version: 66.06
glider: 143
mission: 10
dive: 406
start: 12 28 109 8 3 58
data:
$ID,143
$MISSION,10
$DIVE,406
$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,-44311.262
$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,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
$GPS1,075430,6730.710,-5749.101,63,0.9,63,-38.4
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,2
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-66.1
$GPS2,080338,6730.812,-5749.119,11,1.3,11,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6730.812,-5720.883
$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,230
$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,-100.35,0.000,2,0.000,0.000,131,2805,3110,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.5,-7.2,20,149,11.60,2.88,-7.60,0.000,4,0.302,0.107,2448,3931,3399,0,0,8,0,0,0
$GC,356,-0.73,-146.0,32.7,-10.8,62,362,0.00,2.67,0.00,0.000,6,0.000,0.065,2448,2807,3401,0,0,6,0,0,0
$GC,699,-0.73,-146.0,66.7,-8.6,123,705,0.00,2.83,0.00,0.000,4,0.000,0.094,2448,3920,3401,0,0,6,0,0,0
$GC,842,-0.80,-146.0,80.5,-10.2,148,848,0.00,2.70,0.00,0.000,6,0.000,0.066,2448,2794,3400,0,0,5,0,0,0
$GC,1185,-0.87,-146.0,111.5,-9.1,198,1190,0.12,2.85,0.00,0.000,4,0.129,0.091,2400,3929,3400,0,0,7,0,0,0
$GC,1329,-0.79,-146.0,127.8,-11.2,210,1336,0.12,2.67,0.00,0.000,6,0.219,0.065,2425,2805,3400,0,0,5,0,0,0
$GC,1656,-0.79,-146.0,158.0,-9.4,241,1660,0.00,2.80,0.00,0.000,4,0.000,0.093,2425,3918,3399,0,0,7,0,0,0
$GC,1772,-0.79,-146.0,169.2,-9.6,251,1777,0.00,2.70,0.00,0.000,6,0.000,0.065,2426,2791,3398,0,0,5,0,0,0
$GC,2097,-0.79,-146.0,196.9,-7.9,281,2102,0.00,2.85,0.00,0.000,4,0.000,0.090,2426,3928,3398,0,0,6,0,0,0
$GC,2271,-0.79,-146.0,211.2,-8.6,296,2276,0.00,2.67,0.00,0.000,6,0.000,0.063,2426,2803,3397,0,0,4,0,0,0
$STATE,2497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2497,begin apogee
$GC,2504,-0.16,0.0,230.3,8.3,317,2625,0.73,0.00,116.95,0.901,6,0.186,0.000,2627,2395,2800,0,0,0,0,0,0
$STATE,2626,end apogee,CONTROL_FINISHED_OK
$STATE,2626,begin climb
$GC,2630,0.73,146.0,233.3,0.0,329,2762,0.98,2.12,120.45,0.854,4,0.140,0.086,2924,803,2202,0,0,0,0,0,0
$GC,2830,0.73,146.0,217.2,11.9,348,2834,0.00,2.00,0.00,0.000,6,0.000,0.063,2923,2406,2199,0,0,0,0,0,0
$GC,3160,0.68,146.0,180.8,10.9,379,3170,0.00,3.72,0.00,0.000,4,0.000,0.081,2924,3923,2196,0,0,6,0,0,0
$GC,3243,0.54,146.0,170.6,13.1,386,3249,0.30,3.65,0.00,0.000,6,0.201,0.067,2868,2400,2194,0,0,6,0,0,0
$GC,3567,0.74,179.6,144.2,7.8,417,3602,0.20,3.72,27.60,0.796,4,0.104,0.081,2937,3915,2066,0,0,7,0,0,0
$GC,3670,0.63,179.6,131.3,13.8,426,3676,0.25,3.67,0.00,0.000,6,0.196,0.067,2894,2394,2064,0,0,5,0,0,0
