version: 66.06
glider: 143
mission: 10
dive: 413
start: 12 28 109 19 2 35
data:
$ID,143
$MISSION,10
$DIVE,413
$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,-44453.152
$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,21
$R_STBD_OVSHOOT,19
$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
$GPS1,185407,6730.783,-5744.896,54,1.5,54,-38.4
$_CALLS,1
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-60.6
$GPS2,190218,6730.856,-5745.029,12,2.9,31,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6730.856,-5716.792
$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,-146.0,0.0,0.0,0,129,0.00,0.00,-110.18,0.000,2,0.000,0.000,124,2799,3307,0,0,0,0,0,0
$GC,133,-0.73,-146.0,3.8,-8.6,22,154,11.45,2.83,-2.10,0.000,4,0.298,0.100,2435,3917,3399,0,0,8,0,0,0
$GC,261,-0.73,-146.0,28.7,-11.4,45,266,0.00,2.70,0.00,0.000,6,0.000,0.064,2436,2803,3402,0,0,5,0,0,0
$GC,604,-0.73,-146.0,64.6,-11.2,106,610,0.00,2.83,0.00,0.000,4,0.000,0.091,2435,3923,3401,0,0,7,0,0,0
$GC,807,-0.73,-146.0,87.9,-10.9,142,812,0.00,2.70,0.00,0.000,6,0.000,0.064,2435,2800,3400,0,0,5,0,0,0
$GC,1144,-0.73,-146.0,119.7,-9.3,184,1148,0.00,2.85,0.00,0.000,4,0.000,0.092,2435,3923,3399,0,0,6,0,0,0
$GC,1238,-0.73,-146.0,129.0,-9.9,192,1243,0.00,2.70,0.00,0.000,6,0.000,0.064,2435,2800,3398,0,0,5,0,0,0
$GC,1563,-0.73,-146.0,158.8,-8.8,222,1568,0.00,2.85,0.00,0.000,4,0.000,0.091,2435,3923,3398,0,0,5,0,0,0
$GC,1737,-0.73,-146.0,173.9,-8.2,237,1741,0.00,2.67,0.00,0.000,6,0.000,0.063,2435,2798,3397,0,0,6,0,0,0
$GC,2061,-0.78,-146.0,200.6,-8.9,267,2066,0.00,2.85,0.00,0.000,4,0.000,0.089,2436,3924,3398,0,0,6,0,0,0
$GC,2204,-0.83,-146.0,213.2,-9.0,279,2209,0.00,2.70,0.00,0.000,6,0.000,0.061,2435,2798,3398,0,0,4,0,0,0
$STATE,2441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2442,begin apogee
$GC,2448,-0.16,0.0,233.1,8.1,301,2568,0.70,0.00,116.53,0.897,6,0.187,0.000,2628,2398,2800,0,0,0,0,0,0
$STATE,2569,end apogee,CONTROL_FINISHED_OK
$STATE,2569,begin climb
$GC,2572,0.73,146.0,236.1,0.0,313,2701,0.98,2.15,119.97,0.850,4,0.141,0.085,2925,797,2202,0,0,0,0,0,0
$GC,2780,0.73,146.0,218.3,11.6,332,2784,0.00,1.98,0.00,0.000,6,0.000,0.061,2925,2413,2199,0,0,0,0,0,0
$GC,3111,0.67,146.0,182.6,10.9,363,3120,0.00,3.72,0.00,0.000,4,0.000,0.080,2926,3917,2196,0,0,6,0,0,0
$GC,3228,0.53,146.0,168.5,11.7,373,3235,0.32,3.65,0.00,0.000,6,0.195,0.067,2861,2400,2195,0,0,6,0,0,0
$GC,3553,0.79,210.5,146.5,6.5,404,3615,0.25,3.85,52.62,0.802,4,0.096,0.080,2955,3917,1940,0,0,5,0,0,0
$GC,3683,0.66,210.5,130.3,14.7,416,3693,0.28,3.70,0.00,0.000,6,0.197,0.067,2906,2399,1936,0,0,5,0,0,0
$GC,4013,0.77,210.5,96.4,9.3,450,4018,0.00,3.72,0.00,0.000,4,0.000,0.079,2906,3918,1934,0,0,6,0,0,0
$GC,4087,0.77,210.5,88.9,10.2,463,4093,0.00,3.65,0.00,0.000,6,0.000,0.066,2920,2399,1934,0,0,5,0,0,0
$GC,4431,0.89,210.5,54.5,11.2,524,4437,0.15,3.75,0.00,0.000,4,0.100,0.080,2976,3924,1933,0,0,7,0,0,0
$GC,4488,0.73,210.5,47.0,12.2,534,4494,0.25,3.65,0.00,0.000,6,0.193,0.067,2930,2400,1933,0,0,5,0,0,0
$GC,4835,0.77,242.6,16.4,7.8,595,4871,0.00,3.83,27.12,0.743,4,0.000,0.081,2930,3913,1810,0,0,5,0,0,0
$FREEZE,8.70,-1.019,-1.829,0,1,0
$FREEZE,8.34,-1.018,-1.828,0,1,0
$FREEZE,8.03,-1.017,-1.828,0,1,0
$FREEZE,7.60,-1.017,-1.828,0,1,0
$FREEZE,7.15,-1.016,-1.828,0,1,0
$FREEZE,6.55,-1.016,-1.827,0,1,0
$FREEZE,6.06,-1.016,-1.827,0,1,0
$FREEZE,5.07,-1.017,-1.826,0,1,0
$FREEZE,4.02,-1.018,-1.825,0,1,0
$GC,4954,0.79,256.5,6.1,8.6,616,4973,0.00,3.65,12.43,0.708,6,0.000,0.067,2945,2396,1753,0,0,6,0,0,0
$FREEZE,1.84,-1.014,-1.824,0,1,0
$STATE,4978,end climb,SURFACE_DEPTH_REACHED
$STATE,4978,begin surface coast
$FREEZE,0.73,-1.016,-1.823,0,1,0
$FREEZE,0.21,-1.012,-1.817,0,1,0
$FINISH,0.2,1.026657
$STATE,4990,end surface coast,CONTROL_FINISHED_OK
$STATE,4991,begin surface
$SM_CCo,5008,42.83,0.723,0,0,1474,325.02
$SM_GC,1.21,0.00,0.00,42.83,0.000,0.000,0.723,126,2794,1474,-8.01,-0.17,325.02
$RAFOS_CLK,323
$RAFOS,2,1262031424,20.299999,20.284445,55,54,52,0,0,0,183,200,134,0,0,0
$RAFOS,1,1262030943,20.166666,20.150833,59,55,55,0,0,0,200,175,119,0,0,0
$RAFOS,0,1262030463,20.033333,20.017500,67,58,52,0,0,0,193,168,182,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6703.95,-5741.21,240399,161600
$TT8_MAMPS,0.029146
$HUMID,46.85
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,18.6
$24V_AH,22.9,72.566
$10V_AH,10.0,38.697
$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,22.675,70.850,328.675,42.825,0.000,30.898,34.443,266.854,0.750,0.000,34.188,998.239,2550.961,457.196,1050.894,487.646,0.000,1032.825,0.000,1012.194,1440.000,2.617,0.000
$DEVICE_MAMPS,297.596,100.477,897.390,722.514,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,452.484,419.541,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152596
$DATA_FILE_SIZE,25345,622
$CAP_FILE_SIZE,73974,0
$CFSIZE,260165632,218730496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,113,0,0
$SOUNDSPEED,1457.8
$GPS,281209,202907,6731.227,-5744.685,94,1.2,94,-38.4