version: 66.06
glider: 143
mission: 10
dive: 412
start: 12 28 109 17 26 55
data:
$ID,143
$MISSION,10
$DIVE,412
$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,22
$R_STBD_OVSHOOT,25
$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
$GPS1,155855,6731.218,-5745.230,13,1.8,18,-38.4
$_CALLS,3
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,3.73
$_SM_ANGLEo,4.2
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.73,-146.0,0.0,0.0,0,22,0.00,0.00,-4.55,0.000,2,0.000,0.000,2715,2392,2782,0,0,0,0,0,0
$GC,25,-0.73,-146.0,4.9,-0.0,1,52,0.77,1.55,-21.45,0.000,4,0.122,0.104,2462,1182,3398,0,0,0,0,0,0
$GC,63,-0.63,-146.0,7.5,-9.6,8,69,0.00,2.38,0.00,0.000,6,0.000,0.070,2462,2794,3400,0,0,0,0,0,0
$GC,408,-0.63,-146.0,45.1,-7.7,69,413,0.00,2.83,0.00,0.000,4,0.000,0.090,2462,3916,3401,0,0,5,0,0,0
$GC,610,-0.73,-146.0,65.9,-11.5,105,616,0.00,2.62,0.00,0.000,6,0.000,0.061,2462,2802,3401,0,0,6,0,0,0
$GC,955,-0.85,-146.0,97.4,-8.4,166,961,0.15,2.83,0.00,0.000,4,0.115,0.087,2400,3918,3400,0,0,6,0,0,0
$GC,1104,-0.75,-146.0,113.4,-10.3,182,1110,0.17,2.67,0.00,0.000,6,0.212,0.063,2439,2800,3399,0,0,5,0,0,0
$GC,1429,-0.81,-146.0,140.0,-8.2,212,1434,0.00,2.83,0.00,0.000,4,0.000,0.088,2439,3931,3398,0,0,6,0,0,0
$GC,1614,-0.87,-146.0,155.8,-8.9,228,1619,0.00,2.67,0.00,0.000,6,0.000,0.062,2440,2800,3397,0,0,5,0,0,0
$GC,1940,-0.94,-146.0,183.1,-8.6,258,1945,0.17,2.83,0.00,0.000,4,0.110,0.085,2367,3930,3397,0,0,6,0,0,0
$GC,2042,-0.78,-146.0,194.9,-11.6,266,2048,0.28,2.67,0.00,0.000,6,0.216,0.060,2431,2800,3396,0,0,5,0,0,0
$GC,2366,-0.84,-146.0,222.7,-8.5,297,2371,0.00,2.80,0.00,0.000,4,0.000,0.087,2431,3917,3396,0,0,6,0,0,0
$GC,2466,-0.90,-146.0,231.7,-9.0,305,2472,0.00,2.65,0.00,0.000,6,0.000,0.060,2432,2795,3397,0,0,6,0,0,0
$STATE,2491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2491,begin apogee
$GC,2498,-0.16,0.0,233.8,8.2,308,2618,0.70,0.00,116.10,0.888,6,0.185,0.000,2628,2387,2800,0,0,0,0,0,0
$STATE,2618,end apogee,CONTROL_FINISHED_OK
$STATE,2619,begin climb
$GC,2620,0.73,146.0,237.6,0.0,320,2750,0.95,2.05,119.95,0.841,4,0.140,0.083,2919,809,2203,0,0,0,0,0,0
$GC,2777,0.73,146.0,227.5,9.8,334,2783,0.00,2.03,0.00,0.000,6,0.000,0.060,2919,2406,2199,0,0,0,0,0,0
$GC,3102,0.73,146.0,193.7,10.2,365,3112,0.00,3.72,0.00,0.000,4,0.000,0.079,2919,3917,2194,0,0,7,0,0,0
$GC,3173,0.62,146.0,185.3,11.9,371,3180,0.20,3.67,0.00,0.000,6,0.199,0.066,2890,2403,2194,0,0,5,0,0,0
$GC,3499,0.73,175.6,158.3,7.9,402,3531,0.12,3.75,24.10,0.792,4,0.122,0.080,2932,3917,2083,0,0,7,0,0,0
