version: 66.06
glider: 143
mission: 10
dive: 416
start: 12 28 109 23 53 51
data:
$ID,143
$MISSION,10
$DIVE,416
$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,-44521.66
$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,17
$R_STBD_OVSHOOT,17
$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
$GPS1,234214,6732.630,-5742.625,10,1.7,10,-38.4
$_CALLS,3
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-63.2
$GPS2,235332,6732.798,-5742.577,17,2.0,17,-38.5
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6732.798,-5714.301
$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,128.5,20000,-16.9,-9.167
$D_GRID,220
$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,-146.0,0.0,0.0,0,118,0.00,0.00,-100.40,0.000,2,0.000,0.000,129,2803,3130,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.6,-7.1,20,143,11.30,0.00,-6.95,0.000,6,0.293,0.000,2446,2802,3397,0,0,0,0,0,0
$GC,481,-0.73,-146.0,48.0,-8.5,84,487,0.00,2.85,0.00,0.000,4,0.000,0.094,2446,3926,3401,0,0,7,0,0,0
$GC,739,-0.73,-146.0,71.2,-9.4,130,745,0.00,2.70,0.00,0.000,6,0.000,0.064,2446,2799,3400,0,0,5,0,0,0
$GC,1085,-0.79,-146.0,104.1,-9.2,188,1090,0.00,2.85,0.00,0.000,4,0.000,0.093,2447,3925,3399,0,0,8,0,0,0
$GC,1193,-0.86,-146.0,114.5,-9.2,197,1198,0.12,2.70,0.00,0.000,6,0.131,0.064,2408,2799,3399,0,0,5,0,0,0
$GC,1517,-0.82,-146.0,146.3,-9.3,227,1522,0.00,2.85,0.00,0.000,4,0.000,0.091,2408,3924,3398,0,0,7,0,0,0
$GC,1652,-0.77,-146.0,159.6,-10.2,238,1659,0.12,2.70,0.00,0.000,6,0.217,0.063,2433,2794,3397,0,0,5,0,0,0
$GC,1977,-0.83,-146.0,187.0,-8.6,269,1982,0.00,2.83,0.00,0.000,4,0.000,0.090,2434,3920,3397,0,0,7,0,0,0
$GC,2167,-0.89,-146.0,204.0,-9.1,285,2173,0.00,2.70,0.00,0.000,6,0.000,0.063,2434,2799,3397,0,0,4,0,0,0
$STATE,2362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2362,begin apogee
$GC,2369,-0.16,0.0,220.5,7.9,304,2489,0.70,0.00,116.78,0.888,6,0.186,0.000,2629,2395,2800,0,0,0,0,0,0
$STATE,2490,end apogee,CONTROL_FINISHED_OK
$STATE,2490,begin climb
$GC,2492,0.73,146.0,223.5,0.0,316,2622,0.95,2.15,120.00,0.844,4,0.140,0.087,2920,793,2202,0,0,0,0,0,0
$GC,2694,0.73,146.0,207.8,10.7,334,2700,0.00,2.00,0.00,0.000,6,0.000,0.061,2920,2402,2199,0,0,0,0,0,0
$GC,3019,0.73,146.0,172.3,10.8,365,3028,0.00,3.75,0.00,0.000,4,0.000,0.081,2921,3919,2196,0,0,7,0,0,0
$GC,3096,0.63,146.0,162.9,12.7,372,3106,0.17,3.67,0.00,0.000,6,0.202,0.067,2898,2403,2195,0,0,6,0,0,0
$GC,3425,0.72,169.3,133.1,8.2,403,3451,0.00,3.78,19.25,0.777,4,0.000,0.081,2898,3924,2108,0,0,7,0,0,0
$GC,3489,0.72,169.3,126.8,10.0,408,3495,0.00,3.72,0.00,0.000,6,0.000,0.067,2912,2395,2107,0,0,4,0,0,0
