,0,0,0,0
$GC,26,-0.73,-146.0,9.0,-0.0,1,58,0.82,6.20,-20.77,0.000,4,0.129,0.095,2465,3920,3400,0,0,0,0,0,0
$GC,283,-0.64,-146.0,42.0,-13.2,47,288,0.00,2.75,0.00,0.000,6,0.000,0.075,2465,2457,3401,0,0,0,0,0,0
$GC,627,-0.56,-146.0,89.6,-14.5,108,633,0.17,2.88,0.00,0.000,4,0.235,0.099,2492,3912,3401,0,0,0,0,0,0
$GC,790,-0.64,-146.0,111.0,-12.4,129,796,0.00,2.70,0.00,0.000,6,0.000,0.074,2493,2474,3401,0,0,0,0,0,0
$GC,1115,-0.70,-146.0,146.1,-10.8,160,1119,0.00,2.83,0.00,0.000,4,0.000,0.100,2493,3910,3401,0,0,0,0,0,0
$GC,1261,-0.79,-146.0,160.7,-9.1,172,1267,0.17,2.70,0.00,0.000,6,0.123,0.075,2435,2476,3401,0,0,0,0,0,0
$GC,1585,-0.70,-146.0,200.6,-12.6,203,1590,0.00,2.83,0.00,0.000,4,0.000,0.101,2435,3910,3401,0,0,0,0,0,0
$GC,1805,-0.63,-146.0,228.7,-12.5,222,1811,0.20,2.65,0.00,0.000,6,0.222,0.076,2480,2503,3401,0,0,0,0,0,0
$GC,2131,-0.71,-146.0,257.1,-8.6,252,2135,0.00,2.78,0.00,0.000,4,0.000,0.101,2480,3910,3401,0,0,0,0,0,0
$GC,2250,-0.80,-146.0,267.4,-8.6,262,2255,0.17,2.62,0.00,0.000,6,0.123,0.076,2426,2518,3400,0,0,0,0,0,0
$GC,2574,-0.72,-146.0,302.8,-10.8,292,2579,0.12,2.78,0.00,0.000,4,0.229,0.098,2441,3920,3400,0,0,0,0,0,0
$GC,2613,-0.72,-146.0,307.0,-10.6,295,2617,0.00,2.60,0.00,0.000,6,0.000,0.074,2441,2535,3400,0,0,0,0,0,0
$GC,2937,-0.72,-146.0,339.0,-10.2,325,2941,0.00,2.72,0.00,0.000,4,0.000,0.101,2440,3911,3400,0,0,0,0,0,0
$GC,3054,-0.72,-146.0,351.6,-10.4,335,3058,0.00,2.58,0.00,0.000,6,0.000,0.076,2441,2550,3399,0,0,0,0,0,0
$GC,3379,-0.72,-146.0,383.8,-9.9,365,3384,0.00,2.70,0.00,0.000,4,0.000,0.101,2441,3910,3399,0,0,0,0,0,0
$GC,3418,-0.72,-146.0,387.5,-9.2,368,3422,0.00,2.58,0.00,0.000,6,0.000,0.076,2441,2549,3399,0,0,0,0,0,0
$GC,3742,-0.72,-146.0,418.7,-9.8,398,3746,0.00,2.70,0.00,0.000,4,0.000,0.100,2441,3911,3399,0,0,0,0,0,0
$GC,3784,-0.72,-146.0,422.9,-9.6,401,3791,0.00,2.58,0.00,0.000,6,0.000,0.075,2441,2544,3399,0,0,0,0,0,0
$GC,4109,-0.72,-146.0,451.8,-9.5,432,4114,0.00,2.70,0.00,0.000,4,0.000,0.100,2440,3911,3399,0,0,0,0,0,0
$GC,4164,-0.72,-146.0,457.3,-10.4,436,4170,0.00,2.55,0.00,0.000,6,0.000,0.074,2441,2558,3399,0,0,0,0,0,0
$GC,4489,-0.72,-146.0,486.2,-8.6,467,4493,0.00,2.67,0.00,0.000,4,0.000,0.099,2441,3911,3399,0,0,0,0,0,0
$GC,4667,-0.72,-146.0,502.2,-8.9,482,4673,0.00,2.53,0.00,0.000,6,0.000,0.073,2441,2576,3399,0,0,0,0,0,0
$GC,4993,-0.72,-146.0,529.3,-8.1,513,4998,0.00,2.65,0.00,0.000,4,0.000,0.098,2441,3911,3399,0,0,0,0,0,0
$GC,5115,-0.72,-146.0,540.0,-8.9,523,5121,0.00,2.53,0.00,0.000,6,0.000,0.073,2441,2574,3399,0,0,0,0,0,0
$STATE,5183,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5184,begin apogee
$GC,5190,-0.16,0.0,545.6,8.1,530,5316,0.70,0.00,120.35,1.136,6,0.201,0.000,2628,1952,2799,0,0,0,0,0,0
$STATE,5317,end apogee,CONTROL_FINISHED_OK
$STATE,5317,begin climb
$GC,5319,0.73,146.0,549.2,0.0,543,5453,1.00,2.78,126.12,1.078,4,0.152,0.097,2920,365,2204,0,0,0,0,0,0
$GC,5492,0.73,146.0,537.1,10.3,559,5498,0.00,2.60,0.00,0.000,6,0.000,0.072,2920,1957,2200,0,0,0,0,0,0
$GC,5817,0.68,146.0,504.0,9.5,590,5822,0.00,3.08,0.00,0.000,4,0.000,0.089,2921,3539,2195,0,0,0,0,0,0
$GC,5912,0.56,146.0,493.0,12.0,598,5918,0.25,3.03,0.00,0.000,6,0.199,0.080,2875,1970,2194,0,0,0,0,0,0
$GC,6237,0.73,179.8,468.2,7.7,628,6272,0.15,3.10,28.10,1.035,4,0.119,0.089,2923,3560,2066,0,0,0,0,0,0
$GC,6345,0.66,179.8,455.6,12.8,638,6351,0.15,3.03,0.00,0.000,6,0.203,0.079,2903,1980,2063,0,0,0,0,0,0
