version: 66.06
glider: 143
mission: 10
dive: 403
start: 12 28 109 3 14 12
data:
$ID,143
$MISSION,10
$DIVE,403
$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,-44257.609
$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,18
$R_STBD_OVSHOOT,20
$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
$GPS1,030836,6730.692,-5754.129,8,1.6,24,-38.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-66.1
$GPS2,031355,6730.699,-5754.101,14,1.3,31,-38.5
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6730.699,-5725.868
$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,128.5,20000,-16.9,-9.167
$D_GRID,234
$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,-100.28,0.000,2,0.000,0.000,130,2804,3126,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.0,-5.4,20,148,11.20,2.85,-7.43,0.000,4,0.290,0.104,2447,3925,3398,0,0,8,0,0,0
$GC,261,-0.73,-146.0,23.1,-10.7,45,267,0.00,2.70,0.00,0.000,6,0.000,0.064,2447,2799,3400,0,0,6,0,0,0
$GC,604,-0.73,-146.0,54.9,-9.5,106,609,0.00,2.85,0.00,0.000,4,0.000,0.092,2448,3915,3400,0,0,6,0,0,0
$GC,750,-0.73,-146.0,69.6,-10.6,132,756,0.00,2.70,0.00,0.000,6,0.000,0.065,2447,2796,3400,0,0,5,0,0,0
$GC,1097,-0.79,-146.0,103.4,-10.0,191,1102,0.00,2.85,0.00,0.000,4,0.000,0.092,2447,3914,3400,0,0,6,0,0,0
$GC,1271,-0.85,-146.0,120.6,-9.4,206,1276,0.00,2.70,0.00,0.000,6,0.000,0.066,2448,2798,3400,0,0,5,0,0,0
$GC,1597,-0.95,-146.0,150.0,-8.8,236,1603,0.20,2.85,0.00,0.000,4,0.113,0.091,2373,3917,3398,0,0,6,0,0,0
$GC,1806,-0.78,-146.0,173.8,-10.8,254,1811,0.25,2.70,0.00,0.000,6,0.209,0.065,2432,2800,3397,0,0,5,0,0,0
$GC,2131,-0.84,-146.0,200.4,-7.9,284,2135,0.00,2.85,0.00,0.000,4,0.000,0.091,2432,3924,3397,0,0,6,0,0,0
$GC,2204,-0.90,-146.0,206.4,-8.4,290,2208,0.00,2.70,0.00,0.000,6,0.000,0.063,2432,2800,3397,0,0,5,0,0,0
$GC,2529,-0.96,-146.0,231.8,-7.5,320,2534,0.17,2.85,0.00,0.000,4,0.113,0.087,2361,3926,3397,0,0,6,0,0,0
$STATE,2548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2548,begin apogee
$GC,2558,-0.16,0.0,234.0,9.3,321,2678,1.02,0.00,116.57,0.904,6,0.209,0.000,2627,2391,2800,0,0,0,0,0,0
$STATE,2679,end apogee,CONTROL_FINISHED_OK
$STATE,2679,begin climb
$GC,2681,0.73,146.0,236.8,0.0,333,2817,0.98,2.15,120.35,0.860,4,0.143,0.087,2920,808,2202,0,0,0,0,0,0
$GC,2896,0.73,146.0,220.0,11.1,353,2899,0.00,1.98,0.00,0.000,6,0.000,0.062,2920,2410,2198,0,0,0,0,0,0
$GC,3225,0.73,146.0,185.3,10.5,384,3235,0.00,3.75,0.00,0.000,4,0.000,0.081,2920,3918,2196,0,0,6,0,0,0
$GC,3318,0.61,146.0,173.5,12.7,392,3325,0.20,3.67,0.00,0.000,6,0.203,0.067,2891,2399,2195,0,0,6,0,0,0
$GC,3643,0.69,146.0,142.2,10.2,423,3652,0.00,3.75,0.00,0.000,4,0.000,0.081,2892,3926,2195,0,0,6,0,0,0
$GC,3713,0.69,146.0,133.8,11.9,429,3720,0.00,3.65,0.00,0.000,6,0.000,0.067,2906,2397,2195,0,0,6,0,0,0
