version: 66.06
glider: 143
mission: 10
dive: 432
start: 12 29 109 23 13 30
data:
$ID,143
$MISSION,10
$DIVE,432
$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,-44920.598
$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,14
$R_STBD_OVSHOOT,15
$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
$GPS1,230301,6734.115,-5723.716,7,2.0,13,-38.4
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-61.6
$GPS2,231313,6734.264,-5723.622,14,1.1,19,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6734.264,-5655.317
$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,202
$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,-146.0,0.0,0.0,0,124,0.00,0.00,-105.28,0.000,2,0.000,0.000,124,2801,3242,0,0,0,0,0,0
$GC,128,-0.73,-146.0,3.5,-7.3,21,149,11.30,0.00,-3.80,0.000,6,0.292,0.000,2445,2801,3398,0,0,0,0,0,0
$GC,487,-0.73,-146.0,43.2,-13.4,85,493,0.00,2.90,0.00,0.000,4,0.000,0.094,2445,3929,3401,0,0,6,0,0,0
$GC,747,-0.78,-146.0,72.5,-8.9,131,753,0.00,2.75,0.00,0.000,6,0.000,0.067,2446,2793,3400,0,0,6,0,0,0
$GC,1087,-0.83,-146.0,106.0,-8.7,186,1091,0.00,2.90,0.00,0.000,4,0.000,0.093,2446,3923,3399,0,0,6,0,0,0
$GC,1234,-0.92,-146.0,118.6,-8.9,198,1241,0.17,2.72,0.00,0.000,6,0.117,0.065,2389,2796,3399,0,0,6,0,0,0
$GC,1559,-0.80,-146.0,154.6,-11.9,229,1565,0.17,2.88,0.00,0.000,4,0.208,0.091,2428,3919,3398,0,0,7,0,0,0
$GC,1738,-0.80,-146.0,174.8,-10.8,244,1745,0.00,2.72,0.00,0.000,6,0.000,0.064,2428,2799,3398,0,0,5,0,0,0
$STATE,2021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2021,begin apogee
$GC,2027,-0.16,0.0,202.0,8.8,271,2147,0.73,0.00,116.53,0.894,6,0.191,0.000,2627,2394,2800,0,0,0,0,0,0
$STATE,2148,end apogee,CONTROL_FINISHED_OK
$STATE,2148,begin climb
$GC,2150,0.73,146.0,205.4,0.0,283,2284,0.98,2.12,120.22,0.844,4,0.146,0.089,2921,807,2201,0,0,0,0,0,0
$GC,2375,0.73,146.0,188.3,10.3,304,2378,0.00,1.92,0.00,0.000,6,0.000,0.064,2921,2407,2199,0,0,0,0,0,0
$GC,2704,0.74,155.0,158.7,8.8,335,2719,0.00,3.85,7.62,0.723,4,0.000,0.083,2921,3924,2167,0,0,6,0,0,0
$GC,2798,0.64,155.0,148.1,11.7,343,2805,0.17,3.78,0.00,0.000,6,0.199,0.070,2898,2403,2166,0,0,5,0,0,0
$GC,3123,0.76,184.8,119.9,7.9,374,3158,0.12,3.83,26.02,0.795,4,0.127,0.082,2939,3909,2045,0,0,6,0,0,0
$GC,3259,0.64,184.8,103.5,12.2,386,3266,0.22,3.75,0.00,0.000,6,0.194,0.070,2903,2393,2042,0,0,6,0,0,0
$GC,3601,0.80,184.8,74.5,9.7,444,3607,0.15,3.85,0.00,0.000,4,0.117,0.082,2953,3917,2041,0,0,5,0,0,0
$GC,3658,0.70,184.8,68.1,10.8,454,3665,0.20,3.72,0.00,0.000,6,0.193,0.069,2922,2390,2041,0,0,6,0,0,0
$GC,4002,0.80,184.8,44.6,10.2,515,4007,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2391,2041,0,0,0,0,0,0
$FREEZE,8.88,-0.505,-1.832,0,1,0
$GC,4345,1.13,308.5,21.7,4.0,576,4461,0.35,3.97,103.12,0.751,4,0.100,0.082,3046,3921,1539,0,0,7,0,0,0
$FREEZE,5.10,-0.506,-1.830,0,1,0
$FREEZE,4.39,-0.507,-1.829,0,1,0
$FREEZE,4.01,-0.499,-1.829,0,1,0
$FREEZE,3.29,-0.496,-1.828,0,1,0
$FREEZE,2.05,-0.496,-1.827,0,1,0
$FREEZE,0.92,-0.497,-1.827,0,1,0
$STATE,4494,end climb,SURFACE_DEPTH_REACHED
$STATE,4494,begin surface coast
$FREEZE,0.47,-0.498,-1.826,0,1,0
$FINISH,0.5,1.026768
$STATE,4501,end surface coast,CONTROL_FINISHED_OK
$STATE,4503,begin surface
$SM_CCo,4523,11.95,0.683,0,0,1475,325.02
$SM_GC,0.76,0.00,0.00,11.95,0.000,0.000,0.683,124,2793,1475,-8.02,-0.20,325.02
$RAFOS_CLK,301
$RAFOS,2,1262132224,0.300000,0.284444,59,56,55,0,0,0,216,200,133,0,0,0
$RAFOS,1,1262131744,0.166667,0.151111,64,53,52,0,0,0,204,215,112,0,0,0
$RAFOS,0,1262131265,0.033333,0.018056,65,60,56,0,0,0,142,203,124,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6703.95,-5637.33,250399,232330
$TT8_MAMPS,0.029913
$HUMID,48.07
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,16.90
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.9,19.2
$24V_AH,22.8,74.565
$10V_AH,10.0,39.446
$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,23.375,51.525,373.525,11.950,0.000,58.236,73.869,287.840,1.250,0.000,21.117,939.925,2210.943,446.163,996.155,556.398,0.000,1003.244,0.000,974.070,1440.000,2.626,0.000
$DEVICE_MAMPS,292.227,93.574,893.555,683.397,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,441.573,406.838,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152564
$DATA_FILE_SIZE,22198,605
$CAP_FILE_SIZE,70125,0
$CFSIZE,260165632,217976832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,83,0,0
$SOUNDSPEED,1454.3
$GPS,301209,003036,6734.677,-5721.935,45,1.0,46,-38.4