version: 66.06
glider: 143
mission: 10
dive: 419
start: 12 29 109 4 25 34
data:
$ID,143
$MISSION,10
$DIVE,419
$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,-44636.305
$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,19
$R_STBD_OVSHOOT,18
$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
$GPS1,041844,6732.911,-5736.078,38,2.3,58,-38.4
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,1
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-62.2
$GPS2,042516,6732.944,-5735.974,10,2.2,29,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6732.944,-5707.696
$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,207
$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,-100.65,0.000,2,0.000,0.000,130,2807,3139,0,0,0,0,0,0
$GC,123,-0.73,-146.0,3.9,-8.8,20,149,11.52,2.88,-6.28,0.000,4,0.301,0.106,2448,3912,3399,0,0,7,0,0,0
$GC,325,-0.73,-146.0,37.4,-12.9,56,331,0.00,2.67,0.00,0.000,6,0.000,0.065,2448,2807,3401,0,0,5,0,0,0
$GC,668,-0.73,-146.0,74.1,-10.0,117,673,0.00,2.83,0.00,0.000,4,0.000,0.093,2448,3928,3401,0,0,7,0,0,0
$GC,915,-0.79,-146.0,97.1,-8.4,161,921,0.00,2.70,0.00,0.000,6,0.000,0.066,2448,2796,3400,0,0,5,0,0,0
$GC,1243,-0.87,-146.0,122.1,-8.1,195,1249,0.12,2.83,0.00,0.000,4,0.123,0.091,2400,3915,3399,0,0,7,0,0,0
$GC,1334,-0.79,-146.0,131.0,-10.0,202,1340,0.15,2.65,0.00,0.000,6,0.213,0.064,2433,2798,3399,0,0,6,0,0,0
$GC,1658,-0.83,-146.0,159.3,-8.8,233,1663,0.00,2.83,0.00,0.000,4,0.000,0.091,2433,3927,3399,0,0,7,0,0,0
$GC,1790,-0.89,-146.0,169.5,-7.7,244,1795,0.00,2.70,0.00,0.000,6,0.000,0.063,2433,2797,3398,0,0,5,0,0,0
$GC,2115,-0.95,-146.0,192.1,-6.9,274,2120,0.15,2.83,0.00,0.000,4,0.118,0.086,2370,3916,3398,0,0,6,0,0,0
$GC,2160,-0.79,-146.0,196.6,-10.2,277,2166,0.25,2.67,0.00,0.000,6,0.209,0.061,2430,2797,3398,0,0,5,0,0,0
$STATE,2291,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2291,begin apogee
$GC,2297,-0.16,0.0,207.5,7.9,290,2417,0.73,0.00,116.50,0.884,6,0.184,0.000,2629,2395,2800,0,0,0,0,0,0
$STATE,2418,end apogee,CONTROL_FINISHED_OK
$STATE,2418,begin climb
$GC,2420,0.73,146.0,210.4,0.0,302,2550,0.95,2.08,119.65,0.836,4,0.142,0.085,2918,804,2202,0,0,0,0,0,0
$GC,2611,0.73,146.0,196.2,10.4,319,2617,0.00,1.95,0.00,0.000,6,0.000,0.062,2919,2405,2199,0,0,0,0,0,0
$GC,2937,0.73,146.0,161.5,10.7,350,2946,0.00,3.75,0.00,0.000,4,0.000,0.080,2919,3913,2196,0,0,7,0,0,0
$GC,2986,0.61,146.0,155.5,12.2,354,2992,0.20,3.70,0.00,0.000,6,0.201,0.068,2890,2402,2195,0,0,6,0,0,0
$GC,3311,0.73,156.5,126.2,8.7,385,3327,0.12,3.78,8.80,0.723,4,0.123,0.081,2931,3915,2161,0,0,6,0,0,0
