version: 66.06
glider: 143
mission: 10
dive: 381
start: 12 26 109 1 58 51
data:
$ID,143
$MISSION,10
$DIVE,381
$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,-43556.496
$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,23
$R_STBD_OVSHOOT,29
$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
$GPS1,014500,6721.567,-5741.573,37,1.2,42,-38.2
$_CALLS,2
$_XMS_NAKs,41
$_XMS_TOUTs,1
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-63.8
$GPS2,015834,6721.439,-5741.703,13,2.1,32,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6721.439,-5713.652
$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,482
$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,-146.0,0.0,0.0,0,128,0.00,0.00,-110.03,0.000,2,0.000,0.000,124,2691,3319,0,0,0,0,0,0
$GC,132,-0.73,-146.0,3.2,-4.6,22,154,11.55,2.42,-2.35,0.000,4,0.300,0.098,2448,1100,3399,0,0,1,0,0,0
$GC,211,-0.40,-146.0,17.7,-15.3,36,217,0.45,2.30,0.00,0.000,6,0.220,0.073,2558,2681,3401,0,0,0,0,0,0
$GC,555,-0.63,-146.0,44.0,-6.9,97,561,0.22,3.00,0.00,0.000,4,0.093,0.086,2469,3923,3401,0,0,6,0,0,0
$GC,746,-0.63,-146.0,64.6,-11.0,131,752,0.00,2.85,0.00,0.000,6,0.000,0.064,2469,2694,3401,0,0,4,0,0,0
$GC,1091,-0.73,-146.0,94.0,-8.7,192,1097,0.00,2.97,0.00,0.000,4,0.000,0.090,2469,3923,3399,0,0,6,0,0,0
$GC,1233,-0.84,-146.0,106.1,-8.6,211,1239,0.15,2.83,0.00,0.000,6,0.107,0.064,2416,2701,3399,0,0,4,0,0,0
$GC,1557,-0.84,-146.0,139.6,-10.7,242,1562,0.00,2.97,0.00,0.000,4,0.000,0.090,2416,3936,3399,0,0,6,0,0,0
$GC,1757,-0.84,-146.0,161.9,-11.0,259,1764,0.00,2.90,0.00,0.000,6,0.000,0.064,2415,2692,3399,0,0,4,0,0,0
$GC,2082,-0.84,-146.0,192.9,-8.6,290,2087,0.00,2.97,0.00,0.000,4,0.000,0.090,2416,3923,3399,0,0,6,0,0,0
$GC,2267,-0.84,-146.0,209.7,-9.2,306,2272,0.00,2.83,0.00,0.000,6,0.000,0.064,2416,2700,3398,0,0,4,0,0,0
$GC,2591,-0.84,-146.0,239.7,-9.7,336,2596,0.00,2.97,0.00,0.000,4,0.000,0.088,2416,3937,3398,0,0,6,0,0,0
$GC,2798,-0.84,-146.0,260.2,-9.8,354,2803,0.00,2.85,0.00,0.000,6,0.000,0.062,2416,2691,3398,0,0,4,0,0,0
$GC,3123,-0.84,-146.0,288.2,-8.5,384,3128,0.00,2.95,0.00,0.000,4,0.000,0.086,2416,3923,3398,0,0,6,0,0,0
$GC,3292,-0.84,-146.0,302.8,-8.1,398,3298,0.00,2.83,0.00,0.000,6,0.000,0.061,2415,2697,3398,0,0,3,0,0,0
$GC,3617,-0.84,-146.0,329.8,-8.3,429,3622,0.00,2.92,0.00,0.000,4,0.000,0.084,2415,3923,3399,0,0,6,0,0,0
$GC,3802,-0.84,-146.0,346.1,-8.9,445,3807,0.00,2.80,0.00,0.000,6,0.000,0.059,2416,2699,3399,0,0,4,0,0,0
