version: 66.06
glider: 143
mission: 10
dive: 437
start: 12 30 109 6 18 1
data:
$ID,143
$MISSION,10
$DIVE,437
$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,-45018.91
$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,15
$R_STBD_OVSHOOT,17
$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
$GPS1,060754,6733.357,-5713.357,69,1.1,70,-38.3
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-61.8
$GPS2,061744,6733.347,-5713.270,8,1.6,8,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.347,-5644.983
$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,128.3,20000,-16.9,-9.167
$D_GRID,200
$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,-90.40,0.000,2,0.000,0.000,129,2808,2978,0,0,0,0,0,0
$GC,111,-0.73,-146.0,3.0,-5.9,18,143,11.48,2.90,-12.68,0.000,4,0.298,0.105,2444,3924,3398,0,0,8,0,0,0
$GC,249,-0.73,-146.0,14.9,-9.4,43,255,0.00,2.75,0.00,0.000,6,0.000,0.066,2445,2798,3401,0,0,6,0,0,0
$GC,593,-0.73,-146.0,59.9,-14.9,104,599,0.00,2.90,0.00,0.000,4,0.000,0.091,2444,3929,3401,0,0,6,0,0,0
$GC,758,-0.73,-146.0,77.8,-12.0,133,764,0.00,2.72,0.00,0.000,6,0.000,0.064,2445,2793,3401,0,0,6,0,0,0
$GC,1101,-0.79,-146.0,111.1,-9.5,184,1106,0.00,2.88,0.00,0.000,4,0.000,0.091,2444,3916,3399,0,0,6,0,0,0
$GC,1214,-0.86,-146.0,122.0,-10.0,193,1219,0.00,2.70,0.00,0.000,6,0.000,0.066,2445,2797,3399,0,0,6,0,0,0
$GC,1538,-0.93,-146.0,152.2,-9.6,224,1544,0.17,2.88,0.00,0.000,4,0.109,0.089,2372,3927,3399,0,0,7,0,0,0
$GC,1670,-0.78,-146.0,169.1,-13.2,235,1676,0.25,2.75,0.00,0.000,6,0.211,0.064,2430,2791,3399,0,0,5,0,0,0
$GC,1995,-0.83,-146.0,198.7,-7.8,265,2000,0.00,2.88,0.00,0.000,4,0.000,0.090,2430,3924,3399,0,0,6,0,0,0
$STATE,2010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2010,begin apogee
$GC,2019,-0.16,0.0,200.1,8.1,266,2139,0.70,0.00,116.65,0.890,6,0.190,0.000,2626,2395,2800,0,0,0,0,0,0
$STATE,2140,end apogee,CONTROL_FINISHED_OK
$STATE,2140,begin climb
$GC,2143,0.73,146.0,203.2,0.0,278,2272,0.98,2.12,120.03,0.843,4,0.142,0.087,2923,788,2202,0,0,0,0,0,0
$GC,2368,0.73,146.0,184.5,12.0,298,2373,0.00,1.92,0.00,0.000,6,0.000,0.063,2922,2402,2198,0,0,0,0,0,0
$GC,2692,0.73,146.0,149.8,9.9,329,2701,0.00,3.85,0.00,0.000,4,0.000,0.082,2922,3928,2196,0,0,6,0,0,0
$GC,2786,0.62,146.0,139.3,10.9,337,2792,0.20,3.78,0.00,0.000,6,0.194,0.069,2893,2395,2194,0,0,6,0,0,0
$GC,3110,0.75,177.3,112.8,7.8,368,3145,0.12,3.85,25.55,0.786,4,0.126,0.081,2934,3918,2076,0,0,7,0,0,0
$GC,3241,0.64,177.3,98.4,11.6,381,3248,0.22,3.75,0.00,0.000,6,0.191,0.069,2897,2397,2074,0,0,6,0,0,0
$GC,3588,0.89,259.7,71.8,5.7,442,3665,0.25,3.95,69.00,0.765,4,0.102,0.081,2986,3928,1740,0,0,7,0,0,0
$GC,3746,0.76,259.7,48.4,17.4,471,3752,0.28,3.80,0.00,0.000,6,0.189,0.067,2937,2399,1735,0,0,6,0,0,0
$GC,4092,0.83,259.7,10.3,16.4,532,4098,0.00,3.85,0.00,0.000,4,0.000,0.083,2937,3929,1733,0,0,6,0,0,0
$FREEZE,8.18,-0.447,-1.833,0,1,0
$FREEZE,7.64,-0.446,-1.833,0,1,0
$FREEZE,7.09,-0.446,-1.832,0,1,0
$FREEZE,6.76,-0.445,-1.832,0,1,0
$FREEZE,6.41,-0.447,-1.832,0,1,0
$FREEZE,5.83,-0.447,-1.831,0,1,0
$FREEZE,4.73,-0.447,-1.830,0,1,0
$FREEZE,3.58,-0.446,-1.830,0,1,0
$FREEZE,2.57,-0.444,-1.829,0,1,0
$FREEZE,1.31,-0.445,-1.828,0,1,0
$GC,4134,0.94,289.5,5.8,7.9,539,4160,0.12,3.78,19.30,0.719,2,0.120,0.071,2994,2394,1644,0,0,6,0,0,0
$STATE,4161,end climb,SURFACE_DEPTH_REACHED
$STATE,4161,begin surface coast
$FREEZE,0.19,-0.429,-0.997,0,1,0
$FREEZE,0.29,-0.425,-1.097,0,1,0
$FINISH,0.3,1.016210
$STATE,4173,end surface coast,CONTROL_FINISHED_OK
$STATE,4173,begin surface
$SM_CCo,4191,27.60,0.714,0,0,1474,325.02
$SM_GC,0.91,0.00,0.00,27.60,0.000,0.000,0.714,131,2804,1474,-8.00,0.14,325.02
$RAFOS_CLK,277
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6703.95,-5710.13,260399,060622
$TT8_MAMPS,0.027612
$HUMID,47.67
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.20
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.4,21.3
$24V_AH,22.8,75.079
$10V_AH,10.0,39.634
$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,23.150,64.750,350.525,27.600,0.000,54.012,75.956,286.389,1.250,0.000,10.149,875.646,2050.150,450.522,891.447,545.017,0.000,960.655,0.000,879.007,0.000,2.621,0.000
$DEVICE_MAMPS,297.596,105.079,889.720,714.077,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,393.480,365.842,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152588
$DATA_FILE_SIZE,19008,545
$CAP_FILE_SIZE,68062,0
$CFSIZE,260165632,217792512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,112,0,0
$SOUNDSPEED,1456.2
$GPS,301209,072934,6732.956,-5711.915,8,3.5,28,-38.3