$GC,3433,0.62,156.5,111.7,12.6,395,3439,0.22,3.67,0.00,0.000,6,0.196,0.067,2894,2397,2160,0,0,6,0,0,0
$GC,3769,0.80,201.9,85.6,7.3,443,3816,0.15,3.85,38.50,0.771,4,0.116,0.080,2946,3919,1975,0,0,5,0,0,0
$GC,3846,0.73,201.9,77.9,11.0,457,3852,0.15,3.72,0.00,0.000,6,0.199,0.067,2930,2398,1973,0,0,6,0,0,0
$GC,4190,0.82,201.9,46.3,9.6,518,4196,0.00,3.75,0.00,0.000,4,0.000,0.080,2929,3910,1971,0,0,6,0,0,0
$GC,4247,0.82,201.9,39.3,14.2,528,4253,0.00,3.70,0.00,0.000,6,0.000,0.067,2944,2388,1971,0,0,5,0,0,0
$FREEZE,8.56,-1.011,-1.829,0,1,0
$FREEZE,8.09,-1.013,-1.828,0,1,0
$FREEZE,7.76,-1.014,-1.828,0,1,0
$FREEZE,6.83,-1.011,-1.827,0,1,0
$FREEZE,5.90,-1.001,-1.827,0,1,0
$FREEZE,5.30,-1.000,-1.826,0,1,0
$FREEZE,4.93,-0.999,-1.826,0,1,0
$FREEZE,5.06,-0.995,-1.826,0,1,0
$FREEZE,5.09,-0.992,-1.826,0,1,0
$FREEZE,4.89,-0.976,-1.826,0,1,0
$FREEZE,4.40,-0.984,-1.826,0,1,0
$FREEZE,3.95,-0.969,-1.825,0,1,0
$FREEZE,2.77,-0.982,-1.824,0,1,0
$FREEZE,2.02,-0.976,-1.824,0,1,0
$FREEZE,0.95,-0.969,-1.823,0,1,0
$GC,4594,1.01,281.8,5.1,5.8,589,4632,0.22,0.00,34.80,0.736,2,0.107,0.000,3019,2390,1807,0,0,0,0,0,0
$STATE,4632,end climb,SURFACE_DEPTH_REACHED
$STATE,4632,begin surface coast
$FREEZE,0.13,-0.979,-1.823,0,1,0
$FREEZE,0.05,-0.929,-1.769,0,1,0
$FINISH,0.1,1.025974
$STATE,4645,end surface coast,CONTROL_FINISHED_OK
$STATE,4645,begin surface
$SM_CCo,4663,44.33,0.715,0,0,1474,325.02
$SM_GC,1.11,0.00,0.00,44.33,0.000,0.000,0.715,124,2804,1474,-8.02,0.11,325.02
$RAFOS_CLK,294
$RAFOS,6,1262062145,4.833333,4.818056,65,57,57,0,0,0,214,187,160,0,0,0
$RAFOS,5,1262061665,4.700000,4.684722,60,58,56,0,0,0,213,144,177,0,0,0
$RAFOS,4,1262061181,4.566667,4.550278,65,55,53,0,0,0,178,154,117,0,0,0
$RAFOS,3,1262060754,4.433333,4.431667,63,54,54,0,0,0,193,175,210,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6703.95,-5741.21,250399,030323
$TT8_MAMPS,0.026845
$HUMID,46.69
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,20.0,20.1
$24V_AH,22.9,73.215
$10V_AH,10.0,38.943
$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,23.575,63.475,318.250,44.325,0.000,29.594,46.477,190.450,1.000,0.000,31.613,969.287,2319.455,445.745,979.674,392.594,0.000,985.964,0.000,946.018,1440.000,2.620,0.000
$DEVICE_MAMPS,300.664,105.846,884.351,714.844,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,434.241,402.219,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152592
$DATA_FILE_SIZE,22170,597
$CAP_FILE_SIZE,70714,0
$CFSIZE,260165632,218480640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,107,0,0
$SOUNDSPEED,1457.0
$GPS,291209,054456,6732.612,-5733.883,7,1.9,8,-38.4