version: 66.06
glider: 143
mission: 10
dive: 405
start: 12 28 109 6 24 48
data:
$ID,143
$MISSION,10
$DIVE,405
$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,-44297.504
$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,10
$R_STBD_OVSHOOT,16
$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
$GPS1,061549,6730.440,-5750.630,7,1.5,12,-38.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-64.3
$GPS2,062431,6730.485,-5750.636,8,1.4,25,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6730.485,-5722.407
$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,232
$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,-100.28,0.000,2,0.000,0.000,127,2803,3120,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.4,-6.4,20,149,11.10,2.78,-7.38,0.000,4,0.289,0.104,2445,3925,3398,0,0,7,0,0,0
$GC,290,-0.73,-146.0,25.6,-11.1,50,295,0.00,2.60,0.00,0.000,6,0.000,0.064,2444,2801,3400,0,0,5,0,0,0
$GC,633,-0.73,-146.0,61.2,-9.3,111,639,0.00,2.72,0.00,0.000,4,0.000,0.094,2444,3915,3400,0,0,7,0,0,0
$GC,768,-0.73,-146.0,74.0,-9.5,135,774,0.00,2.62,0.00,0.000,6,0.000,0.066,2444,2801,3399,0,0,5,0,0,0
$GC,1109,-0.79,-146.0,104.9,-9.2,191,1114,0.00,2.78,0.00,0.000,4,0.000,0.094,2444,3925,3400,0,0,6,0,0,0
$GC,1181,-0.84,-146.0,111.8,-10.0,197,1186,0.00,2.65,0.00,0.000,6,0.000,0.065,2444,2801,3399,0,0,5,0,0,0
$GC,1507,-0.93,-146.0,142.7,-8.7,227,1512,0.17,2.78,0.00,0.000,4,0.113,0.091,2373,3917,3398,0,0,7,0,0,0
$GC,1592,-0.78,-146.0,152.5,-12.5,234,1598,0.25,2.65,0.00,0.000,6,0.214,0.066,2431,2800,3397,0,0,5,0,0,0
$GC,1917,-0.78,-146.0,181.1,-7.7,264,1921,0.00,2.80,0.00,0.000,4,0.000,0.091,2431,3927,3397,0,0,6,0,0,0
$GC,2108,-0.78,-146.0,196.5,-8.5,280,2114,0.00,2.65,0.00,0.000,6,0.000,0.064,2431,2798,3397,0,0,5,0,0,0
$GC,2433,-0.84,-146.0,223.2,-8.1,311,2437,0.00,2.83,0.00,0.000,4,0.000,0.090,2431,3917,3397,0,0,7,0,0,0
$GC,2529,-0.90,-146.0,231.2,-8.6,319,2533,0.00,2.65,0.00,0.000,6,0.000,0.062,2431,2799,3397,0,0,4,0,0,0
$STATE,2543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2543,begin apogee
$GC,2549,-0.16,0.0,232.8,8.4,320,2669,0.75,0.00,116.70,0.904,6,0.188,0.000,2635,2393,2800,0,0,0,0,0,0
$STATE,2670,end apogee,CONTROL_FINISHED_OK
$STATE,2670,begin climb
$GC,2673,0.73,146.0,235.3,0.0,332,2806,0.93,2.20,120.53,0.855,4,0.137,0.087,2920,799,2202,0,0,0,0,0,0
$GC,2841,0.73,146.0,223.0,11.3,348,2845,0.00,2.05,0.00,0.000,6,0.000,0.063,2920,2409,2200,0,0,0,0,0,0
$GC,3170,0.73,146.0,186.3,10.6,379,3176,0.00,3.70,0.00,0.000,4,0.000,0.081,2920,3915,2196,0,0,6,0,0,0
$GC,3272,0.60,146.0,173.8,12.9,387,3279,0.20,3.58,0.00,0.000,6,0.203,0.067,2891,2405,2195,0,0,5,0,0,0
$GC,3596,0.67,146.0,142.6,9.4,418,3602,0.00,3.70,0.00,0.000,4,0.000,0.081,2891,3930,2195,0,0,5,0,0,0
