version: 66.06
glider: 143
mission: 10
dive: 433
start: 12 30 109 0 40 43
data:
$ID,143
$MISSION,10
$DIVE,433
$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,-44934.211
$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,22
$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
$GPS1,003036,6734.677,-5721.935,45,1.0,46,-38.4
$_CALLS,2
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-63.8
$GPS2,004025,6734.828,-5721.785,11,1.9,11,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6734.828,-5653.470
$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,15,-0.73,-146.0,0.0,0.0,0,113,0.00,0.00,-95.03,0.000,2,0.000,0.000,124,2792,3051,0,0,0,0,0,0
$GC,117,-0.73,-146.0,3.6,-8.8,19,144,11.38,2.97,-9.12,0.000,4,0.295,0.103,2445,3909,3396,0,0,6,0,0,0
$GC,234,-0.73,-146.0,18.8,-8.8,40,240,0.00,2.75,0.00,0.000,6,0.000,0.065,2445,2790,3399,0,0,6,0,0,0
$GC,577,-0.73,-146.0,53.8,-13.0,101,583,0.00,2.92,0.00,0.000,4,0.000,0.094,2445,3923,3399,0,0,6,0,0,0
$GC,753,-0.73,-146.0,70.9,-9.7,132,759,0.00,2.72,0.00,0.000,6,0.000,0.065,2445,2802,3399,0,0,6,0,0,0
$GC,1102,-0.78,-146.0,103.5,-9.7,191,1107,0.00,2.88,0.00,0.000,4,0.000,0.094,2445,3910,3399,0,0,6,0,0,0
$GC,1333,-0.85,-146.0,123.1,-7.6,211,1338,0.00,2.72,0.00,0.000,6,0.000,0.066,2445,2792,3398,0,0,6,0,0,0
$GC,1658,-0.92,-146.0,146.4,-6.8,241,1663,0.17,2.90,0.00,0.000,4,0.110,0.090,2373,3917,3397,0,0,6,0,0,0
$GC,1860,-0.76,-146.0,168.5,-11.6,258,1867,0.28,2.70,0.00,0.000,6,0.211,0.064,2438,2799,3397,0,0,6,0,0,0
$GC,2185,-0.83,-146.0,195.6,-8.6,289,2190,0.00,2.85,0.00,0.000,4,0.000,0.089,2438,3914,3397,0,0,6,0,0,0
$STATE,2261,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2261,begin apogee
$GC,2271,-0.16,0.0,202.3,8.5,295,2391,0.68,0.00,116.68,0.889,6,0.190,0.000,2626,2395,2800,0,0,0,0,0,0
$STATE,2392,end apogee,CONTROL_FINISHED_OK
$STATE,2392,begin climb
$GC,2394,0.73,146.0,206.2,0.0,307,2524,0.98,2.08,119.55,0.844,4,0.146,0.087,2920,792,2205,0,0,0,0,0,0
$GC,2591,0.73,146.0,192.4,9.5,325,2595,0.00,1.95,0.00,0.000,6,0.000,0.063,2920,2402,2201,0,0,0,0,0,0
$GC,2921,0.73,146.0,157.0,11.6,356,2931,0.00,3.83,0.00,0.000,4,0.000,0.083,2920,3911,2198,0,0,6,0,0,0
$GC,3021,0.61,146.0,144.1,12.7,365,3031,0.20,3.75,0.00,0.000,6,0.198,0.071,2891,2396,2197,0,0,6,0,0,0
$GC,3350,0.76,177.6,113.7,7.8,396,3385,0.15,3.85,26.38,0.792,4,0.116,0.082,2941,3914,2074,0,0,6,0,0,0
$GC,3481,0.66,177.6,99.2,12.4,408,3487,0.22,3.72,0.00,0.000,6,0.193,0.070,2905,2401,2071,0,0,6,0,0,0
$GC,3827,0.84,201.0,67.6,8.2,469,3859,0.17,3.83,20.58,0.764,4,0.107,0.080,2965,3924,1977,0,0,6,0,0,0
$GC,3895,0.71,201.0,59.6,12.8,481,3901,0.25,3.75,0.00,0.000,6,0.186,0.068,2921,2400,1976,0,0,6,0,0,0
$GC,4239,0.86,201.0,26.6,10.7,542,4245,0.15,3.85,0.00,0.000,4,0.110,0.083,2973,3917,1975,0,0,5,0,0,0
$GC,4325,0.68,201.0,18.4,11.6,557,4332,0.30,3.72,0.00,0.000,6,0.194,0.070,2916,2394,1975,0,0,6,0,0,0
$FREEZE,8.41,-0.527,-1.832,0,1,0
$FREEZE,7.44,-0.524,-1.831,0,1,0
$FREEZE,6.60,-0.525,-1.831,0,1,0
$FREEZE,5.85,-0.526,-1.830,0,1,0
$FREEZE,5.41,-0.528,-1.830,0,1,0
$FREEZE,4.81,-0.527,-1.829,0,1,0
$FREEZE,4.39,-0.523,-1.829,0,1,0
$FREEZE,4.05,-0.524,-1.829,0,1,0
$FREEZE,3.87,-0.524,-1.829,0,1,0
$FREEZE,3.52,-0.523,-1.828,0,1,0
$FREEZE,3.07,-0.525,-1.828,0,1,0
$FREEZE,2.63,-0.524,-1.828,0,1,0
$FREEZE,2.30,-0.524,-1.827,0,1,0
$FREEZE,2.01,-0.523,-1.827,0,1,0
$FREEZE,1.51,-0.524,-1.827,0,1,0
$STATE,4477,end climb,SURFACE_DEPTH_REACHED
$STATE,4477,begin surface coast
$FREEZE,1.02,-0.524,-1.826,0,1,0
$FREEZE,0.75,-0.519,-1.826,0,1,0
$FREEZE,0.44,-0.515,-1.826,0,1,0
$FREEZE,0.25,-0.485,-0.434,0,1,0
$FREEZE,0.20,-0.506,-1.813,0,1,0
$FINISH,0.2,1.026588
$STATE,4506,end surface coast,CONTROL_FINISHED_OK
$STATE,4506,begin surface
$SM_CCo,4524,75.57,0.741,0,0,1474,325.02
$SM_GC,0.99,0.00,0.00,75.57,0.000,0.000,0.741,127,2800,1474,-8.01,0.00,325.02
$RAFOS_CLK,301
$RAFOS,6,1262134145,0.833333,0.818056,63,60,59,0,0,0,190,214,202,0,0,0
$RAFOS,5,1262133668,0.700000,0.685556,62,62,59,0,0,0,169,214,192,0,0,0
$RAFOS,3,1262132702,0.433333,0.417222,65,57,55,0,0,0,193,216,118,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6703.95,-5725.69,260399,000005
$TT8_MAMPS,0.027612
$HUMID,48.07
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,16.80
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.9,21.0
$24V_AH,22.8,74.673
$10V_AH,10.0,39.486
$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,23.075,64.450,283.175,75.575,0.000,52.641,60.277,297.443,1.250,0.000,12.988,985.709,2226.490,447.660,990.511,544.549,0.000,994.609,0.000,974.357,720.000,2.622,0.000
$DEVICE_MAMPS,294.528,102.778,888.953,740.922,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,428.295,397.391,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152608
$DATA_FILE_SIZE,22121,589
$CAP_FILE_SIZE,72315,0
$CFSIZE,260165632,217931776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,107,0,0
$SOUNDSPEED,1454.7
$GPS,301209,015821,6734.902,-5719.844,9,1.8,11,-38.4