version: 66.06
glider: 143
mission: 10
dive: 389
start: 12 26 109 23 50 31
data:
$ID,143
$MISSION,10
$DIVE,389
$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,-43986.625
$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,17
$R_STBD_OVSHOOT,21
$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
$GPS1,234425,6726.529,-5754.679,39,1.4,39,-38.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-68.5
$GPS2,235013,6726.532,-5754.721,9,1.3,14,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6726.532,-5726.570
$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,393
$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,-95.07,0.000,2,0.000,0.000,128,2800,3118,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.4,-6.1,19,143,11.45,2.47,-7.60,0.000,4,0.296,0.094,2448,1196,3398,0,0,0,0,0,0
$GC,182,-0.73,-146.0,14.7,-11.5,31,188,0.00,2.40,0.00,0.000,6,0.000,0.071,2448,2799,3399,0,0,0,0,0,0
$GC,526,-0.73,-146.0,47.9,-9.9,92,531,0.00,2.83,0.00,0.000,4,0.000,0.090,2448,3924,3400,0,0,6,0,0,0
$GC,745,-0.73,-146.0,71.2,-10.2,131,750,0.00,2.70,0.00,0.000,6,0.000,0.063,2448,2795,3399,0,0,5,0,0,0
$GC,1086,-0.79,-146.0,104.5,-9.3,188,1091,0.00,2.83,0.00,0.000,4,0.000,0.089,2448,3914,3398,0,0,6,0,0,0
$GC,1194,-0.86,-146.0,114.8,-9.3,197,1199,0.12,2.70,0.00,0.000,6,0.126,0.063,2409,2796,3398,0,0,4,0,0,0
$GC,1518,-0.86,-146.0,149.3,-10.2,227,1523,0.00,2.83,0.00,0.000,4,0.000,0.090,2409,3915,3398,0,0,6,0,0,0
$GC,1759,-0.86,-146.0,175.4,-11.0,248,1764,0.00,2.70,0.00,0.000,6,0.000,0.064,2409,2799,3396,0,0,4,0,0,0
$GC,2083,-0.86,-146.0,206.5,-9.1,278,2088,0.00,2.83,0.00,0.000,4,0.000,0.088,2409,3920,3395,0,0,6,0,0,0
$GC,2273,-0.86,-146.0,224.8,-9.3,294,2279,0.00,2.67,0.00,0.000,6,0.000,0.061,2409,2797,3395,0,0,5,0,0,0
$GC,2597,-0.86,-146.0,255.8,-9.8,325,2602,0.00,2.80,0.00,0.000,4,0.000,0.087,2409,3914,3395,0,0,6,0,0,0
$GC,2798,-0.86,-146.0,276.2,-10.1,342,2804,0.00,2.70,0.00,0.000,6,0.000,0.060,2409,2801,3395,0,0,5,0,0,0
$GC,3124,-0.86,-146.0,306.4,-9.1,373,3128,0.00,2.80,0.00,0.000,4,0.000,0.084,2408,3922,3395,0,0,6,0,0,0
$GC,3201,-0.86,-146.0,313.6,-8.7,379,3207,0.00,2.70,0.00,0.000,6,0.000,0.058,2409,2797,3395,0,0,3,0,0,0
$GC,3526,-0.86,-146.0,342.3,-8.5,410,3530,0.00,2.80,0.00,0.000,4,0.000,0.082,2409,3928,3396,0,0,6,0,0,0
$GC,3715,-0.86,-146.0,360.6,-11.0,426,3721,0.00,2.70,0.00,0.000,6,0.000,0.058,2409,2795,3397,0,0,5,0,0,0
$GC,4040,-0.86,-146.0,389.8,-9.5,457,4044,0.00,2.78,0.00,0.000,4,0.000,0.081,2408,3917,3398,0,0,6,0,0,0
$STATE,4081,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4081,begin apogee
$GC,4090,-0.16,0.0,393.3,7.2,460,4216,0.80,0.00,118.70,0.974,6,0.183,0.000,2628,2407,2799,0,0,0,0,0,0
$STATE,4217,end apogee,CONTROL_FINISHED_OK
$STATE,4217,begin climb
$GC,4219,0.73,146.0,397.0,0.0,473,4353,0.95,2.17,122.30,0.934,4,0.128,0.081,2924,793,2202,0,0,0,0,0,0
$GC,4472,0.65,146.0,374.0,12.6,496,4478,0.00,1.95,0.00,0.000,6,0.000,0.058,2925,2405,2199,0,0,0,0,0,0
$GC,4799,0.57,146.0,336.7,10.8,527,4809,0.20,3.70,0.00,0.000,4,0.199,0.075,2876,3920,2197,0,0,5,0,0,0
$GC,4870,0.57,146.0,329.2,10.8,533,4876,0.00,3.62,0.00,0.000,6,0.000,0.063,2892,2398,2195,0,0,4,0,0,0
$GC,5195,0.57,146.2,298.4,9.2,564,5201,0.00,3.70,0.00,0.000,4,0.000,0.077,2892,3911,2195,0,0,5,0,0,0
$GC,5246,0.51,146.2,292.8,11.2,568,5257,0.20,3.60,0.00,0.000,6,0.199,0.064,2862,2402,2195,0,0,4,0,0,0
$GC,5576,0.70,188.1,266.8,7.4,599,5618,0.17,3.70,34.53,0.863,4,0.106,0.077,2922,3913,2032,0,0,6,0,0,0
$GC,5671,0.58,188.1,255.8,13.7,607,5677,0.25,3.62,0.00,0.000,6,0.197,0.064,2879,2399,2030,0,0,5,0,0,0