$GC,4039,0.79,164.2,102.5,8.4,460,4063,0.12,3.72,15.35,0.752,4,0.107,0.080,2954,3912,2129,0,0,6,0,0,0
$GC,4132,0.62,164.2,92.1,11.9,474,4139,0.32,3.62,0.00,0.000,6,0.201,0.067,2892,2389,2129,0,0,5,0,0,0
$GC,4478,0.83,192.2,66.7,8.0,535,4510,0.20,3.78,24.48,0.757,4,0.104,0.081,2960,3912,2015,0,0,6,0,0,0
$GC,4569,0.68,192.2,56.6,12.6,551,4575,0.25,3.67,0.00,0.000,6,0.197,0.067,2917,2391,2012,0,0,6,0,0,0
$GC,4916,0.84,221.6,27.1,7.9,612,4952,0.15,3.78,25.12,0.747,4,0.117,0.081,2968,3919,1894,0,0,7,0,0,0
$GC,5019,0.74,221.6,14.8,11.5,631,5026,0.22,3.70,0.00,0.000,6,0.192,0.068,2930,2400,1892,0,0,5,0,0,0
$FREEZE,8.73,-1.312,-1.827,0,1,0
$FREEZE,8.31,-1.311,-1.827,0,1,0
$FREEZE,7.84,-1.311,-1.826,0,1,0
$FREEZE,7.50,-1.311,-1.826,0,1,0
$FREEZE,7.23,-1.311,-1.826,0,1,0
$FREEZE,6.84,-1.312,-1.825,0,1,0
$FREEZE,6.54,-1.312,-1.825,0,1,0
$FREEZE,6.18,-1.312,-1.825,0,1,0
$FREEZE,5.64,-1.314,-1.825,0,1,0
$FREEZE,5.02,-1.314,-1.824,0,1,0
$FREEZE,4.58,-1.312,-1.824,0,1,0
$FREEZE,3.98,-1.313,-1.823,0,1,0
$FREEZE,3.48,-1.311,-1.823,0,1,0
$FREEZE,2.88,-1.308,-1.822,0,1,0
$FREEZE,2.33,-1.308,-1.822,0,1,0
$FREEZE,1.61,-1.308,-1.821,0,1,0
$STATE,5170,end climb,SURFACE_DEPTH_REACHED
$STATE,5170,begin surface coast
$FREEZE,0.99,-1.309,-1.821,0,1,0
$FREEZE,0.62,-1.309,-1.821,0,1,0
$FREEZE,0.25,-1.315,-1.577,0,1,0
$FINISH,0.2,1.023225
$STATE,5188,end surface coast,CONTROL_FINISHED_OK
$STATE,5188,begin surface
$SM_CCo,5206,65.07,0.737,0,0,1474,325.02
$SM_GC,1.10,0.00,0.00,65.07,0.000,0.000,0.737,132,2798,1474,-8.00,-0.06,325.02
$RAFOS_CLK,331
$RAFOS,4,1261974783,4.566667,4.550833,69,57,56,0,0,0,211,157,189,0,0,0
$RAFOS,3,1261974302,4.433333,4.417222,56,56,52,0,0,0,118,210,196,0,0,0
$RAFOS,2,1261973823,4.300000,4.284167,59,56,54,0,0,0,171,187,140,0,0,0
$RAFOS,1,1261973341,4.166667,4.150278,66,59,55,0,0,0,171,204,153,0,0,0
$RAFOS,0,1261972865,4.033333,4.018055,67,61,60,0,0,0,192,225,206,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6658.43,-5756.70,240399,010125
$TT8_MAMPS,0.027612
$HUMID,47.99
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,16.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,19.9
$24V_AH,22.8,71.550
$10V_AH,10.1,38.296
$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,23.575,76.450,301.875,65.075,0.000,28.352,32.643,126.331,0.750,0.000,32.784,1090.401,2604.525,468.769,1106.991,322.603,0.000,1068.403,0.000,1069.898,1800.000,2.619,0.000
$DEVICE_MAMPS,289.926,103.545,903.526,737.087,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,483.890,447.465,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152584
$DATA_FILE_SIZE,25307,661
$CAP_FILE_SIZE,76239,0
$CFSIZE,260165632,219168768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,129,0,0
$SOUNDSPEED,1454.7
$GPS,281209,044330,6730.495,-5752.327,38,1.5,38,-38.5