version: 66.06
glider: 143
mission: 10
dive: 441
start: 12 30 109 11 47 23
data:
$ID,143
$MISSION,10
$DIVE,441
$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,-45230.531
$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,19
$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
$GPS1,114058,6733.948,-5710.352,8,99.0,28,-38.3
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-63.3
$GPS2,114706,6734.042,-5710.422,35,1.0,35,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6734.042,-5642.122
$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,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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.73,-146.0,0.0,0.0,0,113,0.00,0.00,-94.28,0.000,2,0.000,0.000,130,2811,3050,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.3,-6.1,19,147,11.43,2.88,-9.90,0.000,4,0.298,0.101,2445,3920,3396,0,0,7,0,0,0
$GC,243,-0.73,-146.0,21.3,-13.8,42,248,0.00,2.72,0.00,0.000,6,0.000,0.064,2445,2791,3399,0,0,7,0,0,0
$GC,585,-0.73,-146.0,58.0,-10.3,103,591,0.00,2.90,0.00,0.000,4,0.000,0.092,2445,3918,3399,0,0,6,0,0,0
$GC,782,-0.73,-146.0,77.8,-10.8,138,787,0.00,2.72,0.00,0.000,6,0.000,0.064,2445,2792,3399,0,0,6,0,0,0
$GC,1126,-0.78,-146.0,108.0,-7.9,191,1131,0.00,2.88,0.00,0.000,4,0.000,0.092,2445,3912,3399,0,0,6,0,0,0
$GC,1240,-0.85,-146.0,117.5,-8.3,200,1245,0.00,2.70,0.00,0.000,6,0.000,0.064,2445,2799,3398,0,0,6,0,0,0
$GC,1564,-0.92,-146.0,144.4,-8.6,231,1570,0.17,2.85,0.00,0.000,4,0.110,0.088,2373,3917,3397,0,0,7,0,0,0
$GC,1733,-0.76,-146.0,164.6,-11.7,245,1739,0.28,2.70,0.00,0.000,6,0.211,0.063,2438,2798,3396,0,0,5,0,0,0
$GC,2058,-0.82,-146.0,190.9,-7.7,276,2062,0.00,2.85,0.00,0.000,4,0.000,0.089,2438,3917,3397,0,0,6,0,0,0
$STATE,2191,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2191,begin apogee
$GC,2200,-0.16,0.0,202.1,9.4,287,2320,0.68,0.00,116.15,0.887,6,0.183,0.000,2629,2404,2799,0,0,0,0,0,0
$STATE,2321,end apogee,CONTROL_FINISHED_OK
$STATE,2321,begin climb
$GC,2323,0.73,146.0,205.9,0.0,299,2453,0.95,2.12,119.95,0.841,4,0.140,0.087,2919,800,2202,0,0,0,0,0,0
$GC,2559,0.73,146.0,187.6,10.2,320,2565,0.00,1.95,0.00,0.000,6,0.000,0.063,2919,2404,2198,0,0,0,0,0,0
$GC,2883,0.73,146.0,155.5,9.9,351,2893,0.00,3.80,0.00,0.000,4,0.000,0.081,2919,3918,2195,0,0,8,0,0,0
$GC,3018,0.63,146.0,139.9,11.6,363,3028,0.17,3.78,0.00,0.000,6,0.202,0.069,2897,2396,2194,0,0,5,0,0,0
$GC,3347,0.73,153.5,110.1,8.8,394,3361,0.00,3.78,6.43,0.682,4,0.000,0.081,2897,3918,2173,0,0,8,0,0,0
$GC,3414,0.73,153.5,103.4,10.6,400,3423,0.00,3.75,0.00,0.000,6,0.000,0.068,2912,2394,2172,0,0,5,0,0,0
$GC,3760,0.85,186.0,73.3,7.8,458,3797,0.15,3.90,28.08,0.771,4,0.104,0.081,2966,3932,2040,0,0,6,0,0,0
$GC,3826,0.70,186.0,66.5,11.6,470,3833,0.28,3.78,0.00,0.000,6,0.193,0.068,2917,2399,2039,0,0,6,0,0,0
$GC,4173,0.84,218.5,39.3,7.8,531,4209,0.12,3.88,27.85,0.755,4,0.125,0.081,2958,3921,1907,0,0,6,0,0,0
$GC,4311,0.75,220.5,23.4,9.1,556,4317,0.17,3.78,0.00,0.000,6,0.202,0.071,2936,2400,1906,0,0,6,0,0,0
$FREEZE,8.91,-0.413,-1.834,0,1,0
$FREEZE,8.37,-0.412,-1.834,0,1,0
$FREEZE,7.85,-0.413,-1.834,0,1,0
$FREEZE,7.30,-0.413,-1.833,0,1,0
$FREEZE,6.59,-0.414,-1.833,0,1,0
$FREEZE,6.07,-0.411,-1.832,0,1,0
$FREEZE,5.23,-0.411,-1.832,0,1,0
$FREEZE,4.54,-0.410,-1.831,0,1,0
$FREEZE,4.04,-0.410,-1.831,0,1,0
$FREEZE,3.64,-0.411,-1.830,0,1,0
$FREEZE,2.79,-0.417,-1.830,0,1,0
$FREEZE,1.82,-0.413,-1.829,0,1,0
$STATE,4485,end climb,SURFACE_DEPTH_REACHED
$STATE,4485,begin surface coast
$FREEZE,1.46,-0.419,-1.829,0,1,0
$FREEZE,0.66,-0.422,-1.828,0,1,0
$FREEZE,0.31,-0.420,-1.674,0,1,0
$FINISH,0.3,1.024606
$STATE,4503,end surface coast,CONTROL_FINISHED_OK
$STATE,4503,begin surface
$SM_CCo,4521,64.95,0.735,0,0,1474,325.02
$SM_GC,0.89,0.00,0.00,64.95,0.000,0.000,0.735,124,2804,1474,-8.02,0.11,325.02
$RAFOS_CLK,284
$RAFOS,6,1262177344,12.833333,12.817778,61,57,56,0,0,0,174,186,213,0,0,0
$RAFOS,5,1262176871,12.700000,12.686389,58,57,56,0,0,0,216,198,115,0,0,0
$RAFOS,4,1262176386,12.566667,12.551666,57,56,56,0,0,0,187,148,214,0,0,0
$RAFOS,3,1262175907,12.433333,12.418612,56,55,55,0,0,0,123,140,209,0,0,0
$RAFOS,2,1262175422,12.300000,12.283889,61,58,53,0,0,0,222,174,116,0,0,0
$RAFOS,1,1262174950,12.166667,12.152778,65,58,56,0,0,0,156,120,167,0,0,0
$RAFOS,0,1262174463,12.033333,12.017500,72,64,58,0,0,0,212,166,177,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5724.37,260399,101051
$TT8_MAMPS,0.027612
$HUMID,48.34
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,20.1
$24V_AH,22.8,75.495
$10V_AH,10.0,39.788
$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,22.725,64.425,298.450,64.950,0.000,31.033,31.896,171.365,1.000,0.000,37.038,958.047,2182.692,454.819,1001.501,361.840,0.000,999.198,0.000,964.037,2520.000,2.619,0.000
$DEVICE_MAMPS,298.363,101.244,887.419,734.786,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,432.321,397.321,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152536
$DATA_FILE_SIZE,22162,590
$CAP_FILE_SIZE,68506,0
$CFSIZE,260165632,217636864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,112,0,0
$SOUNDSPEED,1455.5
$GPS,301209,130449,6734.429,-5710.408,7,1.4,12,-38.3