version: 66.06
glider: 143
mission: 10
dive: 401
start: 12 28 109 0 8 0
data:
$ID,143
$MISSION,10
$DIVE,401
$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,-44207.801
$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,19
$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
$GPS1,000226,6730.800,-5757.020,13,1.9,13,-38.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-65.7
$GPS2,000743,6730.849,-5757.005,16,1.6,33,-38.5
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6730.849,-5728.769
$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,242
$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,14,-0.73,-146.0,0.0,0.0,0,118,0.00,0.00,-100.72,0.000,2,0.000,0.000,130,2811,3192,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.8,-8.0,20,143,11.57,0.00,-5.12,0.000,6,0.302,0.000,2447,2811,3398,0,0,0,0,0,0
$GC,482,-0.73,-146.0,46.7,-10.4,84,487,0.00,2.83,0.00,0.000,4,0.000,0.093,2447,3915,3401,0,0,6,0,0,0
$GC,740,-0.77,-146.0,73.1,-9.8,130,746,0.00,2.70,0.00,0.000,6,0.000,0.064,2447,2799,3400,0,0,5,0,0,0
$GC,1086,-0.84,-146.0,104.0,-8.7,188,1091,0.00,2.85,0.00,0.000,4,0.000,0.091,2447,3917,3400,0,0,6,0,0,0
$GC,1306,-0.91,-146.0,123.9,-8.6,207,1312,0.15,2.72,0.00,0.000,6,0.122,0.064,2400,2794,3399,0,0,4,0,0,0
$GC,1630,-0.84,-146.0,158.3,-10.7,237,1635,0.00,2.85,0.00,0.000,4,0.000,0.091,2399,3915,3399,0,0,6,0,0,0
$GC,1876,-0.79,-146.0,184.9,-11.5,258,1883,0.10,2.70,0.00,0.000,6,0.196,0.066,2434,2805,3397,0,0,5,0,0,0
$GC,2202,-0.86,-146.0,213.9,-8.7,289,2206,0.00,2.85,0.00,0.000,4,0.000,0.091,2433,3924,3397,0,0,6,0,0,0
$GC,2309,-0.93,-146.0,223.0,-8.7,298,2315,0.15,2.70,0.00,0.000,6,0.118,0.064,2385,2797,3397,0,0,5,0,0,0
$STATE,2505,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2505,begin apogee
$GC,2511,-0.16,0.0,242.5,10.6,316,2631,0.90,0.00,116.68,0.910,6,0.193,0.000,2627,2396,2800,0,0,0,0,0,0
$STATE,2632,end apogee,CONTROL_FINISHED_OK
$STATE,2632,begin climb
$GC,2635,0.73,146.0,245.9,0.0,328,2768,0.98,2.15,120.32,0.862,4,0.138,0.087,2925,808,2202,0,0,0,0,0,0
$GC,2854,0.67,146.0,227.8,10.7,348,2859,0.00,1.95,0.00,0.000,6,0.000,0.062,2925,2400,2199,0,0,0,0,0,0
$GC,3178,0.62,146.0,192.3,11.8,379,3188,0.15,3.78,0.00,0.000,4,0.206,0.079,2881,3917,2197,0,0,7,0,0,0
$GC,3239,0.62,146.0,185.3,11.1,384,3245,0.00,3.62,0.00,0.000,6,0.000,0.065,2895,2406,2195,0,0,6,0,0,0
$GC,3564,0.69,163.1,153.2,8.4,415,3585,0.00,3.75,14.10,0.771,4,0.000,0.080,2895,3925,2134,0,0,6,0,0,0
$GC,3642,0.69,163.1,145.2,10.5,422,3648,0.00,3.65,0.00,0.000,6,0.000,0.066,2912,2397,2133,0,0,6,0,0,0
$GC,3969,0.74,163.1,114.3,9.2,452,3974,0.00,3.70,0.00,0.000,4,0.000,0.078,2912,3914,2133,0,0,6,0,0,0
