version: 66.06
glider: 143
mission: 10
dive: 399
start: 12 27 109 20 43 14
data:
$ID,143
$MISSION,10
$DIVE,399
$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,-44155.672
$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
$GPS1,203436,6729.658,-5758.506,9,1.3,25,-38.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-67.0
$GPS2,204256,6729.769,-5758.596,13,1.7,13,-38.5
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6729.769,-5730.381
$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,128.5,20000,-16.9,-9.167
$D_GRID,267
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.73,-146.0,0.0,0.0,0,133,0.00,0.00,-113.30,0.000,2,0.000,0.000,124,2788,3329,0,0,0,0,0,0
$GC,137,-0.73,-146.0,3.2,-5.3,23,158,11.50,2.92,-1.88,0.000,4,0.298,0.098,2433,3917,3399,0,0,6,0,0,0
$GC,411,-0.55,-146.0,47.9,-12.8,72,418,0.30,2.72,0.00,0.000,6,0.212,0.064,2505,2791,3401,0,0,5,0,0,0
$GC,756,-0.78,-146.0,73.5,-5.4,133,763,0.20,2.85,0.00,0.000,4,0.103,0.088,2429,3922,3400,0,0,7,0,0,0
$GC,900,-0.78,-146.0,86.1,-9.2,158,905,0.00,2.70,0.00,0.000,6,0.000,0.064,2429,2802,3399,0,0,5,0,0,0
$GC,1238,-0.78,-146.0,119.5,-9.7,202,1243,0.00,2.85,0.00,0.000,4,0.000,0.091,2429,3920,3399,0,0,6,0,0,0
$GC,1322,-0.78,-146.0,127.9,-10.1,209,1327,0.00,2.70,0.00,0.000,6,0.000,0.064,2429,2798,3399,0,0,5,0,0,0
$GC,1646,-0.78,-146.0,158.6,-9.3,239,1651,0.00,2.83,0.00,0.000,4,0.000,0.090,2429,3911,3398,0,0,6,0,0,0
$GC,1858,-0.84,-146.0,179.0,-10.0,257,1864,0.00,2.70,0.00,0.000,6,0.000,0.063,2429,2798,3397,0,0,4,0,0,0
$GC,2183,-0.89,-146.0,211.4,-8.8,288,2188,0.00,2.83,0.00,0.000,4,0.000,0.087,2429,3918,3397,0,0,6,0,0,0
$GC,2329,-0.89,-146.0,226.0,-9.4,300,2334,0.00,2.67,0.00,0.000,6,0.000,0.061,2429,2798,3397,0,0,5,0,0,0
$GC,2653,-0.89,-146.0,247.6,-6.0,331,2658,0.00,2.80,0.00,0.000,4,0.000,0.085,2429,3912,3397,0,0,6,0,0,0
$STATE,2897,end dive,NO_VERTICAL_VELOCITY
$STATE,2897,begin apogee
$GC,2906,-0.16,0.0,256.3,0.0,352,3027,0.65,0.00,116.93,0.904,6,0.141,0.000,2629,2393,2800,0,0,0,0,0,0
$STATE,3027,end apogee,CONTROL_FINISHED_OK
$STATE,3027,begin climb
$GC,3029,0.73,146.0,256.0,0.0,364,3162,0.95,4.10,120.22,0.858,4,0.127,0.078,2917,3913,2201,0,0,8,0,0,0
$GC,3202,0.63,146.0,240.2,14.0,381,3212,0.17,3.85,0.00,0.000,6,0.198,0.065,2898,2406,2197,0,0,8,0,0,0
$GC,3530,0.63,146.0,208.1,12.0,412,3539,0.00,3.75,0.00,0.000,4,0.000,0.077,2898,3913,2195,0,0,7,0,0,0
$GC,3607,0.63,189.9,200.0,7.3,419,3652,0.00,3.67,36.30,0.815,6,0.000,0.066,2912,2393,2024,0,0,6,0,0,0
