version: 66.06
glider: 143
mission: 10
dive: 397
start: 12 27 109 16 58 44
data:
$ID,143
$MISSION,10
$DIVE,397
$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,-44125.918
$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,24
$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
$GPS1,165326,6728.516,-5757.373,8,1.6,8,-38.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-66.8
$GPS2,165826,6728.544,-5757.444,13,1.6,13,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6728.544,-5729.253
$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,-100.10,0.000,2,0.000,0.000,129,2796,3170,0,0,0,0,0,0
$GC,121,-0.73,-146.0,3.3,-5.7,20,148,11.25,2.50,-5.97,0.000,4,0.293,0.094,2445,1196,3398,0,0,0,0,0,0
$GC,400,-0.73,-146.0,42.5,-10.7,70,406,0.00,2.40,0.00,0.000,6,0.000,0.073,2445,2799,3401,0,0,0,0,0,0
$GC,743,-0.73,-146.0,75.1,-9.3,131,749,0.00,2.85,0.00,0.000,4,0.000,0.091,2445,3928,3399,0,0,6,0,0,0
$GC,862,-0.77,-146.0,86.3,-9.5,152,868,0.00,2.72,0.00,0.000,6,0.000,0.064,2445,2789,3399,0,0,5,0,0,0
$GC,1202,-0.84,-146.0,118.0,-8.6,196,1207,0.00,2.88,0.00,0.000,4,0.000,0.091,2445,3914,3399,0,0,7,0,0,0
$GC,1359,-0.91,-146.0,131.3,-8.4,209,1365,0.15,2.70,0.00,0.000,6,0.122,0.064,2397,2797,3397,0,0,5,0,0,0
$GC,1684,-0.85,-146.0,164.1,-10.0,240,1688,0.00,2.85,0.00,0.000,4,0.000,0.090,2397,3924,3396,0,0,6,0,0,0
$GC,1858,-0.79,-146.0,181.3,-9.7,255,1863,0.15,2.70,0.00,0.000,6,0.207,0.064,2430,2799,3395,0,0,5,0,0,0
$GC,2182,-0.85,-146.0,206.0,-6.6,285,2187,0.00,2.88,0.00,0.000,4,0.000,0.088,2431,3924,3395,0,0,6,0,0,0
$GC,2331,-0.90,-146.0,215.0,-5.9,297,2336,0.00,2.70,0.00,0.000,6,0.000,0.061,2430,2800,3395,0,0,4,0,0,0
$GC,2655,-0.98,-146.0,235.5,-7.8,328,2661,0.17,2.85,0.00,0.000,4,0.110,0.083,2361,3919,3395,0,0,5,0,0,0
$GC,2787,-0.81,-146.0,248.9,-10.0,339,2792,0.28,2.67,0.00,0.000,6,0.203,0.059,2427,2799,3396,0,0,4,0,0,0
$GC,3112,-0.86,-146.0,276.6,-9.3,369,3117,0.00,2.83,0.00,0.000,4,0.000,0.084,2428,3922,3396,0,0,6,0,0,0
$GC,3279,-0.91,-146.0,289.3,-4.6,383,3285,0.00,2.67,0.00,0.000,6,0.000,0.058,2428,2797,3396,0,0,4,0,0,0
$GC,3604,-1.33,-146.0,300.8,0.2,414,3606,0.47,0.00,0.00,0.000,6,0.078,0.000,2252,2798,3398,0,0,0,0,0,0
$STATE,3612,end dive,NO_VERTICAL_VELOCITY
$STATE,3612,begin apogee
$GC,3618,-0.16,0.0,301.0,0.0,415,3740,1.25,0.00,117.28,0.919,6,0.143,0.000,2631,2401,2800,0,0,0,0,0,0
$STATE,3740,end apogee,CONTROL_FINISHED_OK
$STATE,3741,begin climb
$GC,3743,0.73,146.0,300.2,0.0,427,3877,0.93,4.05,120.68,0.874,4,0.131,0.074,2911,3935,2200,0,0,8,0,0,0
$GC,3945,0.61,146.0,279.1,15.8,446,3956,0.17,3.85,0.00,0.000,6,0.206,0.061,2892,2397,2196,0,0,7,0,0,0
$GC,4274,0.63,165.9,245.6,8.3,477,4298,0.00,3.80,16.60,0.809,4,0.000,0.077,2892,3920,2122,0,0,7,0,0,0
