version: 66.06
glider: 143
mission: 10
dive: 395
start: 12 27 109 13 7 44
data:
$ID,143
$MISSION,10
$DIVE,395
$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,-44092.383
$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,17
$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
$GPS1,130152,6728.515,-5755.857,7,2.1,26,-38.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-67.1
$GPS2,130726,6728.514,-5755.970,12,1.2,12,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6728.514,-5727.780
$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,-100.07,0.000,2,0.000,0.000,127,2809,3212,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.9,-8.0,20,144,10.95,2.83,-4.53,0.000,4,0.284,0.100,2448,3912,3399,0,0,6,0,0,0
$GC,334,-0.73,-146.0,34.0,-10.9,58,340,0.00,2.67,0.00,0.000,6,0.000,0.061,2447,2797,3401,0,0,5,0,0,0
$GC,678,-0.78,-146.0,68.1,-9.6,119,684,0.00,2.83,0.00,0.000,4,0.000,0.089,2448,3917,3400,0,0,6,0,0,0
$GC,752,-0.84,-146.0,75.6,-10.6,132,758,0.00,2.67,0.00,0.000,6,0.000,0.061,2448,2799,3400,0,0,4,0,0,0
$GC,1092,-0.90,-146.0,108.0,-8.7,185,1097,0.15,2.85,0.00,0.000,4,0.121,0.087,2388,3925,3399,0,0,5,0,0,0
$GC,1300,-0.78,-146.0,131.7,-11.5,203,1305,0.20,2.67,0.00,0.000,6,0.212,0.064,2433,2799,3399,0,0,5,0,0,0
$GC,1625,-0.84,-146.0,158.8,-7.6,233,1630,0.00,2.83,0.00,0.000,4,0.000,0.090,2433,3918,3397,0,0,7,0,0,0
$GC,1732,-0.89,-146.0,167.3,-8.1,242,1736,0.00,2.67,0.00,0.000,6,0.000,0.063,2434,2798,3397,0,0,5,0,0,0
$GC,2056,-0.96,-146.0,190.0,-5.8,272,2062,0.17,2.83,0.00,0.000,4,0.113,0.085,2362,3921,3397,0,0,6,0,0,0
$GC,2243,-0.78,-146.0,206.8,-8.8,288,2249,0.30,2.70,0.00,0.000,6,0.203,0.061,2434,2792,3397,0,0,4,0,0,0
$GC,2568,-0.85,-146.0,232.1,-9.5,318,2573,0.00,2.80,0.00,0.000,4,0.000,0.085,2434,3914,3397,0,0,6,0,0,0
$GC,2742,-0.92,-146.0,247.3,-8.3,333,2748,0.12,2.65,0.00,0.000,6,0.120,0.061,2392,2802,3397,0,0,5,0,0,0
$GC,3067,-0.82,-146.0,277.9,-10.2,363,3072,0.12,2.80,0.00,0.000,4,0.211,0.078,2413,3923,3398,0,0,5,0,0,0
$GC,3106,-0.76,-146.0,282.2,-10.0,366,3112,0.12,2.67,0.00,0.000,6,0.143,0.058,2446,2799,3398,0,0,4,0,0,0
$STATE,3269,end dive,NO_VERTICAL_VELOCITY
$STATE,3269,begin apogee
$GC,3276,-0.16,0.0,282.7,0.0,381,3396,0.62,0.00,116.85,0.912,6,0.161,0.000,2632,2390,2800,0,0,0,0,0,0
$STATE,3397,end apogee,CONTROL_FINISHED_OK
$STATE,3397,begin climb
$GC,3399,0.73,146.0,282.9,0.0,393,3533,0.93,4.00,119.50,0.872,4,0.121,0.074,2917,3909,2201,0,0,8,0,0,0
$GC,3718,0.57,146.0,255.9,10.4,422,3725,0.25,3.75,0.00,0.000,6,0.202,0.063,2877,2405,2196,0,0,4,0,0,0
$GC,4043,0.65,146.0,228.5,10.0,453,4052,0.00,3.70,0.00,0.000,4,0.000,0.077,2877,3914,2195,0,0,6,0,0,0
$GC,4120,0.65,146.0,219.7,11.4,460,4126,0.00,3.65,0.00,0.000,6,0.000,0.065,2892,2398,2194,0,0,5,0,0,0
$GC,4444,0.70,146.0,186.1,9.4,490,4454,0.00,3.70,0.00,0.000,4,0.000,0.076,2892,3924,2194,0,0,6,0,0,0