$GC,4127,-0.84,-146.0,373.2,-8.2,475,4131,0.00,2.95,0.00,0.000,4,0.000,0.083,2415,3927,3400,0,0,6,0,0,0
$GC,4273,-0.84,-146.0,386.0,-8.7,487,4279,0.00,2.80,0.00,0.000,6,0.000,0.058,2416,2701,3401,0,0,4,0,0,0
$GC,4597,-0.84,-146.0,412.9,-8.5,518,4602,0.00,2.95,0.00,0.000,4,0.000,0.081,2416,3936,3401,0,0,5,0,0,0
$GC,4755,-0.84,-146.0,426.6,-8.5,531,4761,0.00,2.80,0.00,0.000,6,0.000,0.058,2415,2699,3402,0,0,4,0,0,0
$GC,5079,-0.84,-146.0,453.2,-7.7,562,5084,0.00,2.95,0.00,0.000,4,0.000,0.081,2416,3932,3403,0,0,6,0,0,0
$GC,5253,-0.84,-146.0,467.1,-7.5,577,5258,0.00,2.80,0.00,0.000,6,0.000,0.057,2416,2699,3403,0,0,4,0,0,0
$STATE,5448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5448,begin apogee
$GC,5455,-0.16,0.0,482.4,7.7,595,5581,0.75,0.00,121.25,1.025,6,0.173,0.000,2627,1997,2800,0,0,0,0,0,0
$STATE,5582,end apogee,CONTROL_FINISHED_OK
$STATE,5582,begin climb
$GC,5584,0.73,146.0,485.4,0.0,608,5718,0.95,1.88,124.85,0.979,4,0.126,0.083,2923,408,2202,0,0,0,0,0,0
$GC,5798,0.67,146.0,467.3,13.3,628,5802,0.00,1.83,0.00,0.000,6,0.000,0.054,2922,2032,2198,0,0,0,0,0,0
$GC,6128,0.59,146.0,427.1,12.3,659,6138,0.17,3.72,0.00,0.000,4,0.202,0.072,2878,3593,2195,0,0,7,0,0,0
$GC,6273,0.59,146.0,411.4,10.6,672,6279,0.00,3.80,0.00,0.000,6,0.000,0.066,2893,2000,2194,0,0,3,0,0,0
$GC,6597,0.59,146.0,376.5,11.0,702,6606,0.00,3.78,0.00,0.000,4,0.000,0.074,2893,3591,2194,0,0,5,0,0,0
$GC,6753,0.59,146.0,357.5,12.3,716,6763,0.00,3.78,0.00,0.000,6,0.000,0.067,2910,2001,2193,0,0,3,0,0,0
$GC,7081,0.59,146.0,318.8,11.4,747,7091,0.00,3.72,0.00,0.000,4,0.000,0.074,2910,3583,2193,0,0,6,0,0,0
$GC,7221,0.50,146.0,300.9,12.8,759,7228,0.30,3.75,0.00,0.000,6,0.196,0.067,2853,1997,2193,0,0,3,0,0,0
$GC,7546,0.69,156.5,271.2,8.7,790,7562,0.17,3.80,8.38,0.781,4,0.105,0.074,2915,3588,2162,0,0,5,0,0,0
$GC,7719,0.60,156.5,248.3,13.7,805,7729,0.20,3.78,0.00,0.000,6,0.200,0.067,2886,1991,2161,0,0,3,0,0,0
$GC,8048,0.67,156.5,213.7,10.2,836,8057,0.00,3.72,0.00,0.000,4,0.000,0.071,2886,3583,2161,0,0,6,0,0,0
$GC,8197,0.67,156.5,197.2,11.4,849,8203,0.00,3.75,0.00,0.000,6,0.000,0.065,2901,1991,2161,0,0,3,0,0,0
$GC,8522,0.72,156.5,165.4,10.0,880,8531,0.00,3.72,0.00,0.000,4,0.000,0.071,2901,3586,2161,0,0,6,0,0,0
$GC,8648,0.72,156.5,151.3,11.2,891,8655,0.00,3.72,0.00,0.000,6,0.000,0.065,2918,1984,2161,0,0,5,0,0,0
$GC,8973,0.74,170.3,120.9,8.6,922,8994,0.00,3.78,13.48,0.752,4,0.000,0.071,2918,3588,2104,0,0,5,0,0,0
$GC,9108,0.74,170.3,107.4,10.7,934,9118,0.00,3.78,0.00,0.000,6,0.000,0.066,2935,1990,2103,0,0,3,0,0,0