$GC,3641,0.67,146.0,138.0,10.5,421,3647,0.00,3.62,0.00,0.000,6,0.000,0.067,2906,2394,2195,0,0,5,0,0,0
$GC,3966,0.74,154.1,108.1,8.8,452,3980,0.00,3.72,7.10,0.688,4,0.000,0.080,2906,3917,2171,0,0,6,0,0,0
$GC,4009,0.74,154.1,103.9,10.3,456,4015,0.00,3.60,0.00,0.000,6,0.000,0.067,2922,2400,2170,0,0,5,0,0,0
$GC,4350,0.82,174.9,73.9,8.3,512,4377,0.00,3.72,18.77,0.754,4,0.000,0.081,2922,3918,2086,0,0,5,0,0,0
$GC,4399,0.82,174.9,69.2,10.2,521,4405,0.00,3.62,0.00,0.000,6,0.000,0.067,2938,2399,2085,0,0,5,0,0,0
$GC,4744,0.82,177.5,38.1,9.1,582,4749,0.00,3.70,0.00,0.000,4,0.000,0.081,2939,3919,2084,0,0,6,0,0,0
$GC,4800,0.74,177.5,32.3,10.4,592,4806,0.00,3.62,0.00,0.000,6,0.000,0.067,2955,2392,2084,0,0,5,0,0,0
$FREEZE,8.94,-1.189,-1.828,0,1,0
$FREEZE,8.70,-1.183,-1.828,0,1,0
$FREEZE,8.38,-1.182,-1.828,0,1,0
$FREEZE,8.22,-1.184,-1.828,0,1,0
$FREEZE,7.96,-1.186,-1.827,0,1,0
$FREEZE,7.73,-1.186,-1.827,0,1,0
$FREEZE,7.45,-1.185,-1.827,0,1,0
$FREEZE,7.09,-1.186,-1.827,0,1,0
$FREEZE,6.74,-1.186,-1.827,0,1,0
$FREEZE,6.36,-1.185,-1.826,0,1,0
$FREEZE,5.86,-1.185,-1.826,0,1,0
$FREEZE,5.26,-1.185,-1.825,0,1,0
$FREEZE,4.68,-1.188,-1.825,0,1,0
$FREEZE,4.22,-1.189,-1.825,0,1,0
$FREEZE,3.67,-1.188,-1.824,0,1,0
$FREEZE,3.38,-1.188,-1.824,0,1,0
$FREEZE,2.83,-1.189,-1.824,0,1,0
$FREEZE,2.22,-1.190,-1.823,0,1,0
$FREEZE,1.53,-1.191,-1.823,0,1,0
$STATE,5143,end climb,SURFACE_DEPTH_REACHED
$STATE,5143,begin surface coast
$FREEZE,1.12,-1.193,-1.822,0,1,0
$FREEZE,0.58,-1.193,-1.822,0,1,0
$FREEZE,0.32,-1.192,-1.822,0,1,0
$FREEZE,0.16,-1.125,-1.817,0,1,0
$FINISH,0.2,1.026664
$STATE,5166,end surface coast,CONTROL_FINISHED_OK
$STATE,5166,begin surface
$SM_CCo,5184,85.75,0.736,0,0,1475,325.02
$SM_GC,0.98,0.00,0.00,85.75,0.000,0.000,0.736,130,2804,1475,-8.00,0.11,325.02
$RAFOS_CLK,339
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6658.43,-5751.95,240399,060625
$TT8_MAMPS,0.027612
$HUMID,47.40
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,16.80
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.8,19.9
$24V_AH,22.8,71.748
$10V_AH,10.0,38.376
$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,21.625,75.225,263.100,85.750,0.000,57.241,69.697,192.548,1.250,0.000,27.186,1099.193,2689.034,452.726,1089.213,465.010,0.000,1037.830,0.000,1057.146,0.000,2.620,0.000
$DEVICE_MAMPS,289.159,104.312,904.293,736.320,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,478.784,446.027,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152572
$DATA_FILE_SIZE,25344,657
$CAP_FILE_SIZE,76300,0
$CFSIZE,260165632,219078656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,122,0,0
$SOUNDSPEED,1455.3
$GPS,281209,075430,6730.710,-5749.101,63,0.9,63,-38.4