$GC,4053,0.74,163.1,105.6,9.8,459,4059,0.00,3.62,0.00,0.000,6,0.000,0.067,2928,2400,2134,0,0,5,0,0,0
$GC,4393,0.77,188.4,78.2,8.1,513,4424,0.00,3.78,22.40,0.761,4,0.000,0.080,2928,3912,2031,0,0,6,0,0,0
$GC,4488,0.72,188.4,68.6,11.3,530,4494,0.00,3.65,0.00,0.000,6,0.000,0.067,2945,2395,2029,0,0,6,0,0,0
$GC,4831,0.73,201.3,37.6,8.6,591,4848,0.00,1.98,11.85,0.729,4,0.000,0.088,2954,798,1979,0,0,0,0,0,0
$GC,4871,0.76,223.9,34.1,8.2,598,4898,0.00,1.88,20.30,0.735,6,0.000,0.064,2954,2414,1887,0,0,0,0,0,0
$FREEZE,8.42,-1.327,-1.827,0,1,0
$FREEZE,7.97,-1.325,-1.826,0,1,0
$FREEZE,7.34,-1.326,-1.826,0,1,0
$FREEZE,6.66,-1.329,-1.825,0,1,0
$FREEZE,6.15,-1.329,-1.825,0,1,0
$FREEZE,5.72,-1.329,-1.825,0,1,0
$FREEZE,5.36,-1.329,-1.824,0,1,0
$FREEZE,4.96,-1.325,-1.824,0,1,0
$FREEZE,4.35,-1.323,-1.824,0,1,0
$FREEZE,3.80,-1.324,-1.823,0,1,0
$FREEZE,3.20,-1.325,-1.823,0,1,0
$FREEZE,2.71,-1.326,-1.822,0,1,0
$FREEZE,2.20,-1.326,-1.822,0,1,0
$FREEZE,1.40,-1.324,-1.821,0,1,0
$STATE,5199,end climb,SURFACE_DEPTH_REACHED
$STATE,5199,begin surface coast
$FREEZE,0.74,-1.326,-1.821,0,1,0
$FREEZE,0.42,-1.413,-1.825,0,1,0
$FREEZE,0.25,-1.403,-1.783,0,1,0
$FINISH,0.3,1.026185
$STATE,5217,end surface coast,CONTROL_FINISHED_OK
$STATE,5217,begin surface
$SM_CCo,5235,65.25,0.738,0,0,1474,325.02
$SM_GC,1.19,0.00,0.00,65.25,0.000,0.000,0.738,122,2793,1474,-8.03,-0.20,325.02
$RAFOS_CLK,328
$RAFOS,6,1261961341,0.833333,0.816944,62,59,59,0,0,0,161,197,221,0,0,0
$RAFOS,5,1261960866,0.700000,0.685000,107,60,59,0,0,0,726,161,212,0,0,0
$RAFOS,4,1261960392,0.566667,0.553333,63,57,56,0,0,0,153,215,196,0,0,0
$RAFOS,3,1261959905,0.433333,0.418056,63,62,57,0,0,0,173,222,203,0,0,0
$RAFOS,2,1261959422,0.300000,0.283889,63,61,59,0,0,0,192,218,122,0,0,0
$RAFOS,1,1261958945,0.166667,0.151389,66,54,53,0,0,0,207,115,166,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6703.95,-5801.46,230399,222254
$TT8_MAMPS,0.027612
$HUMID,47.83
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,16.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,20.0,19.3
$24V_AH,22.9,71.351
$10V_AH,10.0,38.217
$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,22.275,61.525,305.650,65.250,0.000,28.098,31.651,126.493,1.000,0.000,34.486,1088.551,2636.480,455.851,1124.924,313.844,0.000,1053.708,0.000,1084.091,2160.000,2.618,0.000
$DEVICE_MAMPS,302.198,92.807,909.662,737.854,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,481.919,447.347,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152536
$DATA_FILE_SIZE,25303,660
$CAP_FILE_SIZE,73652,0
$CFSIZE,260165632,219258880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,91,0,0
$SOUNDSPEED,1455.4
$GPS,281209,013754,6730.848,-5755.742,27,1.3,45,-38.5