$GC,9451,0.77,196.8,75.3,8.0,988,9482,0.00,3.80,23.20,0.762,4,0.000,0.074,2935,3593,1995,0,0,6,0,0,0
$GC,9656,0.77,196.8,55.5,11.5,1025,9662,0.00,3.80,0.00,0.000,6,0.000,0.067,2952,1998,1992,0,0,3,0,0,0
$GC,9999,0.77,196.8,19.1,11.8,1086,10005,0.00,3.78,0.00,0.000,4,0.000,0.074,2952,3584,1992,0,0,5,0,0,0
$FREEZE,8.80,-0.527,-1.834,0,1,0
$FREEZE,8.27,-0.524,-1.833,0,1,0
$FREEZE,7.66,-0.530,-1.833,0,1,0
$FREEZE,7.14,-0.528,-1.833,0,1,0
$FREEZE,6.51,-0.522,-1.832,0,1,0
$FREEZE,5.79,-0.530,-1.831,0,1,0
$FREEZE,5.24,-0.540,-1.831,0,1,0
$FREEZE,4.61,-0.527,-1.831,0,1,0
$FREEZE,3.92,-0.528,-1.830,0,1,0
$FREEZE,3.19,-0.529,-1.830,0,1,0
$FREEZE,2.59,-0.561,-1.830,0,1,0
$FREEZE,1.97,-0.573,-1.829,0,1,0
$STATE,10162,end climb,SURFACE_DEPTH_REACHED
$STATE,10162,begin surface coast
$FREEZE,1.47,-0.576,-1.829,0,1,0
$FREEZE,0.84,-0.571,-1.828,0,1,0
$FREEZE,0.62,-0.568,-1.827,0,1,0
$FINISH,0.6,1.026787
$STATE,10179,end surface coast,CONTROL_FINISHED_OK
$STATE,10179,begin surface
$SM_CCo,10198,80.60,0.734,0,0,1474,325.02
$SM_GC,1.31,0.00,0.00,80.60,0.000,0.000,0.734,130,2697,1474,-8.00,-0.08,325.02
$RAFOS_CLK,653
$RAFOS,5,1261802464,4.700000,4.684444,97,73,52,0,0,0,681,215,182,0,0,0
$RAFOS,4,1261801983,4.566667,4.550833,67,60,59,0,0,0,833,193,180,0,0,0
$RAFOS,3,1261801511,4.433333,4.419722,60,58,57,0,0,0,141,214,199,0,0,0
$RAFOS,2,1261801027,4.300000,4.285278,59,56,56,0,0,0,215,159,191,0,0,0
$RAFOS,1,1261800543,4.166667,4.150833,66,64,61,0,0,0,184,230,202,0,0,0
$RAFOS,0,1261800062,4.033333,4.017222,62,56,52,0,0,0,215,195,178,0,0,0
$RAFOS_FIX,6721.157227,-5742.658691,261209,040428,2,82,0.09
$IRIDIUM_FIX,6652.93,-5748.43,220399,010135
$TT8_MAMPS,0.027612
$HUMID,46.81
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.00
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.8,19.3
$ALTIM_BOTTOM_PING,300.3,200.5
$24V_AH,22.5,69.250
$10V_AH,10.1,37.175
$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,23.250,134.100,291.150,80.600,0.000,52.183,67.298,472.522,2.000,0.000,34.841,1888.239,5849.611,537.135,2017.589,799.696,0.000,1560.863,0.000,1959.090,2160.000,8.636,0.000
$DEVICE_MAMPS,299.897,98.176,1025.479,734.019,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,813.851,762.256,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152620
$DATA_FILE_SIZE,44184,1118
$CAP_FILE_SIZE,131612,0
$CFSIZE,260165632,220299264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,180,0,0
$SOUNDSPEED,1465.3
$GPS,261209,045207,6721.930,-5741.767,62,1.5,62,-38.2