version: 66.06
glider: 143
mission: 10
dive: 420
start: 12 29 109 5 51 9
data:
$ID,143
$MISSION,10
$DIVE,420
$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,-44670.297
$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,19
$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
$GPS1,054456,6732.612,-5733.883,7,1.9,8,-38.4
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-61.2
$GPS2,055052,6732.634,-5733.818,12,2.8,31,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6732.634,-5705.546
$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,206
$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,-146.0,0.0,0.0,0,118,0.00,0.00,-99.43,0.000,2,0.000,0.000,124,2807,3131,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.4,-7.1,20,149,11.30,2.88,-7.03,0.000,4,0.293,0.104,2448,3935,3399,0,0,8,0,0,0
$GC,262,-0.73,-146.0,20.1,-8.8,45,268,0.00,2.72,0.00,0.000,6,0.000,0.064,2448,2801,3402,0,0,6,0,0,0
$GC,605,-0.73,-146.0,59.3,-8.5,106,611,0.00,2.83,0.00,0.000,4,0.000,0.091,2448,3917,3402,0,0,7,0,0,0
$GC,824,-0.73,-146.0,79.8,-8.9,145,830,0.00,2.70,0.00,0.000,6,0.000,0.064,2448,2800,3401,0,0,5,0,0,0
$GC,1167,-0.79,-146.0,112.6,-9.7,195,1172,0.00,2.83,0.00,0.000,4,0.000,0.092,2448,3917,3400,0,0,7,0,0,0
$GC,1302,-0.85,-146.0,124.5,-8.4,206,1308,0.00,2.70,0.00,0.000,6,0.000,0.064,2448,2801,3399,0,0,5,0,0,0
$GC,1627,-0.96,-146.0,151.1,-8.7,237,1632,0.20,2.83,0.00,0.000,4,0.107,0.087,2367,3916,3398,0,0,6,0,0,0
$GC,1762,-0.77,-146.0,168.9,-13.7,248,1769,0.30,2.67,0.00,0.000,6,0.213,0.064,2438,2797,3398,0,0,6,0,0,0
$GC,2087,-0.85,-146.0,200.2,-8.5,279,2092,0.00,2.83,0.00,0.000,4,0.000,0.088,2439,3915,3398,0,0,6,0,0,0
$GC,2154,-0.93,-146.0,205.9,-8.6,284,2160,0.17,2.65,0.00,0.000,6,0.113,0.061,2382,2799,3398,0,0,6,0,0,0
$STATE,2168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2168,begin apogee
$GC,2174,-0.16,0.0,207.3,8.6,286,2295,0.93,0.00,116.45,0.886,6,0.199,0.000,2629,2389,2800,0,0,0,0,0,0
$STATE,2295,end apogee,CONTROL_FINISHED_OK
$STATE,2296,begin climb
$GC,2298,0.73,146.0,210.4,0.0,298,2427,0.95,2.05,119.93,0.838,4,0.140,0.086,2919,803,2202,0,0,0,0,0,0
$GC,2443,0.73,146.0,200.5,9.6,311,2449,0.00,2.00,0.00,0.000,6,0.000,0.062,2919,2394,2200,0,0,0,0,0,0
$GC,2769,0.73,146.0,164.7,10.8,342,2778,0.00,3.80,0.00,0.000,4,0.000,0.081,2919,3913,2195,0,0,7,0,0,0
$GC,2857,0.62,146.0,153.5,13.0,350,2867,0.20,3.72,0.00,0.000,6,0.199,0.068,2891,2396,2194,0,0,6,0,0,0
$GC,3186,0.70,146.0,121.6,9.7,381,3195,0.00,3.78,0.00,0.000,4,0.000,0.081,2891,3914,2194,0,0,6,0,0,0
$GC,3308,0.70,146.0,108.1,11.0,392,3313,0.00,3.67,0.00,0.000,6,0.000,0.068,2905,2400,2194,0,0,6,0,0,0
$GC,3646,0.77,146.0,72.6,9.7,445,3653,0.10,3.75,0.00,0.000,4,0.123,0.080,2948,3914,2194,0,0,7,0,0,0
$GC,3670,0.77,146.0,70.1,10.3,449,3676,0.00,3.67,0.00,0.000,6,0.000,0.067,2964,2401,2195,0,0,5,0,0,0
$GC,4015,0.73,153.0,35.5,8.9,510,4032,0.15,3.72,5.95,0.639,4,0.214,0.077,2931,3923,2175,0,0,7,0,0,0
$GC,4089,0.65,153.0,29.0,11.2,523,4096,0.17,3.70,0.00,0.000,6,0.196,0.068,2904,2385,2175,0,0,6,0,0,0
$FREEZE,8.98,-0.665,-1.832,0,1,0
$FREEZE,8.55,-0.667,-1.831,0,1,0
$FREEZE,8.11,-0.668,-1.831,0,1,0
$FREEZE,7.64,-0.667,-1.831,0,1,0
$FREEZE,7.04,-0.670,-1.830,0,1,0
$FREEZE,6.58,-0.672,-1.830,0,1,0
$FREEZE,6.19,-0.674,-1.830,0,1,0
$FREEZE,5.75,-0.672,-1.829,0,1,0
$FREEZE,5.24,-0.665,-1.829,0,1,0
$FREEZE,4.75,-0.644,-1.828,0,1,0
$FREEZE,4.20,-0.666,-1.828,0,1,0
$FREEZE,3.78,-0.656,-1.828,0,1,0
$FREEZE,3.28,-0.650,-1.827,0,1,0
$FREEZE,2.90,-0.642,-1.827,0,1,0
$FREEZE,2.49,-0.660,-1.827,0,1,0
$FREEZE,1.94,-0.659,-1.826,0,1,0
$GC,4433,0.77,166.8,2.9,8.6,584,4447,0.00,0.00,11.65,0.716,2,0.000,0.000,2905,2386,2122,0,0,0,0,0,0
$STATE,4448,end climb,SURFACE_DEPTH_REACHED
$STATE,4448,begin surface coast
$FREEZE,1.39,-0.655,-1.826,0,1,0
$FREEZE,1.02,-0.648,-1.826,0,1,0
$FREEZE,0.71,-0.628,-1.825,0,1,0
$FREEZE,0.41,-0.650,-1.825,0,1,0
$FREEZE,0.15,-0.619,-1.823,0,1,0
$FINISH,0.1,1.026736
$STATE,4476,end surface coast,CONTROL_FINISHED_OK
$STATE,4476,begin surface
$SM_CCo,4494,83.07,0.727,0,0,1474,325.02
$SM_GC,0.97,0.00,0.00,83.07,0.000,0.000,0.727,130,2801,1474,-8.00,0.03,325.02
$RAFOS_CLK,289
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6703.95,-5735.19,250399,040421
$TT8_MAMPS,0.026845
$HUMID,47.40
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,20.3
$24V_AH,22.9,73.307
$10V_AH,10.0,38.980
$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,22.575,63.500,253.975,83.075,0.000,27.308,33.067,165.181,1.000,0.000,33.367,978.614,2183.070,445.366,981.922,347.196,0.000,974.021,0.000,944.829,0.000,2.621,0.000
$DEVICE_MAMPS,292.994,103.545,885.885,727.116,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,428.612,399.201,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152512
$DATA_FILE_SIZE,22191,591
$CAP_FILE_SIZE,68208,0
$CFSIZE,260165632,218443776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,112,0,0
$SOUNDSPEED,1455.9
$GPS,291209,070932,6732.507,-5732.026,80,1.9,81,-38.4