version: 66.06
glider: 143
mission: 10
dive: 400
start: 12 27 109 22 25 44
data:
$ID,143
$MISSION,10
$DIVE,400
$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,-44172.688
$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,21
$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
$GPS1,222024,6730.415,-5758.042,37,1.1,37,-38.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-67.1
$GPS2,222526,6730.475,-5758.066,14,1.3,14,-38.5
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6730.475,-5729.837
$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,258
$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,-100.03,0.000,2,0.000,0.000,128,2795,3159,0,0,0,0,0,0
$GC,121,-0.73,-146.0,3.3,-5.9,20,148,11.43,2.90,-6.07,0.000,4,0.297,0.100,2448,3906,3398,0,0,7,0,0,0
$GC,266,-0.73,-146.0,26.1,-10.5,46,272,0.00,2.70,0.00,0.000,6,0.000,0.062,2448,2800,3400,0,0,5,0,0,0
$GC,608,-0.73,-146.0,63.8,-9.5,107,614,0.00,2.85,0.00,0.000,4,0.000,0.091,2448,3915,3400,0,0,6,0,0,0
$GC,868,-0.79,-146.0,89.1,-9.5,153,874,0.00,2.70,0.00,0.000,6,0.000,0.064,2448,2799,3399,0,0,5,0,0,0
$GC,1206,-0.86,-146.0,117.5,-8.2,195,1211,0.12,2.85,0.00,0.000,4,0.127,0.090,2400,3924,3399,0,0,7,0,0,0
$GC,1315,-0.77,-146.0,128.3,-9.9,204,1320,0.17,2.72,0.00,0.000,6,0.209,0.064,2439,2798,3399,0,0,5,0,0,0
$GC,1640,-0.83,-146.0,156.3,-7.8,234,1645,0.00,2.83,0.00,0.000,4,0.000,0.091,2439,3911,3397,0,0,6,0,0,0
$GC,1814,-0.90,-146.0,168.8,-7.0,249,1820,0.12,2.70,0.00,0.000,6,0.124,0.064,2400,2800,3397,0,0,4,0,0,0
$GC,2139,-0.85,-146.0,198.2,-8.7,279,2144,0.00,2.83,0.00,0.000,4,0.000,0.088,2399,3915,3395,0,0,6,0,0,0
$GC,2240,-0.81,-146.0,206.8,-9.0,287,2246,0.12,2.67,0.00,0.000,6,0.206,0.062,2426,2801,3396,0,0,5,0,0,0
$GC,2564,-0.81,-146.0,231.7,-7.6,318,2569,0.00,2.83,0.00,0.000,4,0.000,0.087,2426,3924,3396,0,0,6,0,0,0
$GC,2706,-0.85,-146.0,244.0,-7.3,330,2711,0.00,2.67,0.00,0.000,6,0.000,0.060,2426,2799,3396,0,0,5,0,0,0
$STATE,2966,end dive,NO_VERTICAL_VELOCITY
$STATE,2966,begin apogee
$GC,2972,-0.16,0.0,252.2,0.0,354,3092,0.62,0.00,116.72,0.901,6,0.116,0.000,2633,2396,2800,0,0,0,0,0,0
$STATE,3093,end apogee,CONTROL_FINISHED_OK
$STATE,3093,begin climb
$GC,3096,0.73,146.0,252.2,0.0,366,3229,0.93,2.15,120.22,0.854,4,0.130,0.084,2922,795,2202,0,0,0,0,0,0
$GC,3313,0.68,146.0,233.1,11.7,386,3319,0.00,1.95,0.00,0.000,6,0.000,0.061,2922,2401,2198,0,0,0,0,0,0
$GC,3638,0.63,146.0,196.3,11.1,417,3647,0.00,3.72,0.00,0.000,4,0.000,0.079,2922,3911,2195,0,0,6,0,0,0
$GC,3705,0.51,146.0,187.7,14.2,423,3715,0.32,3.65,0.00,0.000,6,0.199,0.066,2860,2397,2194,0,0,6,0,0,0
