version: 66.06
glider: 143
mission: 10
dive: 384
start: 12 26 109 10 35 31
data:
$ID,143
$MISSION,10
$DIVE,384
$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,-43875.551
$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,20
$R_STBD_OVSHOOT,33
$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
$GPS1,102925,6724.207,-5745.717,39,1.4,39,-38.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-65.7
$GPS2,103513,6724.200,-5745.821,13,1.0,13,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6724.200,-5717.716
$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,128.3,20000,-16.9,-9.167
$D_GRID,401
$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,-146.0,0.0,0.0,0,119,0.00,0.00,-100.03,0.000,2,0.000,0.000,130,2693,3234,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.6,-6.1,20,144,11.30,2.40,-4.40,0.000,4,0.292,0.093,2446,1089,3397,0,0,0,0,0,0
$GC,279,-0.66,-146.0,27.5,-12.0,48,286,0.12,2.30,0.00,0.000,6,0.222,0.070,2475,2676,3400,0,0,0,0,0,0
$GC,623,-0.75,-146.0,60.2,-9.6,109,629,0.00,3.03,0.00,0.000,4,0.000,0.089,2474,3935,3399,0,0,6,0,0,0
$GC,876,-0.87,-146.0,83.2,-8.8,154,883,0.20,2.83,0.00,0.000,6,0.105,0.062,2408,2696,3399,0,0,5,0,0,0
$GC,1216,-0.81,-146.0,121.7,-11.0,198,1221,0.00,2.97,0.00,0.000,4,0.000,0.087,2408,3924,3398,0,0,5,0,0,0
$GC,1379,-0.73,-146.0,138.8,-10.4,212,1385,0.17,2.83,0.00,0.000,6,0.209,0.064,2447,2700,3398,0,0,4,0,0,0
$GC,1704,-0.81,-146.0,163.8,-7.1,242,1709,0.00,2.95,0.00,0.000,4,0.000,0.087,2448,3924,3397,0,0,6,0,0,0
$GC,1883,-0.90,-146.0,176.7,-6.9,257,1889,0.15,2.83,0.00,0.000,6,0.118,0.062,2398,2695,3396,0,0,4,0,0,0
$GC,2207,-0.84,-146.0,205.4,-9.3,288,2212,0.00,2.95,0.00,0.000,4,0.000,0.087,2398,3938,3396,0,0,7,0,0,0
$GC,2383,-0.77,-146.0,222.3,-9.3,303,2388,0.17,2.83,0.00,0.000,6,0.201,0.061,2439,2693,3396,0,0,5,0,0,0
$GC,2708,-0.85,-146.0,248.4,-8.0,333,2712,0.00,2.97,0.00,0.000,4,0.000,0.084,2439,3929,3396,0,0,5,0,0,0
$GC,2865,-0.94,-146.0,261.5,-7.6,346,2871,0.15,2.80,0.00,0.000,6,0.113,0.059,2389,2700,3396,0,0,4,0,0,0
$GC,3189,-0.86,-146.0,294.3,-10.1,377,3194,0.00,2.92,0.00,0.000,4,0.000,0.083,2388,3932,3396,0,0,6,0,0,0
$GC,3398,-0.76,-146.0,316.2,-9.9,395,3404,0.22,2.80,0.00,0.000,6,0.196,0.058,2442,2699,3397,0,0,4,0,0,0
$GC,3723,-0.86,-146.0,339.6,-6.4,425,3728,0.00,2.95,0.00,0.000,4,0.000,0.081,2442,3937,3398,0,0,6,0,0,0
$GC,3965,-0.98,-146.0,356.5,-7.5,446,3971,0.20,2.80,0.00,0.000,6,0.098,0.057,2370,2696,3398,0,0,4,0,0,0
$GC,4289,-0.86,-146.0,388.9,-9.2,476,4295,0.17,2.95,0.00,0.000,4,0.200,0.081,2412,3934,3399,0,0,6,0,0,0
$GC,4419,-0.86,-146.0,400.7,-9.8,487,4424,0.00,2.10,0.00,0.000,3,0.000,0.054,2412,2971,3399,0,0,3,0,0,0
$STATE,4424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4424,begin apogee
$GC,4431,-0.16,0.0,401.2,9.1,487,4557,0.77,0.00,118.90,0.975,6,0.174,0.000,2631,2007,2800,0,0,0,0,0,0
$STATE,4558,end apogee,CONTROL_FINISHED_OK
$STATE,4558,begin climb
$GC,4560,0.73,146.0,405.8,0.0,500,4695,0.93,4.15,122.50,0.936,4,0.128,0.071,2912,3604,2202,0,0,7,0,0,0
$GC,4706,0.65,146.0,397.9,9.6,514,4716,0.00,4.07,0.00,0.000,6,0.000,0.066,2930,2005,2200,0,0,6,0,0,0
$GC,5035,0.56,146.0,357.1,13.3,545,5045,0.22,3.85,0.00,0.000,4,0.200,0.071,2868,3601,2196,0,0,5,0,0,0
$GC,5163,0.56,146.0,343.2,10.2,556,5169,0.00,3.83,0.00,0.000,6,0.000,0.067,2883,1998,2195,0,0,3,0,0,0
$GC,5487,0.63,146.0,311.2,9.3,587,5496,0.00,3.80,0.00,0.000,4,0.000,0.073,2883,3601,2195,0,0,5,0,0,0
$GC,5632,0.63,146.0,295.2,11.1,600,5642,0.00,3.80,0.00,0.000,6,0.000,0.067,2900,1995,2194,0,0,3,0,0,0
