version: 66.06
glider: 143
mission: 10
dive: 411
start: 12 28 109 15 59 12
data:
$ID,143
$MISSION,10
$DIVE,411
$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,-44418.34
$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,18
$R_STBD_OVSHOOT,14
$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
$GPS1,154630,6731.186,-5745.089,28,1.9,44,-38.4
$_CALLS,3
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-64.2
$GPS2,155855,6731.218,-5745.230,13,1.8,18,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6731.218,-5716.986
$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,233
$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,-146.0,0.0,0.0,0,114,0.00,0.00,-96.65,0.000,2,0.000,0.000,127,2795,3083,0,0,0,0,0,0
$GC,118,-0.73,-146.0,3.4,-7.3,19,144,11.38,2.47,-8.40,0.000,4,0.295,0.097,2448,1184,3399,0,0,0,0,0,0
$GC,156,-0.01,-146.0,11.6,-15.8,26,163,0.88,2.42,0.00,0.000,6,0.200,0.073,2678,2805,3400,0,0,0,0,0,0
$GC,503,-0.98,-146.0,26.0,-6.5,87,508,0.90,0.00,0.00,0.000,6,0.107,0.000,2380,2804,3402,0,0,0,0,0,0
$GC,846,-0.81,-146.0,71.5,-15.1,148,852,0.20,2.45,0.00,0.000,4,0.232,0.085,2426,1200,3401,0,0,0,0,0,0
$GC,1106,-0.81,-146.0,99.0,-10.9,194,1112,0.00,2.40,0.00,0.000,6,0.000,0.076,2426,2808,3401,0,0,0,0,0,0
$GC,1436,-0.81,-146.0,131.3,-8.9,226,1441,0.00,2.78,0.00,0.000,4,0.000,0.094,2425,3915,3399,0,0,6,0,0,0
$GC,1581,-0.81,-146.0,144.5,-9.5,238,1588,0.00,2.75,0.00,0.000,6,0.000,0.065,2426,2791,3398,0,0,5,0,0,0
$GC,1908,-0.81,-146.0,171.4,-8.2,269,1913,0.00,2.85,0.00,0.000,4,0.000,0.091,2426,3927,3398,0,0,7,0,0,0
$GC,2038,-0.81,-146.0,182.4,-8.1,280,2043,0.00,2.70,0.00,0.000,6,0.000,0.063,2426,2797,3398,0,0,5,0,0,0
$GC,2362,-0.81,-146.0,208.7,-8.0,310,2367,0.00,2.85,0.00,0.000,4,0.000,0.089,2426,3923,3398,0,0,6,0,0,0
$GC,2462,-0.81,-146.0,216.9,-8.5,318,2468,0.00,2.67,0.00,0.000,6,0.000,0.062,2426,2800,3398,0,0,6,0,0,0
$STATE,2668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2668,begin apogee
$GC,2675,-0.16,0.0,233.4,7.9,338,2795,0.73,0.00,116.95,0.897,6,0.189,0.000,2627,2392,2800,0,0,0,0,0,0
$STATE,2796,end apogee,CONTROL_FINISHED_OK
$STATE,2796,begin climb
$GC,2798,0.73,146.0,236.3,0.0,350,2927,0.98,2.08,120.00,0.850,4,0.143,0.085,2924,809,2202,0,0,0,0,0,0
$GC,3043,0.73,146.0,214.8,11.0,372,3049,0.00,1.98,0.00,0.000,6,0.000,0.061,2923,2404,2198,0,0,0,0,0,0
$GC,3369,0.73,146.0,178.2,11.4,403,3378,0.00,3.72,0.00,0.000,4,0.000,0.081,2924,3920,2196,0,0,6,0,0,0
$GC,3406,0.61,146.0,173.6,12.2,406,3413,0.22,3.65,0.00,0.000,6,0.201,0.067,2888,2408,2194,0,0,5,0,0,0
$GC,3731,0.75,184.7,146.4,7.5,437,3773,0.15,3.78,31.30,0.796,4,0.114,0.081,2938,3916,2046,0,0,7,0,0,0
$GC,3845,0.62,184.7,133.2,12.5,447,3852,0.25,3.67,0.00,0.000,6,0.195,0.067,2895,2396,2044,0,0,4,0,0,0
$GC,4171,0.75,194.9,104.5,8.7,478,4187,0.12,3.72,9.75,0.721,4,0.123,0.080,2936,3917,2004,0,0,6,0,0,0
$GC,4257,0.65,194.9,94.2,12.8,488,4264,0.20,3.62,0.00,0.000,6,0.196,0.066,2906,2399,2004,0,0,5,0,0,0
$GC,4603,0.88,281.2,69.6,5.5,549,4685,0.20,3.85,72.68,0.754,4,0.104,0.080,2974,3911,1652,0,0,4,0,0,0
$GC,4727,0.81,281.2,55.0,15.2,572,4734,0.17,3.70,0.00,0.000,6,0.196,0.067,2952,2400,1649,0,0,5,0,0,0
$GC,5073,0.88,281.2,12.5,15.3,633,5079,0.00,3.72,0.00,0.000,4,0.000,0.081,2951,3917,1643,0,0,6,0,0,0
$FREEZE,8.42,-0.892,-1.829,0,1,0
$FREEZE,7.31,-0.895,-1.828,0,1,0
$FREEZE,6.54,-0.897,-1.828,0,1,0
$STATE,5106,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,5106,begin subsurface finish
$FINISH1,6.5,1.026744,37
$GC,5117,0.05,36.7,6.5,-16.9,639,5163,0.90,0.00,-39.75,0.000,6,0.182,0.000,2714,2391,2652,0,0,0,0,0,0
$FINISH2,3.4
$STATE,5163,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5164,begin surface
$RAFOS_CLK,338
$RAFOS,6,1262018944,16.833334,16.817778,59,56,55,0,0,0,188,131,202,0,0,0
$RAFOS,5,1262018471,16.700001,16.686388,62,59,58,0,0,0,205,223,187,0,0,0
$RAFOS,4,1262017981,16.566668,16.550278,64,63,59,0,0,0,114,192,167,0,0,0
$RAFOS,3,1262017504,16.433332,16.417778,62,60,59,0,0,0,228,155,204,0,0,0
$RAFOS,2,1262017022,16.299999,16.283890,58,58,52,0,0,0,206,226,163,0,0,0
$RAFOS,1,1262016542,16.166666,16.150555,66,65,56,0,0,0,176,200,138,0,0,0
$RAFOS,0,1262016063,16.033333,16.017500,61,56,55,0,0,0,190,199,217,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6703.95,-5748.96,240399,151506
$TT8_MAMPS,0.027612
$HUMID,47.63
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,17.20
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.9,17.9
$24V_AH,22.9,72.375
$10V_AH,10.0,38.622
$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,17.275,68.475,350.675,0.000,0.000,83.409,160.021,254.796,1.500,0.000,19.744,1011.534,2739.344,451.468,1065.869,636.773,0.000,1052.569,0.000,1043.077,2520.000,2.619,0.000
$DEVICE_MAMPS,294.528,97.409,896.623,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,472.364,436.056,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152596
$DATA_FILE_SIZE,25363,648
$CAP_FILE_SIZE,76242,0
$CFSIZE,260165632,218816512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,88,0,0
$SOUNDSPEED,1458.7
$GPS,281209,155855,6731.218,-5745.230,13,1.8,18,-38.4