version: 66.06
glider: 143
mission: 10
dive: 396
start: 12 27 109 15 4 32
data:
$ID,143
$MISSION,10
$DIVE,396
$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,-44109.902
$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,24
$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
$GPS1,145837,6728.483,-5756.760,33,1.4,33,-38.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-65.5
$GPS2,150414,6728.501,-5756.907,15,1.5,15,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6728.501,-5728.717
$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,317
$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,-146.0,0.0,0.0,0,133,0.00,0.00,-114.60,0.000,6,0.000,0.000,124,2814,3397,0,0,0,0,0,0
$GC,136,-0.73,-146.0,3.5,-6.7,23,153,11.23,2.78,0.00,0.000,4,0.291,0.084,2433,3911,3400,0,0,6,0,0,0
$GC,361,-0.62,-146.0,41.9,-14.0,63,368,0.22,2.70,0.00,0.000,6,0.212,0.062,2485,2789,3403,0,0,5,0,0,0
$GC,705,-0.79,-146.0,74.0,-7.9,124,711,0.15,2.85,0.00,0.000,4,0.117,0.087,2428,3919,3401,0,0,7,0,0,0
$GC,802,-0.79,-146.0,84.5,-11.5,141,808,0.00,2.67,0.00,0.000,6,0.000,0.063,2428,2804,3401,0,0,5,0,0,0
$GC,1135,-0.79,-146.0,118.1,-9.4,185,1140,0.00,2.83,0.00,0.000,4,0.000,0.089,2428,3910,3401,0,0,5,0,0,0
$GC,1246,-0.79,-146.0,128.3,-9.7,194,1252,0.00,2.70,0.00,0.000,6,0.000,0.063,2428,2796,3400,0,0,4,0,0,0
$GC,1571,-0.79,-146.0,156.9,-8.1,225,1576,0.00,2.85,0.00,0.000,4,0.000,0.090,2428,3924,3398,0,0,6,0,0,0
$GC,1626,-0.79,-146.0,161.7,-8.6,229,1632,0.00,2.70,0.00,0.000,6,0.000,0.063,2428,2795,3398,0,0,5,0,0,0
$GC,1951,-0.79,-146.0,185.9,-7.4,260,1955,0.00,2.83,0.00,0.000,4,0.000,0.087,2428,3915,3397,0,0,6,0,0,0
$GC,2196,-0.79,-146.0,208.0,-9.6,281,2203,0.00,2.70,0.00,0.000,6,0.000,0.061,2429,2793,3397,0,0,4,0,0,0
$GC,2522,-0.84,-146.0,237.0,-9.1,312,2527,0.00,2.80,0.00,0.000,4,0.000,0.085,2428,3912,3398,0,0,6,0,0,0
$GC,2735,-0.89,-146.0,258.3,-9.7,330,2740,0.00,2.67,0.00,0.000,6,0.000,0.058,2428,2793,3398,0,0,4,0,0,0
$GC,3059,-0.94,-146.0,286.4,-8.2,361,3065,0.12,2.83,0.00,0.000,4,0.110,0.083,2373,3920,3399,0,0,6,0,0,0
$GC,3111,-0.79,-146.0,291.7,-10.0,365,3117,0.25,2.67,0.00,0.000,6,0.211,0.058,2431,2802,3398,0,0,4,0,0,0
$STATE,3295,end dive,NO_VERTICAL_VELOCITY
$STATE,3297,begin apogee
$GC,3302,-0.16,0.0,293.2,0.0,382,3423,0.68,0.00,117.47,0.919,6,0.163,0.000,2630,2399,2799,0,0,0,0,0,0
$STATE,3424,end apogee,CONTROL_FINISHED_OK
$STATE,3424,begin climb
$GC,3427,0.73,146.0,293.2,0.0,394,3559,0.93,4.05,120.22,0.876,4,0.126,0.076,2911,3904,2202,0,0,8,0,0,0
$GC,3627,0.62,146.0,275.0,11.3,413,3633,0.15,3.83,0.00,0.000,6,0.202,0.063,2898,2401,2197,0,0,6,0,0,0
$GC,3951,0.65,167.4,248.6,8.3,444,3975,0.00,3.75,17.75,0.815,4,0.000,0.077,2898,3914,2116,0,0,7,0,0,0
$GC,4043,0.65,171.8,240.6,9.0,452,4058,0.00,3.67,5.18,0.646,6,0.000,0.065,2913,2398,2099,0,0,5,0,0,0
$GC,4377,0.67,186.0,212.9,8.6,484,4398,0.00,3.72,13.30,0.792,4,0.000,0.077,2913,3922,2041,0,0,7,0,0,0
$GC,4421,0.62,186.0,208.7,10.0,488,4431,0.15,3.65,0.00,0.000,6,0.202,0.065,2897,2398,2040,0,0,6,0,0,0