$GC,6670,0.71,179.8,421.8,10.1,668,6671,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1981,2061,0,0,0,0,0,0
$GC,6990,0.78,179.8,389.6,9.7,698,6992,0.12,0.00,0.00,0.000,6,0.125,0.000,2943,1981,2061,0,0,0,0,0,0
$GC,7307,0.78,179.8,354.3,10.5,728,7311,0.00,2.95,0.00,0.000,4,0.000,0.089,2943,3540,2061,0,0,0,0,0,0
$GC,7335,0.69,179.8,351.4,11.1,730,7341,0.17,2.90,0.00,0.000,6,0.205,0.079,2916,1991,2061,0,0,0,0,0,0
$GC,7660,0.76,183.0,321.4,9.0,760,7661,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1992,2060,0,0,0,0,0,0
$GC,7980,0.86,207.1,293.8,8.2,790,8011,0.15,2.97,23.48,0.957,4,0.118,0.089,2965,3545,1954,0,0,0,0,0,0
$GC,8063,0.72,207.1,284.9,11.9,797,8069,0.22,2.92,0.00,0.000,6,0.196,0.080,2924,2000,1953,0,0,0,0,0,0
$GC,8387,0.83,215.2,257.2,8.8,828,8402,0.10,2.60,8.02,0.864,4,0.137,0.099,2965,357,1921,0,0,0,0,0,0
$GC,8442,0.83,215.2,251.2,11.5,833,8446,0.00,2.50,0.00,0.000,6,0.000,0.075,2965,2016,1921,0,0,0,0,0,0
$GC,8766,0.83,215.2,215.3,10.7,863,8771,0.00,2.90,0.00,0.000,4,0.000,0.091,2966,3546,1919,0,0,0,0,0,0
$GC,8828,0.74,215.2,208.2,11.7,868,8833,0.20,2.90,0.00,0.000,6,0.196,0.081,2930,2009,1919,0,0,0,0,0,0
$GC,9153,0.87,226.8,179.3,8.7,898,9174,0.12,2.92,11.25,0.882,4,0.125,0.090,2970,3543,1873,0,0,0,0,0,0
$GC,9208,0.78,226.8,173.5,11.6,903,9214,0.17,2.88,0.00,0.000,6,0.199,0.081,2943,2022,1873,0,0,0,0,0,0
$GC,9534,0.93,249.9,146.6,8.2,933,9557,0.15,0.00,21.15,0.894,6,0.121,0.000,2989,2024,1781,0,0,0,0,0,0
$GC,9872,0.93,249.9,110.9,10.9,965,9877,0.00,2.92,0.00,0.000,4,0.000,0.093,2990,3540,1776,0,0,0,0,0,0
$GC,9916,0.86,249.9,105.7,12.4,968,9922,0.15,2.88,0.00,0.000,6,0.202,0.082,2970,2029,1776,0,0,0,0,0,0
$GC,10256,0.98,276.0,77.6,8.1,1023,10288,0.12,2.97,23.12,0.864,4,0.129,0.094,3007,3538,1673,0,0,0,0,0,0
$GC,10340,0.90,276.0,68.8,12.0,1038,10346,0.15,2.88,0.00,0.000,6,0.199,0.083,2987,2039,1671,0,0,0,0,0,0
$GC,10686,1.00,293.1,36.8,8.4,1099,10707,0.00,2.65,15.23,0.831,4,0.000,0.103,2996,355,1603,0,0,0,0,0,0
$GC,10754,1.05,293.1,30.4,10.2,1111,10760,0.00,2.58,0.00,0.000,6,0.000,0.077,2996,2046,1601,0,0,0,0,0,0
$FREEZE,8.73,-1.769,-1.761,2,23,0
$STATE,10967,end climb,FINISH_DEPTH_REACHED
$STATE,10967,begin subsurface finish
$FINISH1,8.7,1.025796,83
$GC,10973,0.10,82.8,8.7,-9.9,1149,11010,0.95,3.08,-29.02,0.000,4,0.175,0.101,2727,3540,2464,0,0,0,0,0,0
$FINISH2,8.0
$STATE,11011,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11011,begin surface
$RAFOS_CLK,772
$RAFOS,0,1259740861,8.033334,8.016945,136,63,59,0,0,0,606,159,211,0,0,0
$RAFOS_FIX,6642.477051,-6011.608887,021209,040434,7,118,0.27
$IRIDIUM_FIX,6620.33,-5850.01,230299,080832
$TT8_MAMPS,0.029146
$HUMID,50.55
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,16.20
$XPDR_PINGS,8
$ALTIM_TOP_PING,19.7,17.6
$ALTIM_BOTTOM_PING,401.0,159.5
$24V_AH,22.6,48.532
$10V_AH,10.1,25.281
$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,6.725,135.000,376.825,0.000,0.000,0.000,0.000,0.000,3.250,0.000,0.000,1945.285,6590.902,449.468,1931.102,145.995,0.000,1463.753,0.000,1911.563,720.000,11.002,0.000
$DEVICE_MAMPS,234.702,111.982,1135.927,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,855.269,798.005,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152608
$DATA_FILE_SIZE,44196,1156
$CAP_FILE_SIZE,127682,0
$CFSIZE,260165632,231960576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.4
$GPS,021209,042734,6642.477,-6011.609,0,7118.4,0,-37.8