$GC,3995,0.77,196.6,101.3,8.4,457,4022,0.15,3.72,15.40,0.753,4,0.116,0.080,2944,3921,1997,0,0,6,0,0,0
$GC,4068,0.66,196.6,92.8,12.6,468,4075,0.22,3.65,0.00,0.000,6,0.196,0.067,2908,2393,1996,0,0,5,0,0,0
$GC,4414,0.82,223.0,63.1,8.1,529,4446,0.15,3.75,23.17,0.754,4,0.117,0.081,2959,3925,1889,0,0,6,0,0,0
$GC,4509,0.74,223.0,52.1,12.4,546,4516,0.20,3.62,0.00,0.000,6,0.196,0.067,2929,2403,1888,0,0,6,0,0,0
$GC,4856,0.88,250.3,22.6,8.0,607,4887,0.15,3.70,23.75,0.744,4,0.116,0.082,2979,3916,1778,0,0,7,0,0,0
$GC,4945,0.77,250.3,10.7,15.8,622,4952,0.22,3.62,0.00,0.000,6,0.189,0.071,2941,2393,1776,0,0,5,0,0,0
$FREEZE,8.65,-1.116,-1.829,0,1,0
$FREEZE,8.08,-1.115,-1.828,0,1,0
$FREEZE,7.42,-1.118,-1.828,0,1,0
$FREEZE,6.86,-1.118,-1.827,0,1,0
$FREEZE,6.07,-1.111,-1.827,0,1,0
$FREEZE,5.34,-1.113,-1.826,0,1,0
$FREEZE,4.73,-1.121,-1.826,0,1,0
$FREEZE,4.04,-1.119,-1.825,0,1,0
$FREEZE,3.34,-1.121,-1.825,0,1,0
$FREEZE,2.65,-1.123,-1.824,0,1,0
$FREEZE,2.16,-1.123,-1.824,0,1,0
$FREEZE,1.43,-1.123,-1.823,0,1,0
$STATE,5021,end climb,SURFACE_DEPTH_REACHED
$STATE,5021,begin surface coast
$FREEZE,0.54,-1.124,-1.823,0,1,0
$FREEZE,0.30,-1.062,-1.818,0,1,0
$FREEZE,0.35,-1.123,-1.821,0,1,0
$FINISH,0.4,1.026725
$STATE,5038,end surface coast,CONTROL_FINISHED_OK
$STATE,5038,begin surface
$SM_CCo,5055,52.30,0.732,0,0,1474,325.02
$SM_GC,1.14,0.00,0.00,52.30,0.000,0.000,0.732,124,2802,1474,-8.02,0.06,325.02
$RAFOS_CLK,332
$RAFOS,6,1261990142,8.833333,8.817223,80,65,61,0,0,0,726,191,217,0,0,0
$RAFOS,5,1261989662,8.700000,8.683888,65,63,57,0,0,0,196,212,169,0,0,0
$RAFOS,4,1261989186,8.566667,8.551666,59,59,58,0,0,0,190,233,133,0,0,0
$RAFOS,3,1261988705,8.433333,8.418056,67,59,59,0,0,0,198,154,212,0,0,0
$RAFOS,2,1261988225,8.300000,8.284722,64,63,59,0,0,0,208,176,192,0,0,0
$RAFOS,1,1261987742,8.166667,8.150556,67,58,56,0,0,0,198,208,110,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6703.95,-5750.73,240399,080859
$TT8_MAMPS,0.027612
$HUMID,47.36
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.00
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.9,20.1
$24V_AH,22.8,71.859
$10V_AH,10.0,38.419
$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,23.750,70.475,327.325,52.300,0.000,58.994,79.628,229.663,1.250,0.000,13.129,1042.824,2593.916,464.525,1048.091,514.083,0.000,1050.367,0.000,1031.429,2160.000,2.633,0.000
$DEVICE_MAMPS,302.198,107.380,901.225,731.718,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,466.420,431.549,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152552
$DATA_FILE_SIZE,25338,638
$CAP_FILE_SIZE,77973,0
$CFSIZE,260165632,219029504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,118,0,0
$SOUNDSPEED,1455.7
$GPS,281209,093025,6731.193,-5747.884,12,1.1,29,-38.4