version: 66.06
glider: 143
mission: 10
dive: 409
start: 12 28 109 12 43 38
data:
$ID,143
$MISSION,10
$DIVE,409
$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,-44383.863
$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,18
$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
$GPS1,123820,6731.818,-5746.005,18,1.4,18,-38.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-64.7
$GPS2,124320,6731.855,-5746.038,15,1.5,15,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6731.855,-5717.781
$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,-100.05,0.000,2,0.000,0.000,127,2800,3178,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.4,-6.4,20,148,11.20,2.90,-5.57,0.000,4,0.292,0.102,2445,3923,3398,0,0,8,0,0,0
$GC,317,-0.73,-146.0,28.3,-8.1,55,323,0.00,2.70,0.00,0.000,6,0.000,0.061,2445,2801,3400,0,0,5,0,0,0
$GC,659,-0.73,-146.0,61.7,-10.0,116,665,0.00,2.83,0.00,0.000,4,0.000,0.091,2445,3924,3400,0,0,7,0,0,0
$GC,902,-0.73,-146.0,85.2,-9.3,159,907,0.00,2.70,0.00,0.000,6,0.000,0.064,2445,2800,3399,0,0,5,0,0,0
$GC,1237,-0.79,-146.0,113.5,-8.3,205,1242,0.00,2.85,0.00,0.000,4,0.000,0.092,2445,3927,3399,0,0,8,0,0,0
$GC,1368,-0.86,-146.0,124.7,-8.7,216,1373,0.00,2.70,0.00,0.000,6,0.000,0.064,2444,2800,3397,0,0,5,0,0,0
$GC,1693,-0.95,-146.0,151.6,-8.6,246,1698,0.20,2.83,0.00,0.000,4,0.107,0.087,2364,3923,3397,0,0,6,0,0,0
$GC,1777,-0.76,-146.0,161.6,-11.9,253,1783,0.32,2.67,0.00,0.000,6,0.209,0.063,2443,2801,3396,0,0,5,0,0,0
$GC,2102,-0.85,-146.0,188.9,-8.0,283,2107,0.00,2.80,0.00,0.000,4,0.000,0.087,2443,3915,3396,0,0,6,0,0,0
$GC,2315,-0.95,-146.0,206.7,-7.7,301,2322,0.17,2.62,0.00,0.000,6,0.110,0.061,2385,2800,3397,0,0,6,0,0,0
$STATE,2564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2564,begin apogee
$GC,2570,-0.16,0.0,230.2,9.6,325,2690,0.88,0.00,116.28,0.893,6,0.190,0.000,2624,2391,2799,0,0,0,0,0,0
$STATE,2691,end apogee,CONTROL_FINISHED_OK
$STATE,2691,begin climb
$GC,2694,0.73,146.0,233.3,0.0,337,2823,0.98,2.08,119.68,0.848,4,0.138,0.084,2923,799,2202,0,0,0,0,0,0
$GC,2896,0.73,146.0,216.2,11.5,355,2901,0.00,1.98,0.00,0.000,6,0.000,0.062,2924,2410,2199,0,0,0,0,0,0
$GC,3220,0.73,146.0,180.6,10.9,386,3229,0.00,3.72,0.00,0.000,4,0.000,0.081,2924,3922,2196,0,0,6,0,0,0
$GC,3275,0.59,146.0,174.1,12.6,391,3286,0.25,3.65,0.00,0.000,6,0.200,0.067,2881,2410,2194,0,0,6,0,0,0
$GC,3604,0.74,178.6,147.0,7.8,422,3640,0.15,3.80,26.58,0.789,4,0.114,0.080,2932,3913,2070,0,0,5,0,0,0
$GC,3697,0.64,178.6,136.4,12.9,430,3704,0.20,3.67,0.00,0.000,6,0.199,0.066,2902,2391,2068,0,0,5,0,0,0
$GC,4023,0.73,179.6,104.7,9.1,461,4032,0.00,3.72,0.00,0.000,4,0.000,0.079,2902,3922,2067,0,0,6,0,0,0
$GC,4111,0.73,179.6,95.0,11.5,473,4117,0.00,3.65,0.00,0.000,6,0.000,0.066,2916,2391,2068,0,0,5,0,0,0
$GC,4454,0.89,238.9,64.3,6.7,534,4516,0.17,3.78,50.47,0.755,4,0.096,0.078,2979,3922,1825,0,0,7,0,0,0
$GC,4550,0.78,238.9,53.0,15.0,552,4557,0.22,3.67,0.00,0.000,6,0.200,0.064,2944,2395,1822,0,0,6,0,0,0
$GC,4897,0.89,248.7,16.8,8.8,613,4913,0.00,3.72,9.05,0.677,4,0.000,0.081,2944,3914,1784,0,0,7,0,0,0
$GC,4964,0.89,248.7,10.1,10.4,625,4970,0.00,3.65,0.00,0.000,6,0.000,0.067,2958,2398,1782,0,0,5,0,0,0
$FREEZE,8.49,-0.926,-1.829,0,1,0
$FREEZE,7.84,-0.926,-1.829,0,1,0
$FREEZE,7.14,-0.928,-1.828,0,1,0
$FREEZE,6.52,-0.928,-1.828,0,1,0
$FREEZE,5.65,-0.929,-1.827,0,1,0
$FREEZE,5.43,-0.929,-1.827,0,1,0
$FREEZE,5.13,-0.930,-1.827,0,1,0
$FREEZE,4.91,-0.929,-1.826,0,1,0
$FREEZE,4.19,-0.929,-1.826,0,1,0
$FREEZE,3.61,-0.929,-1.825,0,1,0
$FREEZE,3.18,-0.929,-1.825,0,1,0
$FREEZE,2.35,-0.929,-1.825,0,1,0
$FREEZE,1.53,-0.929,-1.824,0,1,0
$STATE,5043,end climb,SURFACE_DEPTH_REACHED
$STATE,5044,begin surface coast
$FREEZE,0.71,-0.932,-1.823,0,1,0
$FREEZE,0.30,-0.895,-1.820,0,1,0
$FREEZE,0.42,-0.927,-1.717,0,1,0
$FINISH,0.4,1.025223
$STATE,5060,end surface coast,CONTROL_FINISHED_OK
$STATE,5061,begin surface
$SM_CCo,5078,48.47,0.723,0,0,1474,325.02
$SM_GC,1.06,0.00,0.00,48.47,0.000,0.000,0.723,122,2794,1474,-8.02,-0.17,325.02
$RAFOS_CLK,319
$RAFOS,6,1262004545,12.833333,12.818055,60,55,55,0,0,0,227,202,183,0,0,0
$RAFOS,4,1262003589,12.566667,12.552500,59,57,56,0,0,0,195,227,133,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6703.95,-5742.96,240399,111127
$TT8_MAMPS,0.028379
$HUMID,46.81
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,19.7
$24V_AH,22.9,72.160
$10V_AH,10.0,38.538
$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,23.050,70.550,322.050,48.475,0.000,27.848,36.128,120.582,0.750,0.000,16.858,1034.170,2568.117,461.320,1052.465,313.171,0.000,1046.995,0.000,1034.866,360.000,2.622,0.000
$DEVICE_MAMPS,292.227,102.011,892.788,722.514,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,469.454,433.029,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152596
$DATA_FILE_SIZE,25326,642
$CAP_FILE_SIZE,72873,0
$CFSIZE,260165632,218906624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,119,0,0
$SOUNDSPEED,1458.6
$GPS,281209,141030,6731.618,-5745.381,38,1.5,38,-38.4