$GC,5960,0.63,146.0,261.2,10.1,631,5970,0.00,3.75,0.00,0.000,4,0.000,0.073,2901,3601,2194,0,0,7,0,0,0
$GC,6078,0.57,146.0,248.0,11.1,641,6084,0.17,3.78,0.00,0.000,6,0.199,0.066,2877,1999,2194,0,0,3,0,0,0
$GC,6402,0.68,154.2,219.2,8.8,672,6416,0.00,3.83,6.82,0.719,4,0.000,0.071,2876,3598,2171,0,0,5,0,0,0
$GC,6570,0.68,154.2,202.3,10.2,687,6579,0.00,3.72,0.00,0.000,6,0.000,0.065,2892,1999,2170,0,0,3,0,0,0
$GC,6899,0.77,176.8,174.6,8.2,718,6931,0.12,3.75,20.35,0.799,4,0.106,0.071,2940,3603,2077,0,0,7,0,0,0
$GC,7077,0.64,176.8,152.7,12.5,734,7088,0.25,3.80,0.00,0.000,6,0.201,0.065,2898,1995,2074,0,0,3,0,0,0
$GC,7406,0.78,194.9,123.2,8.4,765,7431,0.15,3.75,16.10,0.765,4,0.114,0.070,2951,3599,2004,0,0,6,0,0,0
$GC,7577,0.70,194.9,102.1,12.5,780,7584,0.22,3.83,0.00,0.000,6,0.192,0.066,2915,1986,2003,0,0,4,0,0,0
$GC,7921,0.80,194.9,69.3,9.2,839,7927,0.10,3.83,0.00,0.000,4,0.134,0.072,2949,3608,2002,0,0,5,0,0,0
$GC,8052,0.73,194.9,53.2,11.9,862,8059,0.15,3.80,0.00,0.000,6,0.197,0.066,2932,1994,2002,0,0,3,0,0,0
$GC,8397,0.79,196.6,21.0,9.1,923,8403,0.00,3.75,0.00,0.000,4,0.000,0.072,2932,3601,2002,0,0,7,0,0,0
$FREEZE,8.80,-0.690,-1.834,0,1,0
$FREEZE,8.31,-0.687,-1.833,0,1,0
$FREEZE,7.73,-0.691,-1.833,0,1,0
$FREEZE,7.09,-0.693,-1.832,0,1,0
$FREEZE,6.64,-0.712,-1.832,0,1,0
$FREEZE,6.12,-0.721,-1.832,0,1,0
$FREEZE,5.59,-0.709,-1.831,0,1,0
$FREEZE,4.80,-0.685,-1.830,0,1,0
$FREEZE,4.26,-0.710,-1.830,0,1,0
$FREEZE,3.59,-0.726,-1.830,0,1,0
$FREEZE,3.13,-0.717,-1.829,0,1,0
$GC,8578,0.79,196.6,3.1,10.9,955,8584,0.00,3.78,0.00,0.000,6,0.000,0.070,2948,2001,2001,0,0,4,0,0,0
$FREEZE,2.00,-0.730,-1.829,0,1,0
$FREEZE,1.54,-0.742,-1.828,0,1,0
$STATE,8594,end climb,SURFACE_DEPTH_REACHED
$STATE,8594,begin surface coast
$FREEZE,1.14,-0.748,-1.828,0,1,0
$FREEZE,0.59,-0.704,-1.827,0,1,0
$FREEZE,0.61,-1.276,-0.197,0,1,0
$FREEZE,0.58,-0.872,-0.758,0,1,0
$FINISH,0.6,1.011156
$STATE,8618,end surface coast,CONTROL_FINISHED_OK
$STATE,8618,begin surface
$SM_CCo,8636,80.22,0.734,0,0,1474,325.02
$SM_GC,1.43,0.00,0.00,80.22,0.000,0.000,0.734,125,2719,1474,-8.02,0.54,325.02
$RAFOS_CLK,534
$RAFOS,6,1261831742,12.833333,12.817223,139,62,58,0,0,0,704,194,213,0,0,0
$RAFOS,5,1261831262,12.700000,12.683888,80,69,61,0,0,0,711,174,225,0,0,0
$RAFOS,4,1261830784,12.566667,12.551111,107,55,51,0,0,0,829,212,153,0,0,0
$RAFOS,3,1261830305,12.433333,12.418056,60,60,59,0,0,0,178,211,192,0,0,0
$RAFOS,2,1261829823,12.300000,12.284166,59,58,57,0,0,0,175,157,140,0,0,0
$RAFOS,1,1261829344,12.166667,12.151111,55,55,54,0,0,0,189,224,212,0,0,0
$RAFOS,0,1261828865,12.033333,12.018056,64,59,58,0,0,0,189,125,203,0,0,0
$RAFOS_FIX,6723.283691,-5748.770020,261209,121201,3,109,0.35
$IRIDIUM_FIX,6652.93,-5743.71,220399,070733
$TT8_MAMPS,0.027612
$HUMID,46.69
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.20
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.8,19.1
$ALTIM_BOTTOM_PING,400.2,40.3
$24V_AH,22.7,69.581
$10V_AH,10.1,37.365
$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,24.225,122.425,284.675,80.225,0.000,27.347,36.666,162.858,2.500,0.000,14.972,1640.109,4792.567,522.466,1704.823,412.227,0.000,1402.793,0.000,1673.604,2520.000,14.588,0.000
$DEVICE_MAMPS,292.227,92.807,974.857,734.019,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,706.074,654.385,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152576
$DATA_FILE_SIZE,37973,962
$CAP_FILE_SIZE,112843,0
$CFSIZE,260165632,220127232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,167,0,0
$SOUNDSPEED,1465.3
$GPS,261209,130230,6724.720,-5747.928,37,1.7,43,-38.3