$GC,5996,0.71,188.1,221.9,10.2,638,6006,0.12,3.67,0.00,0.000,4,0.121,0.074,2921,3919,2027,0,0,6,0,0,0
$GC,6040,0.61,188.1,216.3,13.5,642,6050,0.20,3.62,0.00,0.000,6,0.196,0.064,2889,2397,2027,0,0,4,0,0,0
$GC,6369,0.71,190.0,184.3,9.1,673,6374,0.00,3.67,0.00,0.000,4,0.000,0.075,2889,3921,2027,0,0,5,0,0,0
$GC,6424,0.71,190.0,178.6,10.4,677,6430,0.00,3.60,0.00,0.000,6,0.000,0.063,2905,2402,2027,0,0,4,0,0,0
$GC,6749,0.78,190.0,145.1,10.8,708,6759,0.12,3.67,0.00,0.000,4,0.107,0.075,2950,3917,2027,0,0,5,0,0,0
$GC,6793,0.63,190.0,139.1,14.7,712,6803,0.28,3.60,0.00,0.000,6,0.199,0.064,2898,2399,2027,0,0,4,0,0,0
$GC,7122,0.76,201.6,107.3,8.7,743,7144,0.12,3.70,12.12,0.739,4,0.121,0.076,2940,3913,1977,0,0,5,0,0,0
$GC,7183,0.68,201.6,99.8,13.2,748,7190,0.20,3.62,0.00,0.000,6,0.198,0.063,2910,2395,1977,0,0,3,0,0,0
$GC,7529,0.80,201.6,67.7,9.4,809,7536,0.12,3.67,0.00,0.000,4,0.121,0.077,2950,3912,1976,0,0,6,0,0,0
$GC,7615,0.74,201.6,56.7,12.9,824,7622,0.15,3.58,0.00,0.000,6,0.201,0.064,2930,2401,1975,0,0,5,0,0,0
$GC,7961,0.82,201.6,22.9,9.3,885,7966,0.00,3.67,0.00,0.000,4,0.000,0.077,2930,3915,1976,0,0,5,0,0,0
$GC,8023,0.82,201.6,16.1,11.1,896,8029,0.00,3.60,0.00,0.000,6,0.000,0.064,2945,2405,1975,0,0,4,0,0,0
$FREEZE,8.49,-1.303,-1.827,0,1,0
$FREEZE,7.90,-1.296,-1.827,0,1,0
$FREEZE,7.32,-1.291,-1.826,0,1,0
$FREEZE,6.72,-1.294,-1.826,0,1,0
$FREEZE,6.25,-1.294,-1.825,0,1,0
$FREEZE,5.67,-1.296,-1.825,0,1,0
$FREEZE,5.10,-1.294,-1.824,0,1,0
$FREEZE,4.55,-1.299,-1.824,0,1,0
$FREEZE,4.03,-1.309,-1.824,0,1,0
$FREEZE,3.42,-1.306,-1.823,0,1,0
$FREEZE,3.02,-1.302,-1.823,0,1,0
$FREEZE,2.50,-1.307,-1.822,0,1,0
$FREEZE,1.91,-1.310,-1.822,0,1,0
$STATE,8168,end climb,SURFACE_DEPTH_REACHED
$STATE,8168,begin surface coast
$FREEZE,1.50,-1.304,-1.822,0,1,0
$FREEZE,0.87,-1.290,-1.820,0,1,0
$FREEZE,0.53,-1.182,-1.812,0,1,0
$FREEZE,0.46,-1.391,-1.819,0,1,0
$FINISH,0.5,1.026701
$STATE,8193,end surface coast,CONTROL_FINISHED_OK
$STATE,8193,begin surface
$SM_CCo,8211,73.07,0.735,0,0,1474,325.02
$SM_GC,1.20,0.00,0.00,73.07,0.000,0.000,0.735,129,2799,1474,-8.00,-0.03,325.02
$RAFOS_CLK,505
$RAFOS,6,1261874944,0.833333,0.817778,107,60,59,0,0,0,678,183,145,0,0,0
$RAFOS,5,1261874467,0.700000,0.685278,91,59,59,0,0,0,697,217,208,0,0,0
$RAFOS,4,1261873985,0.566667,0.551389,107,59,58,0,0,0,811,178,195,0,0,0
$RAFOS,3,1261873501,0.433333,0.416944,62,62,61,0,0,0,178,214,200,0,0,0
$RAFOS,2,1261873025,0.300000,0.284722,65,59,59,0,0,0,214,202,173,0,0,0
$RAFOS,1,1261872543,0.166667,0.150833,61,58,54,0,0,0,199,149,211,0,0,0
$RAFOS,0,1261872062,0.033333,0.017222,66,59,57,0,0,0,201,221,146,0,0,0
$RAFOS_FIX,6724.767090,-5756.500000,271209,000022,3,102,1.10
$IRIDIUM_FIX,6658.43,-5747.20,220399,212109
$TT8_MAMPS,0.027612
$HUMID,46.88
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,19.4
$ALTIM_BOTTOM_PING,300.5,135.3
$24V_AH,22.7,70.119
$10V_AH,10.1,37.659
$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,23.725,120.500,287.650,73.075,0.000,30.601,36.872,161.623,1.500,0.000,15.909,1566.826,4570.794,513.630,1590.163,396.792,0.000,1351.917,0.000,1560.167,2520.000,7.411,0.000
$DEVICE_MAMPS,296.062,94.341,974.090,734.786,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,678.158,629.822,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152624
$DATA_FILE_SIZE,34687,926
$CAP_FILE_SIZE,107061,0
$CFSIZE,260165632,219815936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,169,0,0
$SOUNDSPEED,1463.7
$GPS,271209,021015,6726.515,-5754.133,34,1.2,42,-38.4