version: 66.06
glider: 143
mission: 10
dive: 415
start: 12 28 109 22 15 51
data:
$ID,143
$MISSION,10
$DIVE,415
$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,-44502.047
$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,16
$R_STBD_OVSHOOT,16
$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
$GPS1,220113,6731.832,-5743.973,28,1.4,34,-38.4
$_CALLS,3
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-62.6
$GPS2,221534,6732.035,-5744.108,12,2.8,31,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6732.035,-5715.849
$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,227
$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,14,-0.73,-146.0,0.0,0.0,0,113,0.00,0.00,-95.50,0.000,2,0.000,0.000,130,2797,3007,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.1,-5.6,19,142,11.50,0.00,-10.55,0.000,6,0.299,0.000,2446,2797,3397,0,0,0,0,0,0
$GC,478,-0.73,-146.0,44.6,-9.7,84,484,0.00,2.85,0.00,0.000,4,0.000,0.094,2446,3921,3401,0,0,7,0,0,0
$GC,731,-0.73,-146.0,70.6,-10.0,129,737,0.00,2.70,0.00,0.000,6,0.000,0.064,2447,2798,3400,0,0,5,0,0,0
$GC,1075,-0.79,-146.0,99.9,-8.3,190,1080,0.00,2.85,0.00,0.000,4,0.000,0.093,2447,3930,3399,0,0,7,0,0,0
$GC,1110,-0.85,-146.0,102.8,-8.3,194,1115,0.00,2.70,0.00,0.000,6,0.000,0.064,2447,2800,3399,0,0,5,0,0,0
$GC,1435,-0.93,-146.0,128.6,-7.5,224,1441,0.17,2.83,0.00,0.000,4,0.113,0.088,2375,3920,3398,0,0,7,0,0,0
$GC,1556,-0.78,-146.0,142.5,-11.9,234,1561,0.25,2.70,0.00,0.000,6,0.216,0.064,2433,2796,3398,0,0,5,0,0,0
$GC,1880,-0.78,-146.0,168.5,-7.5,264,1885,0.00,2.85,0.00,0.000,4,0.000,0.090,2433,3926,3398,0,0,7,0,0,0
$GC,2059,-0.84,-146.0,181.9,-7.4,279,2065,0.00,2.70,0.00,0.000,6,0.000,0.062,2434,2794,3398,0,0,5,0,0,0
$GC,2384,-0.91,-146.0,205.3,-7.4,310,2390,0.12,2.83,0.00,0.000,4,0.127,0.087,2388,3919,3398,0,0,7,0,0,0
$GC,2564,-0.80,-146.0,222.9,-9.9,325,2570,0.17,2.67,0.00,0.000,6,0.208,0.061,2428,2801,3398,0,0,4,0,0,0
$STATE,2610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2610,begin apogee
$GC,2617,-0.16,0.0,227.0,8.7,330,2737,0.73,0.00,116.93,0.896,6,0.187,0.000,2629,2389,2800,0,0,0,0,0,0
$STATE,2738,end apogee,CONTROL_FINISHED_OK
$STATE,2738,begin climb
$GC,2740,0.73,146.0,230.2,0.0,342,2875,0.95,2.12,120.12,0.848,4,0.139,0.086,2920,806,2202,0,0,0,0,0,0
$GC,2891,0.73,146.0,219.9,10.1,356,2897,0.00,2.03,0.00,0.000,6,0.000,0.061,2920,2404,2200,0,0,0,0,0,0
$GC,3217,0.73,146.0,186.1,10.2,387,3226,0.00,3.75,0.00,0.000,4,0.000,0.080,2920,3917,2196,0,0,7,0,0,0
$GC,3305,0.61,146.0,175.3,12.0,395,3316,0.20,3.67,0.00,0.000,6,0.201,0.067,2892,2402,2195,0,0,6,0,0,0
$GC,3634,0.73,174.2,148.0,8.0,426,3666,0.12,3.80,23.20,0.791,4,0.122,0.081,2933,3914,2088,0,0,5,0,0,0
$GC,3739,0.61,174.2,136.3,12.1,435,3746,0.25,3.67,0.00,0.000,6,0.196,0.066,2890,2393,2087,0,0,6,0,0,0
$GC,4064,0.75,187.5,109.3,8.6,466,4087,0.12,3.83,12.23,0.747,4,0.122,0.080,2931,3922,2034,0,0,5,0,0,0
$GC,4133,0.67,187.5,101.5,12.4,472,4143,0.17,3.67,0.00,0.000,6,0.197,0.067,2908,2400,2033,0,0,5,0,0,0
$GC,4481,0.80,187.5,66.8,9.3,532,4488,0.12,3.72,0.00,0.000,4,0.123,0.080,2950,3916,2032,0,0,7,0,0,0
$GC,4550,0.68,187.5,58.1,13.0,544,4557,0.22,3.65,0.00,0.000,6,0.195,0.067,2911,2396,2032,0,0,5,0,0,0
$GC,4897,0.98,320.0,32.5,3.6,605,5021,0.25,3.88,110.43,0.735,4,0.100,0.079,3002,3919,1493,0,0,6,0,0,0
$FREEZE,8.78,-1.067,-1.829,0,1,0
$FREEZE,7.65,-1.071,-1.828,0,1,0
$FREEZE,6.52,-1.077,-1.827,0,1,0
$FREEZE,5.60,-1.074,-1.826,0,1,0
$FREEZE,4.67,-1.071,-1.825,0,1,0
$GC,5079,0.87,320.0,4.7,18.3,639,5086,0.20,3.75,0.00,0.000,6,0.212,0.066,2975,2405,1488,0,0,5,0,0,0
$FREEZE,2.35,-1.064,-1.824,0,1,0
$FREEZE,1.51,-1.074,-1.823,0,1,0
$STATE,5096,end climb,SURFACE_DEPTH_REACHED
$STATE,5096,begin surface coast
$FREEZE,0.52,-1.080,-1.822,0,1,0
$FREEZE,0.32,-1.092,-1.821,0,1,0
$FINISH,0.3,1.026724
$STATE,5108,end surface coast,CONTROL_FINISHED_OK
$STATE,5109,begin surface
$SM_CCo,5127,1.62,0.104,0,0,1475,325.02
$SM_GC,1.56,0.00,0.00,1.62,0.000,0.000,0.104,129,2798,1475,-8.00,-0.06,325.02
$RAFOS_CLK,345
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6703.95,-5741.21,240399,222224
$TT8_MAMPS,0.027612
$HUMID,46.25
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.20
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.7,20.2
$24V_AH,22.9,72.792
$10V_AH,10.0,38.782
$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,23.775,71.150,382.900,1.625,0.000,90.738,102.888,392.400,1.250,0.000,33.566,1007.957,2693.008,462.961,1085.031,741.330,0.000,1071.785,0.000,1050.046,0.000,2.636,0.000
$DEVICE_MAMPS,299.130,94.341,895.856,103.545,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,469.588,433.237,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152572
$DATA_FILE_SIZE,25320,644
$CAP_FILE_SIZE,83392,0
$CFSIZE,260165632,218636288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,116,0,0
$SOUNDSPEED,1458.5
$GPS,281209,234214,6732.630,-5742.625,10,1.7,10,-38.4