$GC,3604,0.62,175.6,145.9,12.8,411,3610,0.22,3.70,0.00,0.000,6,0.197,0.066,2896,2392,2081,0,0,4,0,0,0
$GC,3929,0.74,189.5,117.6,8.6,442,3950,0.10,3.78,12.62,0.749,4,0.134,0.079,2928,3924,2026,0,0,5,0,0,0
$GC,4024,0.67,189.5,106.0,13.2,450,4031,0.15,3.65,0.00,0.000,6,0.199,0.065,2912,2398,2025,0,0,5,0,0,0
$GC,4364,0.79,199.1,73.0,8.8,506,4380,0.00,3.72,9.45,0.709,4,0.000,0.078,2912,3921,1987,0,0,6,0,0,0
$GC,4398,0.87,199.1,69.3,10.4,512,4405,0.15,3.65,0.00,0.000,6,0.110,0.065,2977,2399,1987,0,0,5,0,0,0
$GC,4744,0.81,199.1,29.8,12.4,573,4750,0.00,3.72,0.00,0.000,4,0.000,0.079,2977,3925,1987,0,0,7,0,0,0
$GC,4841,0.67,199.1,16.7,11.9,590,4847,0.32,3.65,0.00,0.000,6,0.187,0.066,2911,2395,1987,0,0,5,0,0,0
$FREEZE,8.94,-0.958,-1.829,0,2,0
$FREEZE,8.54,-0.951,-1.829,0,2,0
$FREEZE,7.98,-0.951,-1.829,0,2,0
$FREEZE,7.40,-0.950,-1.828,0,2,0
$FREEZE,6.90,-0.952,-1.828,0,2,0
$FREEZE,6.87,-0.951,-1.828,0,2,0
$FREEZE,6.89,-0.950,-1.828,0,2,0
$FREEZE,6.66,-0.950,-1.828,0,2,0
$FREEZE,6.10,-0.950,-1.827,0,2,0
$FREEZE,5.65,-0.959,-1.827,0,2,0
$FREEZE,5.10,-0.960,-1.826,0,2,0
$FREEZE,4.53,-0.960,-1.826,0,2,0
$FREEZE,3.75,-0.962,-1.826,0,2,0
$FREEZE,3.16,-0.960,-1.825,0,2,0
$FREEZE,2.35,-0.955,-1.824,0,2,0
$FREEZE,1.76,-0.955,-1.824,0,2,0
$STATE,5021,end climb,SURFACE_DEPTH_REACHED
$STATE,5021,begin surface coast
$FREEZE,1.15,-0.955,-1.823,0,2,0
$FREEZE,0.44,-0.957,-1.823,0,2,0
$FREEZE,0.23,-0.955,-1.823,0,2,0
$FINISH,0.2,1.026738
$STATE,5039,end surface coast,CONTROL_FINISHED_OK
$STATE,5039,begin surface
$SM_CCo,5056,73.78,0.729,0,0,1475,325.02
$SM_GC,0.99,0.00,0.00,73.78,0.000,0.000,0.729,124,2797,1475,-8.02,-0.08,325.02
$RAFOS_CLK,344
$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,47.08
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.00
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.3,19.2
$24V_AH,22.9,72.458
$10V_AH,10.0,38.656
$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,12.575,74.300,282.225,73.775,0.000,0.000,0.000,0.000,1.500,0.000,0.000,1054.795,2625.043,390.334,1025.562,92.166,0.000,947.531,0.000,1023.561,0.000,2.619,0.000
$DEVICE_MAMPS,215.527,104.312,888.186,729.417,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,457.467,424.779,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152528
$DATA_FILE_SIZE,22220,625
$CAP_FILE_SIZE,70485,0
$CFSIZE,260165632,218779648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,112,0,0
$SOUNDSPEED,1458.7
$GPS,281209,185407,6730.783,-5744.896,54,1.5,54,-38.4