version: 66.06
glider: 143
mission: 10
dive: 393
start: 12 27 109 9 12 42
data:
$ID,143
$MISSION,10
$DIVE,393
$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,-44064.812
$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,23
$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
$GPS1,090634,6727.800,-5754.479,13,99.0,32,-38.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-67.2
$GPS2,091225,6727.846,-5754.524,11,2.0,28,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6727.846,-5726.348
$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,313
$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,-100.25,0.000,2,0.000,0.000,129,2796,3219,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.7,-7.1,20,144,11.07,2.85,-4.45,0.000,4,0.287,0.098,2446,3911,3397,0,0,6,0,0,0
$GC,396,-0.73,-146.0,38.9,-9.6,69,402,0.00,2.70,0.00,0.000,6,0.000,0.061,2446,2794,3399,0,0,4,0,0,0
$GC,739,-0.77,-146.0,71.1,-9.7,130,745,0.00,2.83,0.00,0.000,4,0.000,0.088,2446,3917,3398,0,0,6,0,0,0
$GC,941,-0.85,-146.0,90.4,-9.3,166,947,0.00,2.70,0.00,0.000,6,0.000,0.062,2446,2797,3397,0,0,4,0,0,0
$GC,1273,-0.92,-146.0,119.2,-8.2,206,1279,0.17,2.83,0.00,0.000,4,0.113,0.086,2375,3917,3397,0,0,6,0,0,0
$GC,1382,-0.76,-146.0,131.0,-11.6,215,1387,0.28,2.70,0.00,0.000,6,0.206,0.061,2442,2798,3397,0,0,4,0,0,0
$GC,1706,-0.84,-146.0,153.8,-6.9,245,1711,0.00,2.80,0.00,0.000,4,0.000,0.087,2441,3914,3396,0,0,6,0,0,0
$GC,1852,-0.92,-146.0,164.7,-7.7,257,1859,0.15,2.67,0.00,0.000,6,0.114,0.061,2393,2797,3395,0,0,4,0,0,0
$GC,2177,-0.86,-146.0,196.5,-9.7,288,2182,0.00,2.80,0.00,0.000,4,0.000,0.086,2392,3919,3395,0,0,6,0,0,0
$GC,2355,-0.79,-146.0,213.7,-9.5,303,2362,0.15,2.67,0.00,0.000,6,0.201,0.059,2427,2800,3395,0,0,4,0,0,0
$GC,2680,-0.85,-146.0,237.5,-7.3,334,2685,0.00,2.80,0.00,0.000,4,0.000,0.084,2426,3924,3395,0,0,7,0,0,0
$GC,2888,-0.90,-146.0,253.0,-7.0,352,2893,0.00,2.67,0.00,0.000,6,0.000,0.058,2427,2798,3396,0,0,4,0,0,0
$GC,3213,-0.95,-146.0,275.1,-7.5,382,3219,0.15,2.78,0.00,0.000,4,0.110,0.080,2362,3913,3396,0,0,6,0,0,0
$GC,3344,-0.76,-146.0,287.6,-8.2,393,3350,0.32,2.65,0.00,0.000,6,0.199,0.057,2441,2798,3397,0,0,4,0,0,0
$GC,3669,-1.28,-146.0,297.0,0.0,423,3671,0.47,0.00,0.00,0.000,6,0.087,0.000,2277,2799,3398,0,0,0,0,0,0
$STATE,3752,end dive,NO_VERTICAL_VELOCITY
$STATE,3752,begin apogee
$GC,3758,-0.16,0.0,296.9,0.0,431,3880,1.17,0.00,117.10,0.908,6,0.145,0.000,2633,2403,2800,0,0,0,0,0,0
$STATE,3880,end apogee,CONTROL_FINISHED_OK
$STATE,3881,begin climb
$GC,3882,0.73,146.0,296.8,0.0,443,4017,0.88,4.03,120.05,0.864,4,0.106,0.074,2913,3910,2200,0,0,7,0,0,0
$GC,4163,0.61,146.0,269.6,13.0,469,4174,0.17,3.72,0.00,0.000,6,0.206,0.062,2893,2404,2195,0,0,5,0,0,0
$GC,4492,0.61,146.0,234.1,9.8,500,4497,0.00,3.72,0.00,0.000,4,0.000,0.076,2893,3926,2194,0,0,5,0,0,0