$GC,3817,0.78,169.3,93.9,9.7,444,3823,0.00,3.72,0.00,0.000,4,0.000,0.081,2913,3917,2106,0,0,7,0,0,0
$GC,3919,0.78,169.3,82.1,12.0,462,3925,0.00,3.65,0.00,0.000,6,0.000,0.066,2929,2400,2106,0,0,5,0,0,0
$GC,4265,0.89,210.4,52.8,7.4,523,4307,0.15,3.78,34.75,0.758,4,0.110,0.080,2981,3917,1941,0,0,6,0,0,0
$GC,4397,0.69,210.4,36.3,14.6,547,4404,0.32,3.67,0.00,0.000,6,0.193,0.067,2917,2397,1939,0,0,5,0,0,0
$FREEZE,8.86,-1.157,-1.828,0,2,0
$FREEZE,8.67,-1.157,-1.828,0,2,0
$FREEZE,8.17,-1.157,-1.828,0,2,0
$GC,4744,0.88,228.0,9.2,8.4,608,4768,0.17,3.75,15.85,0.726,4,0.098,0.080,2983,3915,1868,0,0,5,0,0,0
$FREEZE,6.46,-1.124,-1.826,0,2,0
$FREEZE,5.55,-1.110,-1.826,0,2,0
$FREEZE,4.63,-1.150,-1.825,0,2,0
$FREEZE,3.76,-1.150,-1.825,0,2,0
$FREEZE,3.15,-1.157,-1.824,0,2,0
$FREEZE,2.75,-1.149,-1.823,0,2,0
$FREEZE,2.15,-1.145,-1.823,0,2,0
$FREEZE,1.05,-1.147,-1.822,0,2,0
$STATE,4811,end climb,SURFACE_DEPTH_REACHED
$STATE,4812,begin surface coast
$FREEZE,0.32,-1.147,-1.822,0,2,0
$FREEZE,0.01,-1.108,-0.944,0,2,0
$FREEZE,0.02,-1.113,-1.817,0,2,0
$FINISH,0.0,1.026669
$STATE,4829,end surface coast,CONTROL_FINISHED_OK
$STATE,4829,begin surface
$SM_CCo,4849,63.03,0.716,1,0,1473,325.02
$SM_GC,0.97,0.00,0.00,63.03,0.000,0.000,0.716,131,2804,1473,-8.00,0.11,325.02
$RAFOS_CLK,323
$RAFOS,6,1262047747,0.833333,0.818611,55,54,53,0,0,0,202,177,190,0,0,0
$RAFOS,5,1262047267,0.700000,0.685278,60,58,56,0,0,0,181,210,219,0,0,0
$RAFOS,4,1262046782,0.566667,0.550556,57,55,54,0,0,0,220,135,210,0,0,0
$RAFOS,3,1262046311,0.433333,0.419722,61,58,56,0,0,0,153,187,231,0,0,0
$RAFOS,2,1262045829,0.300000,0.285833,71,58,58,0,0,0,206,192,143,0,0,0
$RAFOS,1,1262045342,0.166667,0.150556,61,58,57,0,0,0,211,158,191,0,0,0
$RAFOS,0,1262044864,0.033333,0.017778,62,60,60,0,0,0,229,220,122,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6703.95,-5745.96,240399,232345
$TT8_MAMPS,0.027612
$HUMID,47.04
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,21.1
$24V_AH,22.9,72.899
$10V_AH,10.0,38.824
$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,22.700,63.475,306.625,63.025,0.000,87.937,148.209,187.622,0.750,0.000,18.983,1018.344,2531.789,462.662,1025.406,562.746,0.000,1023.466,0.000,1002.502,2520.000,2.622,0.000
$DEVICE_MAMPS,292.994,94.341,888.186,715.611,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,451.862,420.736,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152568
$DATA_FILE_SIZE,25330,623
$CAP_FILE_SIZE,73548,0
$CFSIZE,260165632,218587136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,105,1,0
$SOUNDSPEED,1457.2
$GPS,291209,011736,6733.096,-5740.735,58,1.1,58,-38.5