$GC,3977,0.63,189.9,166.5,9.3,454,3986,0.00,3.72,0.00,0.000,4,0.000,0.078,2912,3912,2019,0,0,6,0,0,0
$GC,4013,0.63,189.9,162.4,11.2,457,4020,0.15,3.70,0.00,0.000,6,0.199,0.065,2896,2393,2018,0,0,3,0,0,0
$GC,4338,0.72,189.9,130.4,10.1,488,4347,0.00,3.70,0.00,0.000,4,0.000,0.077,2895,3912,2019,0,0,6,0,0,0
$GC,4397,0.72,189.9,123.6,11.1,493,4403,0.00,3.67,0.00,0.000,6,0.000,0.064,2910,2389,2018,0,0,3,0,0,0
$GC,4727,0.82,189.9,91.1,9.6,532,4733,0.12,3.72,0.00,0.000,4,0.105,0.077,2957,3917,2019,0,0,6,0,0,0
$GC,4812,0.68,189.9,80.2,13.6,547,4819,0.25,3.62,0.00,0.000,6,0.200,0.064,2915,2394,2019,0,0,5,0,0,0
$GC,5158,0.82,209.8,50.0,8.3,608,5185,0.12,3.78,17.12,0.736,4,0.123,0.079,2957,3920,1944,0,0,6,0,0,0
$GC,5238,0.71,209.8,41.0,12.7,622,5244,0.22,3.65,0.00,0.000,6,0.196,0.065,2920,2401,1943,0,0,5,0,0,0
$FREEZE,8.65,-1.287,-1.827,0,1,0
$GC,5584,0.85,220.4,9.8,8.7,683,5602,0.15,3.75,10.27,0.707,4,0.112,0.081,2972,3915,1900,0,0,7,0,0,0
$FREEZE,7.22,-1.291,-1.826,0,1,0
$FREEZE,6.52,-1.291,-1.826,0,1,0
$FREEZE,5.72,-1.292,-1.825,0,1,0
$FREEZE,4.93,-1.290,-1.824,0,1,0
$FREEZE,4.03,-1.291,-1.824,0,1,0
$FREEZE,3.31,-1.295,-1.823,0,1,0
$FREEZE,2.46,-1.294,-1.823,0,1,0
$FREEZE,1.53,-1.297,-1.822,0,1,0
$STATE,5648,end climb,SURFACE_DEPTH_REACHED
$STATE,5648,begin surface coast
$FREEZE,0.90,-1.304,-1.821,0,1,0
$FREEZE,0.23,-1.300,-1.821,0,1,0
$FINISH,0.2,1.026722
$STATE,5659,end surface coast,CONTROL_FINISHED_OK
$STATE,5659,begin surface
$SM_CCo,5678,67.20,0.733,0,0,1475,325.02
$SM_GC,1.26,0.00,0.00,67.20,0.000,0.000,0.733,128,2795,1475,-8.00,-0.14,325.02
$RAFOS_CLK,367
$RAFOS,6,1261946941,20.833334,20.816944,115,61,60,0,0,0,702,189,1572,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6658.43,-5759.68,230399,202008
$TT8_MAMPS,0.028379
$HUMID,47.44
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,16.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,20.0,19.6
$24V_AH,22.9,71.156
$10V_AH,10.0,38.135
$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,23.325,85.625,300.850,67.200,0.000,62.640,64.252,195.981,0.750,0.000,14.683,1112.349,3023.566,493.226,1154.956,464.382,0.000,1118.514,0.000,1137.026,360.000,2.619,0.000
$DEVICE_MAMPS,297.596,98.176,904.293,733.252,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,507.336,472.279,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152572
$DATA_FILE_SIZE,25313,696
$CAP_FILE_SIZE,80446,0
$CFSIZE,260165632,219340800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,148,0,0
$SOUNDSPEED,1458.6
$GPS,271209,222024,6730.415,-5758.042,37,1.1,37,-38.5