$GC,4559,0.56,146.0,226.6,11.3,505,4565,0.15,3.67,0.00,0.000,6,0.202,0.064,2875,2390,2193,0,0,5,0,0,0
$GC,4884,0.69,170.1,199.2,8.2,536,4911,0.12,3.72,19.60,0.798,4,0.122,0.076,2916,3923,2106,0,0,6,0,0,0
$GC,4962,0.60,170.1,190.1,12.7,542,4969,0.20,3.60,0.00,0.000,6,0.199,0.064,2887,2395,2104,0,0,4,0,0,0
$GC,5286,0.68,170.1,158.3,9.5,573,5292,0.00,3.70,0.00,0.000,4,0.000,0.075,2887,3923,2103,0,0,5,0,0,0
$GC,5359,0.68,170.1,150.2,11.0,579,5365,0.00,3.60,0.00,0.000,6,0.000,0.063,2902,2399,2103,0,0,5,0,0,0
$GC,5684,0.77,170.1,118.5,9.5,609,5694,0.10,3.67,0.00,0.000,4,0.120,0.074,2939,3917,2103,0,0,6,0,0,0
$GC,5767,0.66,170.1,108.1,13.1,616,5773,0.20,3.60,0.00,0.000,6,0.203,0.063,2908,2399,2102,0,0,4,0,0,0
$GC,6105,0.82,216.1,79.9,7.2,669,6152,0.15,3.72,38.85,0.762,4,0.117,0.076,2959,3917,1917,0,0,6,0,0,0
$GC,6203,0.71,216.1,70.0,12.4,687,6210,0.22,3.65,0.00,0.000,6,0.199,0.064,2923,2401,1915,0,0,5,0,0,0
$GC,6548,0.81,216.1,39.7,9.2,748,6554,0.00,3.70,0.00,0.000,4,0.000,0.077,2924,3923,1912,0,0,6,0,0,0
$GC,6583,0.88,216.1,35.9,10.9,754,6589,0.10,3.62,0.00,0.000,6,0.127,0.065,2971,2401,1911,0,0,5,0,0,0
$FREEZE,8.74,-1.322,-1.828,0,1,0
$FREEZE,8.17,-1.327,-1.827,0,1,0
$FREEZE,7.64,-1.325,-1.827,0,1,0
$FREEZE,6.83,-1.320,-1.826,0,1,0
$FREEZE,6.11,-1.323,-1.826,0,1,0
$FREEZE,5.59,-1.325,-1.825,0,1,0
$FREEZE,4.73,-1.329,-1.825,0,1,0
$FREEZE,4.10,-1.336,-1.824,0,1,0
$FREEZE,3.54,-1.357,-1.824,0,1,0
$FREEZE,2.90,-1.351,-1.823,0,1,0
$FREEZE,2.36,-1.346,-1.823,0,1,0
$FREEZE,1.66,-1.344,-1.822,0,1,0
$STATE,6891,end climb,SURFACE_DEPTH_REACHED
$STATE,6891,begin surface coast
$FREEZE,1.18,-1.342,-1.822,0,1,0
$FREEZE,0.48,-1.340,-1.821,0,1,0
$FREEZE,0.42,-1.346,-1.821,0,1,0
$FINISH,0.4,1.026725
$STATE,6909,end surface coast,CONTROL_FINISHED_OK
$STATE,6909,begin surface
$SM_CCo,6927,68.65,0.730,0,0,1474,325.02
$SM_GC,1.27,0.00,0.00,68.65,0.000,0.000,0.730,130,2809,1474,-8.00,0.25,325.02
$RAFOS_CLK,426
$RAFOS_FIX,6726.654297,-5759.014160,271209,080856,2,94,0.61
$IRIDIUM_FIX,6658.43,-5759.68,230399,070735
$TT8_MAMPS,0.027612
$HUMID,47.20
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.10
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.5,19.0
$24V_AH,23.0,70.532
$10V_AH,10.1,37.866
$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,24.525,92.050,295.600,68.650,0.000,29.913,36.846,154.957,1.250,0.000,30.078,1346.167,3764.581,475.501,1385.676,372.307,0.000,1202.185,0.000,1347.950,0.000,2.620,0.000
$DEVICE_MAMPS,286.858,98.176,908.128,730.184,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,591.113,551.804,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152620
$DATA_FILE_SIZE,31572,812
$CAP_FILE_SIZE,92704,0
$CFSIZE,260165632,219615232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,145,0,0
$SOUNDSPEED,1462.4
$GPS,271209,111036,6728.381,-5755.326,32,1.2,32,-38.4