version: 66.06
glider: 143
mission: 10
dive: 404
start: 12 28 109 4 48 38
data:
$ID,143
$MISSION,10
$DIVE,404
$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,-44269.691
$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,16
$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
$GPS1,044330,6730.495,-5752.327,38,1.5,38,-38.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-67.3
$GPS2,044820,6730.507,-5752.317,9,1.8,9,-38.5
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6730.507,-5724.087
$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,-100.50,0.000,2,0.000,0.000,131,2798,3165,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.7,-7.3,20,149,11.38,2.95,-5.93,0.000,4,0.297,0.106,2445,3920,3399,0,0,7,0,0,0
$GC,235,-0.73,-146.0,22.7,-11.6,40,240,0.00,2.72,0.00,0.000,6,0.000,0.064,2445,2794,3401,0,0,6,0,0,0
$GC,578,-0.73,-146.0,60.3,-10.0,101,584,0.00,2.90,0.00,0.000,4,0.000,0.093,2445,3926,3402,0,0,6,0,0,0
$GC,748,-0.80,-146.0,77.3,-10.2,131,754,0.00,2.70,0.00,0.000,6,0.000,0.064,2445,2800,3401,0,0,6,0,0,0
$GC,1092,-0.86,-146.0,109.1,-9.2,184,1097,0.00,2.88,0.00,0.000,4,0.000,0.093,2445,3927,3400,0,0,6,0,0,0
$GC,1311,-0.94,-146.0,129.4,-8.9,203,1317,0.20,2.70,0.00,0.000,6,0.115,0.065,2379,2802,3400,0,0,6,0,0,0
$GC,1636,-0.82,-146.0,166.6,-10.9,233,1641,0.17,2.85,0.00,0.000,4,0.214,0.091,2413,3917,3398,0,0,7,0,0,0
$GC,1815,-0.82,-146.0,183.6,-9.1,248,1821,0.00,2.70,0.00,0.000,6,0.000,0.064,2413,2798,3397,0,0,5,0,0,0
$GC,2140,-0.82,-146.0,213.6,-9.1,279,2145,0.00,2.85,0.00,0.000,4,0.000,0.089,2413,3922,3397,0,0,6,0,0,0
$GC,2224,-0.82,-146.0,221.7,-9.8,286,2228,0.00,2.70,0.00,0.000,6,0.000,0.063,2413,2799,3397,0,0,5,0,0,0
$STATE,2365,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2365,begin apogee
$GC,2372,-0.16,0.0,234.6,9.0,299,2492,0.77,0.00,116.80,0.906,6,0.187,0.000,2627,2399,2800,0,0,0,0,0,0
$STATE,2493,end apogee,CONTROL_FINISHED_OK
$STATE,2493,begin climb
$GC,2495,0.73,146.0,236.3,0.0,311,2627,0.95,4.12,120.85,0.858,4,0.132,0.081,2913,3929,2202,0,0,8,0,0,0
$GC,2656,0.60,146.0,225.9,11.8,327,2667,0.20,3.95,0.00,0.000,6,0.202,0.067,2888,2400,2198,0,0,7,0,0,0
$GC,2985,0.66,146.0,195.1,9.6,358,2995,0.00,3.80,0.00,0.000,4,0.000,0.081,2888,3929,2196,0,0,7,0,0,0
$GC,3067,0.66,146.0,186.1,11.1,365,3073,0.00,3.72,0.00,0.000,6,0.000,0.067,2903,2395,2195,0,0,5,0,0,0
$GC,3391,0.66,146.0,154.7,9.9,396,3401,0.00,3.75,0.00,0.000,4,0.000,0.081,2903,3931,2194,0,0,6,0,0,0
$GC,3484,0.60,146.0,143.6,12.0,404,3491,0.15,3.67,0.00,0.000,6,0.201,0.067,2887,2390,2195,0,0,5,0,0,0
$GC,3810,0.72,157.0,113.9,8.7,435,3826,0.10,3.78,9.38,0.726,4,0.137,0.080,2919,3929,2158,0,0,5,0,0,0
$GC,3865,0.62,157.0,108.1,11.1,439,3872,0.17,3.65,0.00,0.000,6,0.202,0.066,2896,2403,2158,0,0,4,0,0,0
$GC,4203,0.79,195.9,81.3,7.5,491,4245,0.15,3.83,33.38,0.766,4,0.116,0.081,2948,3924,2000,0,0,5,0,0,0
$GC,4270,0.72,195.9,74.5,12.0,503,4277,0.17,3.58,0.00,0.000,6,0.201,0.066,2924,2409,1999,0,0,5,0,0,0
$GC,4617,0.85,222.5,44.3,8.0,564,4649,0.12,3.67,22.95,0.746,4,0.126,0.081,2966,3928,1891,0,0,7,0,0,0
$GC,4684,0.73,222.5,36.9,12.3,576,4691,0.22,3.60,0.00,0.000,6,0.194,0.067,2928,2398,1890,0,0,5,0,0,0
$FREEZE,8.95,-1.314,-1.827,0,1,0
$FREEZE,8.35,-1.315,-1.827,0,1,0
$FREEZE,7.77,-1.316,-1.826,0,1,0
$FREEZE,7.21,-1.304,-1.826,0,1,0
$GC,5031,0.82,222.5,7.2,10.7,637,5037,0.00,3.67,0.00,0.000,4,0.000,0.083,2928,3927,1887,0,0,5,0,0,0
$FREEZE,5.68,-1.322,-1.825,0,1,0
$FREEZE,4.97,-1.323,-1.824,0,1,0
$FREEZE,4.34,-1.320,-1.824,0,1,0
$FREEZE,3.82,-1.318,-1.823,0,1,0
$FREEZE,3.02,-1.314,-1.822,0,1,0
$FREEZE,2.51,-1.317,-1.822,0,1,0
$FREEZE,1.74,-1.315,-1.821,0,1,0
$STATE,5077,end climb,SURFACE_DEPTH_REACHED
$STATE,5077,begin surface coast
$FREEZE,1.15,-1.307,-1.821,0,1,0
$FREEZE,0.40,-1.306,-1.821,0,1,0
$FINISH,0.4,1.026717
$STATE,5088,end surface coast,CONTROL_FINISHED_OK
$STATE,5089,begin surface
$SM_CCo,5108,64.57,0.735,0,0,1475,325.02
$SM_GC,1.24,0.00,0.00,64.57,0.000,0.000,0.735,128,2803,1475,-8.01,0.08,325.02
$RAFOS_CLK,325
$RAFOS,6,1261975743,4.833333,4.817500,66,56,55,0,0,0,175,210,153,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6658.43,-5744.21,240399,030305
$TT8_MAMPS,0.027612
$HUMID,48.03
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,16.90
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.9,19.5
$24V_AH,22.8,71.648
$10V_AH,10.1,38.335
$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,23.025,80.300,303.350,64.575,0.000,27.341,31.359,123.150,1.250,0.000,11.459,1059.318,2559.446,479.741,1055.617,311.240,0.000,1059.542,0.000,1040.001,360.000,2.617,0.000
$DEVICE_MAMPS,296.829,105.846,905.827,734.786,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,471.361,438.159,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152528
$DATA_FILE_SIZE,25293,647
$CAP_FILE_SIZE,73603,0
$CFSIZE,260165632,219127808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,139,0,0
$SOUNDSPEED,1455.5
$GPS,281209,061549,6730.440,-5750.630,7,1.5,12,-38.4