version: 66.06
glider: 143
mission: 10
dive: 398
start: 12 27 109 18 57 50
data:
$ID,143
$MISSION,10
$DIVE,398
$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,-44140.363
$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,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
$GPS1,185207,6728.977,-5758.079,25,1.3,25,-38.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-66.3
$GPS2,185732,6729.028,-5758.165,12,1.4,12,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6729.028,-5729.964
$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,307
$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,-100.05,0.000,2,0.000,0.000,129,2805,3180,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.4,-6.2,20,148,11.38,2.90,-5.57,0.000,4,0.296,0.101,2447,3922,3398,0,0,7,0,0,0
$GC,334,-0.73,-146.0,30.5,-9.1,58,340,0.00,2.72,0.00,0.000,6,0.000,0.062,2447,2789,3400,0,0,5,0,0,0
$GC,677,-0.73,-146.0,62.6,-9.3,119,683,0.00,2.85,0.00,0.000,4,0.000,0.089,2447,3923,3399,0,0,7,0,0,0
$GC,837,-0.78,-146.0,77.0,-9.3,147,843,0.00,2.67,0.00,0.000,6,0.000,0.063,2447,2802,3399,0,0,6,0,0,0
$GC,1177,-0.84,-146.0,108.4,-10.1,200,1182,0.00,2.85,0.00,0.000,4,0.000,0.090,2447,3917,3399,0,0,5,0,0,0
$GC,1276,-0.93,-146.0,118.0,-9.5,208,1283,0.17,2.70,0.00,0.000,6,0.114,0.063,2390,2790,3399,0,0,5,0,0,0
$GC,1603,-0.85,-146.0,161.1,-14.6,239,1608,0.00,2.85,0.00,0.000,4,0.000,0.089,2390,3919,3397,0,0,6,0,0,0
$GC,1789,-0.77,-146.0,187.6,-14.7,255,1795,0.20,2.70,0.00,0.000,6,0.206,0.063,2436,2795,3396,0,0,5,0,0,0
$GC,2114,-0.85,-146.0,221.5,-7.6,285,2119,0.00,2.85,0.00,0.000,4,0.000,0.089,2436,3910,3395,0,0,7,0,0,0
$GC,2210,-0.93,-146.0,230.1,-12.5,293,2215,0.15,2.67,0.00,0.000,6,0.114,0.061,2387,2796,3395,0,0,5,0,0,0
$GC,2535,-0.82,-146.0,264.3,-8.4,323,2540,0.15,2.85,0.00,0.000,4,0.198,0.087,2414,3916,3395,0,0,6,0,0,0
$STATE,2741,end dive,NO_VERTICAL_VELOCITY
$STATE,2741,begin apogee
$GC,2750,-0.16,0.0,269.4,0.0,341,2870,0.73,0.00,116.62,0.914,6,0.156,0.000,2630,2406,2800,0,0,0,0,0,0
$STATE,2871,end apogee,CONTROL_FINISHED_OK
$STATE,2871,begin climb
$GC,2873,0.73,146.0,269.0,0.0,353,3007,0.93,4.05,120.05,0.869,4,0.126,0.077,2914,3904,2201,0,0,9,0,0,0
$GC,3154,0.60,146.0,238.6,12.5,379,3164,0.20,3.78,0.00,0.000,6,0.201,0.065,2887,2401,2196,0,0,6,0,0,0
$GC,3482,0.66,146.0,206.5,9.2,410,3492,0.00,3.75,0.00,0.000,4,0.000,0.078,2887,3924,2195,0,0,6,0,0,0
$GC,3576,0.66,146.0,196.4,11.5,418,3582,0.00,3.65,0.00,0.000,6,0.000,0.066,2902,2394,2195,0,0,6,0,0,0
$GC,3900,0.66,146.0,165.2,9.4,449,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2395,2195,0,0,0,0,0,0
$GC,4221,0.71,150.5,135.7,9.0,479,4232,0.00,3.72,3.85,0.542,4,0.000,0.077,2902,3922,2186,0,0,6,0,0,0
