version: 66.06
glider: 143
mission: 10
dive: 394
start: 12 27 109 11 20 32
data:
$ID,143
$MISSION,10
$DIVE,394
$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,-44077.426
$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,20
$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
$GPS1,111036,6728.381,-5755.326,32,1.2,32,-38.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-67.2
$GPS2,112014,6728.387,-5755.403,10,1.4,10,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6728.387,-5727.215
$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,303
$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,-146.0,0.0,0.0,0,118,0.00,0.00,-99.53,0.000,2,0.000,0.000,130,2810,3138,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.4,-6.4,20,148,11.00,2.88,-6.95,0.000,4,0.285,0.104,2446,3917,3399,0,0,7,0,0,0
$GC,271,-0.73,-146.0,24.6,-11.0,47,277,0.00,2.67,0.00,0.000,6,0.000,0.062,2447,2799,3401,0,0,6,0,0,0
$GC,614,-0.73,-146.0,60.6,-10.4,108,620,0.00,2.85,0.00,0.000,4,0.000,0.090,2447,3926,3400,0,0,7,0,0,0
$GC,653,-0.73,-146.0,64.7,-10.7,115,659,0.00,2.67,0.00,0.000,6,0.000,0.063,2447,2798,3400,0,0,5,0,0,0
$GC,999,-0.79,-146.0,99.1,-9.5,176,1004,0.00,2.83,0.00,0.000,4,0.000,0.090,2447,3915,3400,0,0,6,0,0,0
$GC,1128,-0.85,-146.0,111.5,-9.8,188,1134,0.00,2.67,0.00,0.000,6,0.000,0.064,2447,2802,3400,0,0,5,0,0,0
$GC,1453,-0.94,-146.0,140.8,-8.9,219,1459,0.17,2.85,0.00,0.000,4,0.113,0.087,2377,3920,3399,0,0,6,0,0,0
$GC,1632,-0.80,-146.0,163.2,-12.4,234,1639,0.22,2.67,0.00,0.000,6,0.207,0.063,2429,2799,3397,0,0,5,0,0,0
$GC,1958,-0.86,-146.0,193.6,-8.9,265,1962,0.00,2.83,0.00,0.000,4,0.000,0.088,2429,3924,3397,0,0,6,0,0,0
$GC,2199,-0.92,-146.0,217.7,-10.7,286,2205,0.12,2.67,0.00,0.000,6,0.123,0.061,2390,2798,3397,0,0,5,0,0,0
$GC,2523,-0.83,-146.0,253.8,-11.6,316,2529,0.12,2.83,0.00,0.000,4,0.203,0.084,2413,3922,3397,0,0,6,0,0,0
$GC,2675,-0.83,-146.0,269.4,-10.9,329,2680,0.00,2.67,0.00,0.000,6,0.000,0.060,2413,2799,3397,0,0,4,0,0,0
$STATE,2934,end dive,NO_VERTICAL_VELOCITY
$STATE,2934,begin apogee
$GC,2940,-0.16,0.0,277.5,0.0,353,3061,0.70,0.00,117.05,0.913,6,0.137,0.000,2632,2394,2800,0,0,0,0,0,0
$STATE,3062,end apogee,CONTROL_FINISHED_OK
$STATE,3062,begin climb
$GC,3064,0.73,146.0,277.3,0.0,365,3193,0.93,2.08,119.78,0.873,4,0.129,0.082,2922,801,2201,0,0,0,0,0,0
$GC,3317,0.67,146.0,254.3,11.7,388,3321,0.00,1.95,0.00,0.000,6,0.000,0.060,2922,2410,2197,0,0,0,0,0,0
$GC,3647,0.61,146.0,216.3,10.9,419,3657,0.15,3.70,0.00,0.000,4,0.203,0.076,2880,3924,2194,0,0,5,0,0,0
$GC,3702,0.61,146.0,210.2,10.5,424,3707,0.00,3.62,0.00,0.000,6,0.000,0.063,2895,2403,2194,0,0,6,0,0,0
$GC,4026,0.63,161.2,180.3,8.5,454,4047,0.00,3.72,12.40,0.772,4,0.000,0.077,2895,3907,2142,0,0,6,0,0,0
$GC,4108,0.63,161.2,172.4,9.6,461,4114,0.00,3.62,0.00,0.000,6,0.000,0.064,2912,2398,2141,0,0,4,0,0,0
$GC,4434,0.63,161.2,142.3,9.9,492,4439,0.00,3.67,0.00,0.000,4,0.000,0.077,2911,3913,2141,0,0,6,0,0,0