$GC,4750,0.73,225.9,183.1,7.5,519,4792,0.00,3.75,34.20,0.813,4,0.000,0.076,2897,3919,1878,0,0,7,0,0,0
$GC,4819,0.79,225.9,177.0,9.5,525,4826,0.00,3.70,0.00,0.000,6,0.000,0.064,2911,2395,1877,0,0,4,0,0,0
$GC,5144,0.86,225.9,143.5,10.5,556,5154,0.17,3.72,0.00,0.000,4,0.093,0.076,2974,3918,1874,0,0,7,0,0,0
$GC,5166,0.80,225.9,140.6,13.0,558,5176,0.17,3.65,0.00,0.000,6,0.208,0.064,2952,2394,1874,0,0,5,0,0,0
$GC,5494,0.80,225.9,99.5,11.5,589,5500,0.00,3.67,0.00,0.000,4,0.000,0.076,2952,3915,1872,0,0,6,0,0,0
$GC,5547,0.73,225.9,92.5,15.0,598,5553,0.17,3.62,0.00,0.000,6,0.194,0.064,2926,2400,1872,0,0,4,0,0,0
$GC,5892,0.87,255.5,57.2,7.9,659,5929,0.12,3.70,26.05,0.752,4,0.125,0.077,2967,3916,1757,0,0,6,0,0,0
$GC,6019,0.78,255.5,41.3,12.5,682,6025,0.17,3.65,0.00,0.000,6,0.195,0.066,2943,2393,1754,0,0,6,0,0,0
$FREEZE,8.83,-1.262,-1.828,0,1,0
$FREEZE,8.35,-1.276,-1.828,0,1,0
$FREEZE,7.70,-1.290,-1.828,0,1,0
$FREEZE,7.13,-1.293,-1.827,0,1,0
$FREEZE,6.52,-1.286,-1.826,0,1,0
$FREEZE,5.87,-1.286,-1.826,0,1,0
$FREEZE,5.23,-1.284,-1.825,0,1,0
$FREEZE,4.70,-1.287,-1.825,0,1,0
$GC,6363,0.89,255.5,4.7,10.9,743,6369,0.00,3.72,0.00,0.000,4,0.000,0.080,2943,3919,1752,0,0,6,0,0,0
$FREEZE,3.61,-1.287,-1.824,0,1,0
$FREEZE,3.16,-1.281,-1.824,0,1,0
$FREEZE,2.43,-1.285,-1.823,0,1,0
$FREEZE,1.67,-1.273,-1.822,0,1,0
$STATE,6390,end climb,SURFACE_DEPTH_REACHED
$STATE,6390,begin surface coast
$FREEZE,1.09,-1.270,-1.822,0,1,0
$FREEZE,0.38,-1.269,-1.822,0,1,0
$FREEZE,0.27,-1.372,-0.125,0,1,0
$FINISH,0.3,1.001581
$STATE,6408,end surface coast,CONTROL_FINISHED_OK
$STATE,6408,begin surface
$SM_CCo,6428,49.90,0.742,0,0,1474,325.02
$SM_GC,1.10,0.00,0.00,49.90,0.000,0.000,0.742,129,2798,1474,-8.00,-0.06,325.02
$RAFOS_CLK,397
$RAFOS,5,1261932065,16.700001,16.684723,62,55,53,0,0,0,228,160,136,0,0,0
$RAFOS,4,1261931584,16.566668,16.551111,65,63,61,0,0,0,836,173,211,0,0,0
$RAFOS,3,1261931106,16.433332,16.418333,60,59,59,0,0,0,158,204,213,0,0,0
$RAFOS,2,1261930625,16.299999,16.284721,64,63,60,0,0,0,192,210,224,0,0,0
$RAFOS,1,1261930146,16.166666,16.151667,61,59,59,0,0,0,125,182,207,0,0,0
$RAFOS,0,1261929668,16.033333,16.018888,64,61,58,0,0,0,198,189,215,0,0,0
$RAFOS_FIX,6727.063477,-5757.871582,271209,121256,2,82,0.58
$IRIDIUM_FIX,6703.95,-5801.46,230399,131323
$TT8_MAMPS,0.029913
$HUMID,47.28
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.10
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.5,18.8
$24V_AH,22.9,70.847
$10V_AH,10.0,38.005
$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,22.975,98.125,334.175,49.900,0.000,26.109,32.896,140.207,1.500,0.000,16.892,1226.302,3475.440,499.633,1250.168,364.559,0.000,1188.010,0.000,1227.927,2520.000,2.620,0.000
$DEVICE_MAMPS,290.693,89.739,918.866,742.456,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,549.313,508.124,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152532
$DATA_FILE_SIZE,28503,751
$CAP_FILE_SIZE,88045,0
$CFSIZE,260165632,219480064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,167,0,0
$SOUNDSPEED,1460.5
$GPS,271209,165326,6728.516,-5757.373,8,1.6,8,-38.4