version: 66.06
glider: 143
mission: 10
dive: 390
start: 12 27 109 2 16 8
data:
$ID,143
$MISSION,10
$DIVE,390
$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,-44001.395
$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,14
$R_STBD_OVSHOOT,22
$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
$GPS1,021015,6726.515,-5754.133,34,1.2,42,-38.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-69.1
$GPS2,021550,6726.491,-5754.188,12,1.0,12,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6726.491,-5726.038
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,113,0.00,0.00,-94.80,0.000,2,0.000,0.000,128,2799,3092,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.2,-5.4,19,142,11.05,2.47,-8.75,0.000,4,0.286,0.094,2448,1189,3398,0,0,0,0,0,0
$GC,199,-0.73,-146.0,15.7,-11.2,34,205,0.00,2.40,0.00,0.000,6,0.000,0.071,2448,2797,3400,0,0,0,0,0,0
$GC,543,-0.73,-146.0,52.2,-10.4,95,549,0.00,2.83,0.00,0.000,4,0.000,0.090,2448,3918,3400,0,0,6,0,0,0
$GC,775,-0.78,-146.0,76.5,-10.1,136,781,0.00,2.70,0.00,0.000,6,0.000,0.063,2448,2794,3399,0,0,4,0,0,0
$GC,1114,-0.86,-146.0,108.1,-9.0,189,1119,0.00,2.85,0.00,0.000,4,0.000,0.088,2448,3918,3399,0,0,5,0,0,0
$GC,1339,-0.94,-146.0,128.7,-8.7,208,1345,0.20,2.67,0.00,0.000,6,0.110,0.063,2384,2798,3398,0,0,5,0,0,0
$GC,1663,-0.83,-146.0,167.1,-11.2,239,1668,0.15,2.85,0.00,0.000,4,0.209,0.088,2413,3920,3397,0,0,6,0,0,0
$GC,1736,-0.83,-146.0,175.1,-10.9,245,1741,0.00,2.70,0.00,0.000,6,0.000,0.063,2413,2800,3397,0,0,4,0,0,0
$GC,2061,-0.83,-146.0,207.2,-9.0,275,2066,0.00,2.83,0.00,0.000,4,0.000,0.087,2413,3927,3396,0,0,6,0,0,0
$GC,2251,-0.83,-146.0,224.0,-8.9,291,2257,0.00,2.70,0.00,0.000,6,0.000,0.061,2413,2798,3395,0,0,4,0,0,0
$GC,2577,-0.83,-146.0,252.5,-9.0,322,2582,0.00,2.83,0.00,0.000,4,0.000,0.085,2413,3923,3395,0,0,5,0,0,0
$GC,2730,-0.83,-146.0,265.7,-8.2,335,2735,0.00,2.67,0.00,0.000,6,0.000,0.060,2413,2801,3396,0,0,4,0,0,0
$GC,3054,-0.83,-146.0,293.6,-8.0,365,3059,0.00,2.80,0.00,0.000,4,0.000,0.084,2413,3920,3396,0,0,6,0,0,0
$GC,3188,-0.83,-146.0,305.4,-8.5,376,3194,0.00,2.67,0.00,0.000,6,0.000,0.059,2413,2801,3396,0,0,4,0,0,0
$GC,3515,-0.83,-146.0,332.2,-8.1,407,3520,0.00,2.78,0.00,0.000,4,0.000,0.083,2413,3915,3397,0,0,6,0,0,0
$GC,3667,-0.83,-146.0,344.0,-7.5,420,3672,0.00,2.65,0.00,0.000,6,0.000,0.058,2413,2798,3397,0,0,4,0,0,0
$GC,3992,-0.83,-146.0,367.1,-7.3,450,3996,0.00,2.80,0.00,0.000,4,0.000,0.081,2413,3921,3398,0,0,5,0,0,0
$GC,4114,-0.83,-146.0,376.7,-7.3,460,4120,0.00,2.67,0.00,0.000,6,0.000,0.056,2413,2799,3398,0,0,3,0,0,0
$STATE,4330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4330,begin apogee
$GC,4337,-0.16,0.0,393.8,7.6,481,4463,0.77,0.00,119.00,0.970,6,0.179,0.000,2628,2407,2799,0,0,0,0,0,0
$STATE,4464,end apogee,CONTROL_FINISHED_OK
$STATE,4464,begin climb
$GC,4466,0.73,146.0,395.2,0.0,494,4600,0.95,2.15,122.22,0.926,4,0.130,0.081,2924,807,2202,0,0,0,0,0,0
$GC,4639,0.66,146.0,379.1,11.6,510,4645,0.00,2.03,0.00,0.000,6,0.000,0.058,2924,2422,2199,0,0,0,0,0,0
$GC,4964,0.59,146.0,339.4,11.9,541,4974,0.17,3.65,0.00,0.000,4,0.199,0.075,2878,3922,2196,0,0,6,0,0,0
$GC,5008,0.59,146.0,334.2,11.9,545,5014,0.00,3.62,0.00,0.000,6,0.000,0.062,2893,2390,2195,0,0,6,0,0,0
$GC,5332,0.59,146.0,300.9,10.0,575,5337,0.00,3.70,0.00,0.000,4,0.000,0.075,2892,3923,2195,0,0,5,0,0,0
$GC,5383,0.54,146.0,295.2,11.9,579,5393,0.17,3.60,0.00,0.000,6,0.201,0.063,2869,2402,2194,0,0,5,0,0,0
$GC,5711,0.64,146.0,264.1,9.7,610,5717,0.00,3.67,0.00,0.000,4,0.000,0.075,2869,3925,2195,0,0,5,0,0,0