$GC,4034,0.69,160.2,159.8,8.6,454,4056,0.15,3.75,11.75,0.760,4,0.112,0.077,2911,3915,2146,0,0,7,0,0,0
$GC,4095,0.60,160.2,152.7,12.5,459,4101,0.17,3.65,0.00,0.000,6,0.197,0.066,2888,2399,2145,0,0,6,0,0,0
$GC,4419,0.72,160.2,122.3,9.3,490,4429,0.12,3.72,0.00,0.000,4,0.123,0.077,2929,3922,2145,0,0,6,0,0,0
$GC,4520,0.63,160.2,109.8,12.8,499,4530,0.20,3.65,0.00,0.000,6,0.199,0.065,2899,2391,2145,0,0,5,0,0,0
$GC,4861,0.77,174.6,78.7,8.6,551,4883,0.12,3.72,13.77,0.742,4,0.125,0.078,2940,3915,2087,0,0,6,0,0,0
$GC,4947,0.66,174.6,69.1,12.1,566,4954,0.20,3.65,0.00,0.000,6,0.200,0.066,2910,2394,2086,0,0,5,0,0,0
$GC,5293,0.84,221.0,40.2,7.2,627,5340,0.15,3.78,39.15,0.753,4,0.116,0.080,2961,3912,1898,0,0,6,0,0,0
$GC,5363,0.84,221.0,33.2,10.7,640,5369,0.00,3.67,0.00,0.000,6,0.000,0.067,2978,2395,1896,0,0,6,0,0,0
$FREEZE,8.42,-1.274,-1.827,0,1,0
$FREEZE,7.85,-1.293,-1.827,0,1,0
$FREEZE,7.09,-1.290,-1.826,0,1,0
$FREEZE,6.35,-1.300,-1.826,0,1,0
$FREEZE,5.66,-1.305,-1.825,0,1,0
$FREEZE,5.20,-1.306,-1.825,0,1,0
$FREEZE,4.53,-1.302,-1.824,0,1,0
$FREEZE,3.78,-1.302,-1.823,0,1,0
$FREEZE,3.08,-1.303,-1.823,0,1,0
$FREEZE,2.34,-1.301,-1.823,0,1,0
$FREEZE,1.61,-1.308,-1.822,0,1,0
$STATE,5637,end climb,SURFACE_DEPTH_REACHED
$STATE,5638,begin surface coast
$FREEZE,1.03,-1.308,-1.821,0,1,0
$FREEZE,0.46,-1.313,-1.821,0,1,0
$FREEZE,0.22,-1.432,-1.026,0,1,0
$FINISH,0.2,1.015160
$STATE,5655,end surface coast,CONTROL_FINISHED_OK
$STATE,5655,begin surface
$SM_CCo,5672,63.67,0.716,1,0,1475,325.02
$SM_GC,1.05,0.00,0.00,63.67,0.000,0.000,0.716,129,2810,1475,-8.00,0.28,325.02
$RAFOS_CLK,359
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6703.95,-5753.72,230399,202058
$TT8_MAMPS,0.026845
$HUMID,47.20
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.00
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.5,18.9
$24V_AH,22.9,71.253
$10V_AH,10.0,38.176
$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,23.425,76.225,301.625,63.675,0.000,28.466,32.982,129.161,1.250,0.000,16.387,1109.852,2991.501,476.555,1144.854,323.989,0.000,1099.229,0.000,1125.127,0.000,2.619,0.000
$DEVICE_MAMPS,296.829,100.477,901.225,716.378,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,506.822,468.732,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152548
$DATA_FILE_SIZE,25332,692
$CAP_FILE_SIZE,78990,0
$CFSIZE,260165632,219295744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,126,1,0
$SOUNDSPEED,1457.6
$GPS,281209,000226,6730.800,-5757.020,13,1.9,13,-38.5