version: 66.06
glider: 143
mission: 10
dive: 435
start: 12 30 109 3 31 13
data:
$ID,143
$MISSION,10
$DIVE,435
$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,-44993.395
$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,16
$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
$GPS1,032434,6734.586,-5717.400,63,99.0,82,-38.4
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-63.2
$GPS2,033055,6734.610,-5717.307,15,1.3,24,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6734.610,-5648.996
$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,201
$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,-146.0,0.0,0.0,0,108,0.00,0.00,-90.03,0.000,2,0.000,0.000,127,2802,2997,0,0,0,0,0,0
$GC,111,-0.73,-146.0,3.7,-6.8,18,142,11.57,2.97,-10.00,0.000,4,0.301,0.103,2449,3915,3398,0,0,6,0,0,0
$GC,205,-0.73,-146.0,21.3,-11.1,35,211,0.00,2.75,0.00,0.000,6,0.000,0.066,2449,2797,3400,0,0,6,0,0,0
$GC,548,-0.73,-146.0,56.4,-10.4,96,554,0.00,2.90,0.00,0.000,4,0.000,0.093,2449,3921,3400,0,0,6,0,0,0
$GC,751,-0.82,-146.0,82.3,-15.6,132,757,0.00,2.72,0.00,0.000,6,0.000,0.064,2449,2790,3400,0,0,6,0,0,0
$GC,1092,-0.90,-146.0,114.1,-7.6,178,1098,0.15,2.88,0.00,0.000,4,0.114,0.090,2387,3919,3399,0,0,7,0,0,0
$GC,1305,-0.78,-146.0,140.3,-11.9,196,1312,0.20,2.70,0.00,0.000,6,0.216,0.064,2433,2801,3398,0,0,5,0,0,0
$GC,1630,-0.78,-146.0,170.6,-8.6,227,1635,0.00,2.88,0.00,0.000,4,0.000,0.091,2433,3930,3398,0,0,6,0,0,0
$GC,1760,-0.82,-146.0,182.6,-9.3,238,1765,0.00,2.70,0.00,0.000,6,0.000,0.063,2433,2802,3398,0,0,6,0,0,0
$STATE,1965,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1965,begin apogee
$GC,1972,-0.16,0.0,201.0,8.7,257,2093,0.70,0.00,116.38,0.889,6,0.189,0.000,2628,2399,2799,0,0,0,0,0,0
$STATE,2093,end apogee,CONTROL_FINISHED_OK
$STATE,2093,begin climb
$GC,2096,0.73,146.0,204.5,0.0,269,2224,0.98,2.08,119.82,0.843,4,0.143,0.087,2924,791,2202,0,0,0,0,0,0
$GC,2270,0.73,146.0,192.8,10.5,285,2275,0.00,1.98,0.00,0.000,6,0.000,0.063,2924,2409,2199,0,0,0,0,0,0
$GC,2600,0.73,146.0,159.3,10.0,316,2609,0.00,3.83,0.00,0.000,4,0.000,0.082,2924,3926,2195,0,0,7,0,0,0
$GC,2678,0.61,146.0,150.3,12.1,323,2688,0.22,3.80,0.00,0.000,6,0.195,0.069,2888,2395,2194,0,0,5,0,0,0
$GC,3007,0.72,148.2,120.6,9.1,354,3016,0.00,3.80,0.00,0.000,4,0.000,0.082,2888,3922,2194,0,0,7,0,0,0
$GC,3055,0.72,148.2,115.5,10.5,358,3061,0.00,3.72,0.00,0.000,6,0.000,0.069,2902,2395,2194,0,0,6,0,0,0
$GC,3387,0.82,177.7,89.6,7.9,401,3424,0.15,3.83,25.90,0.780,4,0.105,0.081,2957,3920,2073,0,0,6,0,0,0
$GC,3508,0.69,177.7,72.7,16.4,423,3515,0.25,3.75,0.00,0.000,6,0.194,0.068,2915,2393,2071,0,0,6,0,0,0
$GC,3856,0.82,196.2,41.9,8.4,484,3883,0.12,3.88,16.35,0.742,4,0.124,0.082,2956,3918,1999,0,0,7,0,0,0
$GC,3953,0.72,196.2,31.1,11.5,501,3959,0.20,3.72,0.00,0.000,6,0.188,0.068,2925,2398,1998,0,0,6,0,0,0
$FREEZE,8.35,-0.468,-1.832,0,1,0
$FREEZE,7.57,-0.470,-1.832,0,1,0
$FREEZE,6.79,-0.472,-1.831,0,1,0
$FREEZE,5.99,-0.477,-1.831,0,1,0
$FREEZE,5.32,-0.476,-1.830,0,1,0
$FREEZE,4.75,-0.476,-1.830,0,1,0
$FREEZE,4.08,-0.475,-1.829,0,1,0
$FREEZE,3.43,-0.474,-1.829,0,1,0
$FREEZE,2.89,-0.473,-1.828,0,1,0
$FREEZE,2.27,-0.474,-1.828,0,1,0
$FREEZE,1.72,-0.473,-1.827,0,1,0
$STATE,4273,end climb,SURFACE_DEPTH_REACHED
$STATE,4273,begin surface coast
$FREEZE,1.09,-0.474,-1.827,0,1,0
$FREEZE,0.44,-0.472,-1.826,0,1,0
$FREEZE,0.18,-0.453,-1.825,0,1,0
$FINISH,0.2,1.026758
$STATE,4291,end surface coast,CONTROL_FINISHED_OK
$STATE,4291,begin surface
$SM_CCo,4309,74.82,0.733,0,0,1474,325.02
$SM_GC,1.07,0.00,0.00,74.82,0.000,0.000,0.733,129,2804,1474,-8.00,0.11,325.02
$RAFOS_CLK,276
$RAFOS,4,1262147583,4.566667,4.550833,65,59,58,0,0,0,225,165,211,0,0,0
$RAFOS,3,1262147102,4.433333,4.417222,75,59,56,0,0,0,203,214,169,0,0,0
$RAFOS,2,1262146622,4.300000,4.283889,63,59,59,0,0,0,196,147,213,0,0,0
$RAFOS,1,1262146147,4.166667,4.151945,68,61,60,0,0,0,209,145,189,0,0,0
$RAFOS,0,1262145668,4.033333,4.018889,59,56,55,0,0,0,207,158,123,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6703.95,-5722.66,260399,020240
$TT8_MAMPS,0.029913
$HUMID,48.14
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,16.90
$XPDR_PINGS,4
$ALTIM_TOP_PING,20.0,19.6
$24V_AH,22.8,74.868
$10V_AH,10.0,39.561
$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,22.975,58.825,278.450,74.825,0.000,29.656,35.678,189.716,1.250,0.000,25.620,917.504,2104.795,442.975,923.367,380.544,0.000,950.333,0.000,895.579,2160.000,2.619,0.000
$DEVICE_MAMPS,300.664,102.778,888.953,733.252,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,408.860,378.021,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152592
$DATA_FILE_SIZE,22196,561
$CAP_FILE_SIZE,65220,0
$CFSIZE,260165632,217866240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,98,0,0
$SOUNDSPEED,1455.9
$GPS,301209,044538,6734.018,-5715.215,32,1.4,33,-38.3