version: 66.06
glider: 143
mission: 10
dive: 428
start: 12 29 109 17 20 2
data:
$ID,143
$MISSION,10
$DIVE,428
$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,-44816.926
$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,24
$R_STBD_OVSHOOT,20
$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
$GPS1,171414,6733.690,-5726.482,30,1.4,31,-38.4
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-61.8
$GPS2,171944,6733.701,-5726.504,15,1.4,15,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.701,-5658.211
$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,204
$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,15,-0.73,-146.0,0.0,0.0,0,118,0.00,0.00,-100.20,0.000,2,0.000,0.000,131,2788,3168,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.6,-7.5,20,148,11.52,2.97,-5.68,0.000,4,0.301,0.105,2447,3910,3399,0,0,7,0,0,0
$GC,356,-0.73,-146.0,31.4,-9.7,62,362,0.00,2.70,0.00,0.000,6,0.000,0.064,2447,2807,3401,0,0,6,0,0,0
$GC,698,-0.73,-146.0,70.8,-11.4,123,704,0.00,2.85,0.00,0.000,4,0.000,0.092,2447,3925,3401,0,0,7,0,0,0
$GC,895,-0.78,-146.0,92.2,-10.0,158,901,0.00,2.72,0.00,0.000,6,0.000,0.065,2447,2794,3400,0,0,6,0,0,0
$GC,1225,-0.85,-146.0,125.1,-8.8,195,1230,0.00,2.88,0.00,0.000,4,0.000,0.091,2447,3917,3399,0,0,6,0,0,0
$GC,1314,-0.91,-146.0,133.2,-9.3,202,1320,0.17,2.70,0.00,0.000,6,0.117,0.065,2391,2799,3399,0,0,6,0,0,0
$GC,1639,-0.81,-146.0,167.5,-10.6,233,1645,0.15,2.88,0.00,0.000,4,0.209,0.091,2424,3924,3398,0,0,7,0,0,0
$GC,1770,-0.81,-146.0,179.3,-8.7,244,1775,0.00,2.70,0.00,0.000,6,0.000,0.064,2424,2795,3398,0,0,6,0,0,0
$STATE,2062,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2062,begin apogee
$GC,2068,-0.16,0.0,204.8,8.8,271,2189,0.73,0.00,116.45,0.889,6,0.190,0.000,2626,2401,2799,0,0,0,0,0,0
$STATE,2189,end apogee,CONTROL_FINISHED_OK
$STATE,2190,begin climb
$GC,2192,0.73,146.0,208.3,0.0,283,2321,0.98,2.15,119.90,0.840,4,0.144,0.087,2921,791,2202,0,0,0,0,0,0
$GC,2435,0.73,149.3,191.4,9.0,305,2439,0.00,1.92,0.00,0.000,6,0.000,0.062,2921,2403,2198,0,0,0,0,0,0
$GC,2765,0.73,149.3,160.6,9.5,336,2774,0.00,3.78,0.00,0.000,4,0.000,0.081,2921,3911,2196,0,0,7,0,0,0
$GC,2865,0.62,149.3,150.4,10.4,345,2875,0.20,3.72,0.00,0.000,6,0.198,0.069,2891,2397,2195,0,0,6,0,0,0
$GC,3194,0.77,189.8,125.5,7.5,376,3239,0.15,3.85,35.70,0.789,4,0.116,0.081,2942,3915,2025,0,0,6,0,0,0
$GC,3329,0.69,189.8,109.2,14.4,388,3335,0.17,3.78,0.00,0.000,6,0.196,0.069,2918,2394,2022,0,0,6,0,0,0
$GC,3668,0.81,202.8,73.6,8.6,440,3689,0.00,3.85,11.82,0.729,4,0.000,0.081,2918,3910,1972,0,0,6,0,0,0
$GC,3745,0.81,202.8,66.4,9.7,454,3751,0.00,3.70,0.00,0.000,6,0.000,0.068,2933,2399,1972,0,0,6,0,0,0
$GC,4088,0.87,202.8,34.7,9.3,515,4094,0.10,3.83,0.00,0.000,4,0.127,0.081,2963,3924,1971,0,0,5,0,0,0
$GC,4157,0.75,202.8,25.5,14.0,527,4163,0.17,3.72,0.00,0.000,6,0.200,0.071,2939,2394,1971,0,0,6,0,0,0
$FREEZE,8.60,-0.527,-1.831,0,1,0
$FREEZE,8.10,-0.520,-1.831,0,1,0
$FREEZE,7.54,-0.522,-1.831,0,1,0
$FREEZE,6.94,-0.521,-1.830,0,1,0
$FREEZE,6.25,-0.522,-1.830,0,1,0
$FREEZE,5.70,-0.529,-1.830,0,1,0
$FREEZE,4.95,-0.529,-1.829,0,1,0
$FREEZE,4.53,-0.530,-1.829,0,1,0
$FREEZE,3.97,-0.531,-1.828,0,1,0
$FREEZE,3.46,-0.529,-1.828,0,1,0
$FREEZE,2.85,-0.528,-1.827,0,1,0
$FREEZE,2.07,-0.529,-1.827,0,1,0
$FREEZE,1.37,-0.524,-1.826,0,1,0
$STATE,4433,end climb,SURFACE_DEPTH_REACHED
$STATE,4433,begin surface coast
$FREEZE,0.55,-0.521,-1.826,0,1,0
$FREEZE,0.24,-0.525,-1.825,0,1,0
$FREEZE,0.13,-0.435,-0.969,0,1,0
$FINISH,0.1,1.014323
$STATE,4450,end surface coast,CONTROL_FINISHED_OK
$STATE,4450,begin surface
$SM_CCo,4468,70.12,0.732,0,0,1473,325.02
$SM_GC,1.08,0.00,0.00,70.12,0.000,0.000,0.732,128,2798,1473,-8.00,-0.06,325.02
$RAFOS_CLK,279
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6703.95,-5722.66,250399,161629
$TT8_MAMPS,0.027612
$HUMID,47.59
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,16.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,20.3
$24V_AH,22.8,74.126
$10V_AH,10.1,39.286
$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,22.625,58.625,283.875,70.125,0.000,29.298,42.871,144.096,1.000,0.000,17.276,933.334,2216.367,443.633,945.590,333.546,0.000,966.375,0.000,929.734,0.000,2.620,0.000
$DEVICE_MAMPS,301.431,105.079,888.953,731.718,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,423.634,390.673,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152484
$DATA_FILE_SIZE,22187,579
$CAP_FILE_SIZE,64085,0
$CFSIZE,260165632,218144768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,99,0,0
$SOUNDSPEED,1456.0
$GPS,291209,183707,6733.282,-5726.110,40,1.6,41,-38.4