$GC,4485,0.56,161.2,136.6,11.4,496,4495,0.22,3.62,0.00,0.000,6,0.199,0.064,2875,2391,2140,0,0,4,0,0,0
$GC,4814,0.77,199.4,110.7,7.6,527,4856,0.20,3.75,32.67,0.774,4,0.102,0.077,2945,3909,1986,0,0,7,0,0,0
$GC,4925,0.67,199.4,97.1,13.9,538,4932,0.22,3.58,0.00,0.000,6,0.198,0.064,2909,2404,1984,0,0,4,0,0,0
$GC,5272,0.81,199.4,63.1,9.4,599,5278,0.15,3.72,0.00,0.000,4,0.114,0.077,2961,3919,1983,0,0,6,0,0,0
$GC,5324,0.69,199.4,56.3,13.7,608,5330,0.25,3.62,0.00,0.000,6,0.195,0.064,2917,2392,1983,0,0,5,0,0,0
$GC,5669,0.85,232.0,25.6,7.8,669,5706,0.15,3.72,27.58,0.742,4,0.114,0.079,2969,3919,1854,0,0,7,0,0,0
$GC,5734,0.78,232.0,18.4,12.1,681,5740,0.17,3.62,0.00,0.000,6,0.200,0.066,2946,2403,1852,0,0,6,0,0,0
$FREEZE,8.95,-1.258,-1.829,0,1,0
$FREEZE,8.59,-1.276,-1.829,0,1,0
$FREEZE,8.04,-1.277,-1.828,0,1,0
$FREEZE,7.58,-1.260,-1.828,0,1,0
$FREEZE,6.96,-1.260,-1.827,0,1,0
$FREEZE,6.50,-1.253,-1.827,0,1,0
$FREEZE,5.80,-1.257,-1.826,0,1,0
$FREEZE,5.29,-1.265,-1.826,0,1,0
$FREEZE,4.71,-1.264,-1.826,0,1,0
$FREEZE,4.23,-1.246,-1.825,0,1,0
$FREEZE,3.60,-1.236,-1.824,0,1,0
$FREEZE,2.98,-1.230,-1.824,0,1,0
$FREEZE,2.32,-1.244,-1.824,0,1,0
$FREEZE,1.78,-1.251,-1.823,0,1,0
$STATE,5902,end climb,SURFACE_DEPTH_REACHED
$STATE,5902,begin surface coast
$FREEZE,1.30,-1.256,-1.823,0,1,0
$FREEZE,0.62,-1.239,-1.822,0,1,0
$FREEZE,0.39,-1.453,-0.884,0,1,0
$FINISH,0.4,1.013033
$STATE,5920,end surface coast,CONTROL_FINISHED_OK
$STATE,5920,begin surface
$SM_CCo,5938,60.25,0.729,0,0,1474,325.02
$SM_GC,1.26,0.00,0.00,60.25,0.000,0.000,0.729,127,2809,1474,-8.01,0.25,325.02
$RAFOS_CLK,381
$RAFOS,6,1261918142,12.833333,12.817223,99,64,61,0,0,0,698,205,158,0,0,0
$RAFOS,5,1261917665,12.700000,12.684722,66,64,55,0,0,0,721,209,229,0,0,0
$RAFOS,4,1261917188,12.566667,12.552222,61,58,55,0,0,0,200,143,185,0,0,0
$RAFOS,3,1261916707,12.433333,12.418612,60,59,57,0,0,0,202,188,153,0,0,0
$RAFOS,2,1261916221,12.300000,12.283611,59,59,59,0,0,0,163,186,223,0,0,0
$RAFOS,1,1261915744,12.166667,12.151111,67,59,58,0,0,0,219,141,176,0,0,0
$RAFOS,0,1261915270,12.033333,12.019444,66,62,59,0,0,0,205,153,214,0,0,0
$RAFOS_FIX,6727.063477,-5757.871582,271209,121256,2,82,0.58
$IRIDIUM_FIX,6658.43,-5801.46,230399,111113
$TT8_MAMPS,0.027612
$HUMID,47.04
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,19.9
$24V_AH,22.9,70.643
$10V_AH,10.1,37.913
$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,23.100,83.000,309.475,60.250,0.000,53.378,67.233,275.164,1.000,0.000,11.986,1192.198,3162.347,472.520,1209.334,546.794,0.000,1131.733,0.000,1192.685,2520.000,2.624,0.000
$DEVICE_MAMPS,284.557,103.545,912.730,728.650,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,522.760,483.656,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152564
$DATA_FILE_SIZE,28451,714
$CAP_FILE_SIZE,88258,0
$CFSIZE,260165632,219574272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,134,0,0
$SOUNDSPEED,1460.0
$GPS,271209,130152,6728.515,-5755.857,7,2.1,26,-38.4