version: 66.06
glider: 143
mission: 10
dive: 407
start: 12 28 109 9 35 55
data:
$ID,143
$MISSION,10
$DIVE,407
$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,-44328.496
$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,17
$R_STBD_OVSHOOT,17
$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
$GPS1,093025,6731.193,-5747.884,12,1.1,29,-38.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-65.7
$GPS2,093537,6731.266,-5747.880,10,1.6,15,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6731.266,-5719.635
$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,15,-0.73,-146.0,0.0,0.0,0,118,0.00,0.00,-100.18,0.000,2,0.000,0.000,124,2803,3156,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.3,-5.9,20,148,11.45,2.88,-6.28,0.000,4,0.298,0.104,2444,3920,3400,0,0,8,0,0,0
$GC,271,-0.73,-146.0,24.6,-11.2,47,277,0.00,2.70,0.00,0.000,6,0.000,0.064,2444,2800,3402,0,0,5,0,0,0
$GC,614,-0.73,-146.0,60.3,-11.1,108,620,0.00,2.83,0.00,0.000,4,0.000,0.092,2444,3923,3402,0,0,7,0,0,0
$GC,846,-0.78,-146.0,81.4,-8.6,149,851,0.00,2.70,0.00,0.000,6,0.000,0.065,2444,2798,3401,0,0,5,0,0,0
$GC,1189,-0.83,-146.0,111.6,-9.1,199,1194,0.00,2.85,0.00,0.000,4,0.000,0.094,2445,3921,3400,0,0,7,0,0,0
$GC,1308,-0.91,-146.0,122.8,-8.8,209,1314,0.15,2.70,0.00,0.000,6,0.123,0.066,2397,2802,3400,0,0,4,0,0,0
$GC,1633,-0.84,-146.0,156.4,-10.6,239,1638,0.00,2.83,0.00,0.000,4,0.000,0.091,2397,3929,3399,0,0,7,0,0,0
$GC,1779,-0.78,-146.0,171.3,-10.1,251,1785,0.17,2.70,0.00,0.000,6,0.208,0.064,2437,2797,3399,0,0,5,0,0,0
$GC,2103,-0.85,-146.0,197.3,-7.8,282,2108,0.00,2.80,0.00,0.000,4,0.000,0.091,2437,3916,3399,0,0,7,0,0,0
$GC,2283,-0.93,-146.0,212.2,-8.0,297,2289,0.15,2.65,0.00,0.000,6,0.116,0.063,2388,2801,3398,0,0,5,0,0,0
$STATE,2467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2467,begin apogee
$GC,2473,-0.16,0.0,230.1,9.8,315,2594,0.90,0.00,116.88,0.900,6,0.195,0.000,2631,2392,2800,0,0,0,0,0,0
$STATE,2595,end apogee,CONTROL_FINISHED_OK
$STATE,2595,begin climb
$GC,2597,0.73,146.0,233.1,0.0,327,2731,0.95,2.17,120.28,0.851,4,0.138,0.087,2922,797,2202,0,0,0,0,0,0
$GC,2811,0.73,146.0,215.6,11.3,347,2815,0.00,2.00,0.00,0.000,6,0.000,0.062,2922,2407,2199,0,0,0,0,0,0
$GC,3140,0.73,146.0,180.0,10.7,378,3150,0.00,3.72,0.00,0.000,4,0.000,0.081,2922,3923,2197,0,0,6,0,0,0
$GC,3223,0.61,146.0,169.9,11.8,385,3229,0.20,3.62,0.00,0.000,6,0.200,0.067,2893,2407,2195,0,0,6,0,0,0
$GC,3548,0.69,160.8,140.9,8.5,416,3569,0.00,3.72,12.25,0.759,4,0.000,0.081,2893,3910,2143,0,0,6,0,0,0
$GC,3626,0.69,160.8,133.3,10.4,423,3631,0.00,3.65,0.00,0.000,6,0.000,0.067,2907,2386,2142,0,0,5,0,0,0
$GC,3952,0.75,160.8,102.9,9.2,453,3957,0.00,3.70,0.00,0.000,4,0.000,0.080,2907,3913,2142,0,0,6,0,0,0
$GC,4003,0.75,160.8,97.2,11.0,459,4009,0.00,3.60,0.00,0.000,6,0.000,0.067,2924,2395,2142,0,0,6,0,0,0
$GC,4348,0.79,192.1,65.3,7.8,520,4384,0.00,3.80,27.25,0.758,4,0.000,0.080,2924,3916,2015,0,0,5,0,0,0
$GC,4459,0.79,192.1,54.0,11.5,540,4465,0.00,3.60,0.00,0.000,6,0.000,0.067,2940,2398,2013,0,0,5,0,0,0
$GC,4804,0.88,210.2,17.1,8.4,601,4830,0.00,3.70,16.38,0.726,4,0.000,0.081,2940,3912,1940,0,0,6,0,0,0
$GC,4878,0.88,210.2,11.5,10.9,614,4883,0.00,3.65,0.00,0.000,6,0.000,0.067,2957,2392,1938,0,0,5,0,0,0
$FREEZE,8.49,-1.135,-1.828,0,1,0
$FREEZE,7.87,-1.136,-1.828,0,1,0
$FREEZE,7.08,-1.138,-1.827,0,1,0
$FREEZE,6.28,-1.139,-1.827,0,1,0
$FREEZE,5.39,-1.139,-1.826,0,1,0
$FREEZE,4.73,-1.139,-1.826,0,1,0
$FREEZE,4.09,-1.138,-1.825,0,1,0
$FREEZE,3.51,-1.139,-1.825,0,1,0
$FREEZE,2.69,-1.138,-1.824,0,1,0
$FREEZE,1.94,-1.138,-1.823,0,1,0
$STATE,4950,end climb,SURFACE_DEPTH_REACHED
$STATE,4950,begin surface coast
$FREEZE,1.22,-1.138,-1.823,0,1,0
$FREEZE,0.50,-1.138,-1.822,0,1,0
$FREEZE,0.22,-1.152,-0.989,0,1,0
$FINISH,0.2,1.014611
$STATE,4968,end surface coast,CONTROL_FINISHED_OK
$STATE,4968,begin surface
$SM_CCo,4987,67.10,0.724,0,0,1474,325.02
$SM_GC,1.16,0.00,0.00,67.10,0.000,0.000,0.724,124,2796,1474,-8.02,-0.11,325.02
$RAFOS_CLK,315
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6658.43,-5753.72,240399,080809
$TT8_MAMPS,0.026845
$HUMID,46.69
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.20
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.9,18.7
$24V_AH,22.8,71.955
$10V_AH,10.0,38.457
$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,22.625,70.450,293.025,67.100,0.000,29.988,34.080,133.341,1.250,0.000,16.607,1029.368,2516.130,460.540,1037.932,325.484,0.000,1033.479,0.000,1020.761,0.000,2.619,0.000
$DEVICE_MAMPS,297.596,104.312,900.458,724.048,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,458.359,425.826,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152596
$DATA_FILE_SIZE,25311,630
$CAP_FILE_SIZE,70984,0
$CFSIZE,260165632,218996736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,116,0,0
$SOUNDSPEED,1457.1
$GPS,281209,110136,6731.601,-5746.808,40,2.0,40,-38.4