$GC,4333,0.71,150.5,121.4,13.6,489,4339,0.00,3.62,0.00,0.000,6,0.000,0.065,2918,2399,2185,0,0,5,0,0,0
$GC,4665,0.71,150.5,84.8,9.4,532,4670,0.00,3.70,0.00,0.000,4,0.000,0.078,2918,3915,2187,0,0,6,0,0,0
$GC,4745,0.64,150.5,76.7,10.1,546,4751,0.15,3.65,0.00,0.000,6,0.204,0.065,2902,2392,2187,0,0,4,0,0,0
$GC,5091,0.84,218.8,51.9,6.3,607,5158,0.17,3.83,57.28,0.756,4,0.113,0.079,2961,3926,1907,0,0,6,0,0,0
$GC,5261,0.73,218.8,34.1,11.5,638,5267,0.20,3.70,0.00,0.000,6,0.196,0.067,2932,2392,1902,0,0,6,0,0,0
$FREEZE,8.82,-1.330,-1.828,0,1,0
$FREEZE,8.26,-1.329,-1.827,0,1,0
$FREEZE,7.70,-1.330,-1.827,0,1,0
$FREEZE,7.22,-1.331,-1.827,0,1,0
$FREEZE,6.70,-1.332,-1.826,0,1,0
$FREEZE,6.16,-1.338,-1.826,0,1,0
$FREEZE,5.50,-1.333,-1.825,0,1,0
$FREEZE,5.01,-1.338,-1.825,0,1,0
$FREEZE,4.57,-1.337,-1.824,0,1,0
$FREEZE,3.82,-1.336,-1.824,0,1,0
$FREEZE,3.40,-1.338,-1.824,0,1,0
$FREEZE,2.81,-1.341,-1.823,0,1,0
$GC,5608,0.83,218.8,2.8,9.8,699,5614,0.00,3.72,0.00,0.000,4,0.000,0.079,2932,3915,1899,0,0,6,0,0,0
$FREEZE,1.32,-1.344,-1.822,0,1,0
$STATE,5619,end climb,SURFACE_DEPTH_REACHED
$STATE,5619,begin surface coast
$FREEZE,0.76,-1.345,-1.822,0,1,0
$FREEZE,0.33,-1.214,-1.322,0,1,0
$FREEZE,0.28,-1.361,-1.030,0,1,0
$FREEZE,0.35,-1.506,-1.024,0,1,0
$FINISH,0.3,1.015125
$STATE,5643,end surface coast,CONTROL_FINISHED_OK
$STATE,5643,begin surface
$SM_CCo,5662,70.12,0.735,0,0,1475,325.02
$SM_GC,1.09,0.00,0.00,70.12,0.000,0.000,0.735,124,2788,1475,-8.02,-0.34,325.02
$RAFOS_CLK,355
$RAFOS,3,1261945506,20.433332,20.418333,66,62,53,0,0,0,219,202,184,0,0,0
$RAFOS,2,1261945025,20.299999,20.284721,63,60,59,0,0,0,209,190,172,0,0,0
$RAFOS,1,1261944545,20.166666,20.151388,61,56,56,0,0,0,198,159,212,0,0,0
$RAFOS,0,1261944062,20.033333,20.017221,62,54,53,0,0,0,152,162,119,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6658.43,-5751.95,230399,171758
$TT8_MAMPS,0.027612
$HUMID,47.04
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,16.80
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,19.5
$24V_AH,22.9,71.050
$10V_AH,10.0,38.092
$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,22.700,78.225,297.800,70.125,0.000,30.682,43.351,138.938,0.750,0.000,13.816,1144.653,2929.701,469.478,1173.161,343.656,0.000,1102.380,0.000,1154.722,1440.000,2.620,0.000
$DEVICE_MAMPS,296.062,101.244,914.264,734.786,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,514.650,477.638,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152520
$DATA_FILE_SIZE,28507,705
$CAP_FILE_SIZE,78238,0
$CFSIZE,260165632,219385856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,140,0,0
$SOUNDSPEED,1457.3
$GPS,271209,203436,6729.658,-5758.506,9,1.3,25,-38.5