$GC,5762,0.64,146.0,258.4,11.9,614,5768,0.00,3.62,0.00,0.000,6,0.000,0.063,2884,2390,2194,0,0,4,0,0,0
$GC,6086,0.71,146.0,223.6,10.9,644,6096,0.10,3.67,0.00,0.000,4,0.120,0.074,2921,3918,2194,0,0,5,0,0,0
$GC,6142,0.59,146.0,216.3,13.8,649,6152,0.22,3.60,0.00,0.000,6,0.204,0.063,2884,2399,2194,0,0,4,0,0,0
$GC,6470,0.67,146.0,183.8,9.5,680,6476,0.00,3.67,0.00,0.000,4,0.000,0.075,2884,3927,2194,0,0,5,0,0,0
$GC,6510,0.67,146.0,179.5,11.1,683,6515,0.00,3.60,0.00,0.000,6,0.000,0.062,2898,2400,2194,0,0,4,0,0,0
$GC,6834,0.72,146.0,147.3,10.1,713,6840,0.00,3.65,0.00,0.000,4,0.000,0.075,2898,3918,2194,0,0,5,0,0,0
$GC,6896,0.72,146.0,140.0,12.2,718,6902,0.00,3.60,0.00,0.000,6,0.000,0.062,2915,2390,2194,0,0,4,0,0,0
$GC,7220,0.73,148.6,108.0,9.1,748,7221,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2392,2195,0,0,0,0,0,0
$GC,7553,0.77,186.3,80.9,7.6,799,7594,0.00,3.72,32.97,0.758,4,0.000,0.076,2915,3923,2040,0,0,6,0,0,0
$GC,7695,0.77,186.3,67.6,10.5,825,7701,0.00,3.62,0.00,0.000,6,0.000,0.063,2932,2397,2037,0,0,5,0,0,0
$GC,8039,0.84,192.7,38.0,8.9,886,8050,0.00,1.92,6.30,0.647,4,0.000,0.082,2941,787,2012,0,0,0,0,0,0
$GC,8085,0.84,192.7,33.9,9.3,894,8090,0.00,1.88,0.00,0.000,6,0.000,0.061,2941,2407,2012,0,0,0,0,0,0
$FREEZE,8.89,-1.475,-1.826,0,1,0
$FREEZE,8.34,-1.454,-1.825,0,1,0
$FREEZE,7.82,-1.444,-1.825,0,1,0
$FREEZE,7.39,-1.461,-1.825,0,1,0
$FREEZE,6.93,-1.481,-1.825,0,1,0
$FREEZE,6.50,-1.485,-1.824,0,1,0
$FREEZE,6.02,-1.475,-1.824,0,1,0
$FREEZE,5.50,-1.472,-1.823,0,1,0
$FREEZE,5.04,-1.487,-1.823,0,1,0
$FREEZE,4.61,-1.487,-1.823,0,1,0
$FREEZE,4.11,-1.483,-1.822,0,1,0
$FREEZE,3.58,-1.455,-1.822,0,1,0
$FREEZE,3.08,-1.477,-1.821,0,1,0
$FREEZE,2.62,-1.477,-1.821,0,1,0
$FREEZE,2.05,-1.490,-1.821,0,1,0
$GC,8429,0.91,205.5,3.1,8.6,955,8447,0.12,3.65,11.48,0.709,4,0.111,0.079,2985,3911,1961,0,0,5,0,0,0
$FREEZE,0.68,-1.490,-1.820,0,1,0
$STATE,8453,end climb,SURFACE_DEPTH_REACHED
$STATE,8453,begin surface coast
$FREEZE,0.44,-1.383,-1.813,0,1,0
$FREEZE,0.45,-1.552,-1.006,0,1,0
$FREEZE,0.43,-1.507,-1.609,0,1,0
$FREEZE,0.40,-1.379,-1.778,0,1,0
$FINISH,0.4,1.026114
$STATE,8477,end surface coast,CONTROL_FINISHED_OK
$STATE,8478,begin surface
$SM_CCo,8498,69.75,0.727,0,0,1474,325.02
$SM_GC,1.30,0.00,0.00,69.75,0.000,0.000,0.727,126,2798,1474,-8.02,-0.06,325.02
$RAFOS_CLK,527
$RAFOS,3,1261887901,4.433333,4.416945,67,59,59,0,0,0,208,151,131,0,0,0
$RAFOS,2,1261887429,4.300000,4.285833,67,61,58,0,0,0,207,124,177,0,0,0
$RAFOS,1,1261886947,4.166667,4.151945,70,70,61,0,0,0,134,188,203,0,0,0
$RAFOS,0,1261886466,4.033333,4.018333,61,59,54,0,0,0,194,224,206,0,0,0
$RAFOS_FIX,6724.767090,-5756.500000,271209,000022,3,102,1.10
$IRIDIUM_FIX,6658.43,-5810.35,220399,232309
$TT8_MAMPS,0.028379
$HUMID,46.45
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,19.4
$ALTIM_BOTTOM_PING,300.4,138.0
$24V_AH,22.7,70.222
$10V_AH,10.1,37.715
$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,22.350,115.150,291.975,69.750,0.000,31.066,30.304,157.235,1.500,0.000,14.139,1615.903,4774.834,503.264,1617.829,387.869,0.000,1353.270,0.000,1590.178,1800.000,7.416,0.000
$DEVICE_MAMPS,286.091,93.574,970.255,727.116,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,703.420,655.767,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152548
$DATA_FILE_SIZE,37835,963
$CAP_FILE_SIZE,108191,0
$CFSIZE,260165632,219754496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,155,0,0
$SOUNDSPEED,1463.8
$GPS,271209,044006,6726.446,-5753.552,7,1.1,24,-38.4