$GC,4476,0.70,146.0,183.0,9.8,493,4482,0.00,3.65,0.00,0.000,6,0.000,0.064,2909,2391,2194,0,0,5,0,0,0
$GC,4800,0.70,150.4,150.9,9.0,523,4806,0.00,3.70,0.00,0.000,4,0.000,0.076,2909,3926,2194,0,0,6,0,0,0
$GC,4896,0.62,150.4,142.0,9.3,531,4907,0.15,3.65,0.00,0.000,6,0.202,0.064,2892,2389,2194,0,0,4,0,0,0
$GC,5225,0.72,158.1,116.3,8.8,562,5246,0.00,3.70,10.30,0.726,4,0.000,0.074,2892,3930,2154,0,0,6,0,0,0
$GC,5296,0.72,158.1,108.7,11.3,568,5302,0.00,3.62,0.00,0.000,6,0.000,0.063,2907,2401,2153,0,0,5,0,0,0
$GC,5635,0.83,168.7,77.8,8.7,620,5656,0.15,3.67,10.57,0.719,4,0.097,0.075,2963,3917,2111,0,0,6,0,0,0
$GC,5680,0.68,168.7,72.7,12.5,628,5686,0.28,3.62,0.00,0.000,6,0.202,0.064,2914,2399,2110,0,0,5,0,0,0
$GC,6026,0.83,204.4,42.9,7.7,689,6068,0.12,3.75,30.48,0.749,4,0.127,0.077,2955,3924,1965,0,0,6,0,0,0
$GC,6170,0.71,204.4,25.8,11.8,715,6177,0.20,3.65,0.00,0.000,6,0.201,0.065,2927,2399,1962,0,0,6,0,0,0
$FREEZE,8.69,-1.179,-1.829,0,1,0
$FREEZE,8.07,-1.184,-1.828,0,1,0
$FREEZE,7.46,-1.178,-1.828,0,1,0
$FREEZE,7.03,-1.182,-1.828,0,1,0
$FREEZE,6.56,-1.181,-1.827,0,1,0
$FREEZE,6.17,-1.178,-1.827,0,1,0
$FREEZE,5.74,-1.177,-1.827,0,1,0
$FREEZE,5.36,-1.181,-1.826,0,1,0
$FREEZE,4.90,-1.182,-1.826,0,1,0
$FREEZE,4.75,-1.192,-1.826,0,1,0
$FREEZE,4.45,-1.194,-1.826,0,1,0
$FREEZE,4.12,-1.192,-1.825,0,1,0
$FREEZE,3.66,-1.165,-1.825,0,1,0
$FREEZE,3.42,-1.176,-1.824,0,1,0
$FREEZE,2.94,-1.181,-1.824,0,1,0
$FREEZE,2.37,-1.177,-1.824,0,1,0
$FREEZE,1.64,-1.177,-1.823,0,1,0
$STATE,6457,end climb,SURFACE_DEPTH_REACHED
$STATE,6457,begin surface coast
$FREEZE,1.17,-1.180,-1.823,0,1,0
$FREEZE,0.76,-1.187,-1.823,0,1,0
$FREEZE,0.40,-1.179,-1.152,0,1,0
$FREEZE,0.24,-1.507,-1.422,0,1,0
$FINISH,0.2,1.020980
$STATE,6481,end surface coast,CONTROL_FINISHED_OK
$STATE,6481,begin surface
$SM_CCo,6498,74.68,0.730,0,0,1475,325.02
$SM_GC,1.15,0.00,0.00,74.68,0.000,0.000,0.730,125,2814,1475,-8.02,0.40,325.02
$RAFOS_CLK,404
$RAFOS_FIX,6727.063477,-5757.871582,271209,121256,2,82,0.58
$IRIDIUM_FIX,6658.43,-5801.46,230399,111141
$TT8_MAMPS,0.027612
$HUMID,47.67
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.00
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.9,20.5
$24V_AH,22.9,70.742
$10V_AH,10.0,37.959
$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,23.100,92.175,287.700,74.675,0.000,28.545,35.614,153.784,1.250,0.000,14.332,1277.061,3480.850,481.314,1305.345,363.593,0.000,1181.464,0.000,1285.847,0.000,2.621,0.000
$DEVICE_MAMPS,283.790,100.477,911.963,730.184,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,561.495,522.743,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152512
$DATA_FILE_SIZE,28418,770
$CAP_FILE_SIZE,89369,0
$CFSIZE,260165632,219525120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,151,0,0
$SOUNDSPEED,1460.0
$GPS,271209,145837,6728.483,-5756.760,33,1.4,33,-38.4