$GC,4328,0.63,165.9,239.6,11.2,482,4337,0.00,3.67,0.00,0.000,6,0.000,0.065,2907,2399,2121,0,0,6,0,0,0
$GC,4656,0.63,165.9,203.6,11.5,513,4665,0.00,3.75,0.00,0.000,4,0.000,0.077,2907,3925,2120,0,0,6,0,0,0
$GC,4733,0.56,165.9,193.7,12.3,520,4743,0.20,3.65,0.00,0.000,6,0.199,0.064,2877,2400,2120,0,0,5,0,0,0
$GC,5062,0.69,172.2,163.0,8.9,551,5072,0.12,0.00,6.50,0.680,6,0.122,0.000,2918,2401,2097,0,0,0,0,0,0
$GC,5390,0.69,172.2,129.8,11.5,582,5399,0.00,3.70,0.00,0.000,4,0.000,0.076,2919,3931,2097,0,0,6,0,0,0
$GC,5456,0.63,172.2,121.6,12.8,588,5467,0.17,3.65,0.00,0.000,6,0.201,0.064,2896,2391,2097,0,0,5,0,0,0
$GC,5790,0.78,186.3,92.9,8.6,626,5811,0.15,3.72,13.57,0.740,4,0.116,0.077,2948,3917,2039,0,0,7,0,0,0
$GC,5846,0.65,186.3,86.3,13.2,636,5853,0.25,3.62,0.00,0.000,6,0.199,0.064,2904,2400,2039,0,0,5,0,0,0
$GC,6193,0.91,274.0,54.8,5.5,697,6275,0.25,3.88,73.05,0.751,4,0.097,0.077,2995,3927,1682,0,0,4,0,0,0
$GC,6379,0.78,274.0,31.4,16.1,731,6385,0.28,3.70,0.00,0.000,6,0.196,0.066,2946,2396,1677,0,0,6,0,0,0
$FREEZE,8.51,-1.332,-1.827,0,1,0
$FREEZE,7.84,-1.326,-1.827,0,1,0
$FREEZE,7.29,-1.323,-1.826,0,1,0
$FREEZE,6.66,-1.355,-1.826,0,1,0
$FREEZE,5.82,-1.339,-1.825,0,1,0
$FREEZE,5.30,-1.339,-1.825,0,1,0
$FREEZE,4.69,-1.347,-1.824,0,1,0
$FREEZE,4.16,-1.346,-1.824,0,1,0
$FREEZE,3.63,-1.347,-1.824,0,1,0
$FREEZE,2.88,-1.348,-1.823,0,1,0
$FREEZE,2.18,-1.342,-1.823,0,1,0
$FREEZE,1.58,-1.352,-1.822,0,1,0
$STATE,6648,end climb,SURFACE_DEPTH_REACHED
$STATE,6649,begin surface coast
$FREEZE,1.07,-1.363,-1.822,0,1,0
$FREEZE,0.47,-1.352,-1.821,0,1,0
$FREEZE,0.39,-1.366,-1.821,0,1,0
$FINISH,0.4,1.026733
$STATE,6666,end surface coast,CONTROL_FINISHED_OK
$STATE,6666,begin surface
$SM_CCo,6684,39.65,0.728,0,0,1474,325.02
$SM_GC,1.25,0.00,0.00,39.65,0.000,0.000,0.728,129,2805,1474,-8.00,0.14,325.02
$RAFOS_CLK,417
$RAFOS,6,1261932542,16.833334,16.817223,91,54,52,0,0,0,694,193,152,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6658.43,-5748.96,230399,151508
$TT8_MAMPS,0.027612
$HUMID,47.04
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.00
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.8,19.5
$24V_AH,22.9,70.950
$10V_AH,10.1,38.050
$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,24.525,85.100,347.675,39.650,0.000,30.221,30.929,126.979,1.500,0.000,15.392,1265.227,3640.040,492.144,1302.315,334.083,0.000,1200.598,0.000,1280.720,0.000,4.387,0.000
$DEVICE_MAMPS,292.994,93.574,918.866,727.883,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,571.063,529.263,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152592
$DATA_FILE_SIZE,31554,782
$CAP_FILE_SIZE,88738,0
$CFSIZE,260165632,219422720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,135,0,0
$SOUNDSPEED,1460.6
$GPS,271209,185207,6728.977,-5758.079,25,1.3,25,-38.4