version: 66.06
glider: 143
mission: 10
dive: 442
start: 12 30 109 13 13 52
data:
$ID,143
$MISSION,10
$DIVE,442
$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,-45266.461
$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,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
$GPS1,130449,6734.429,-5710.408,7,1.4,12,-38.3
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-65.0
$GPS2,131334,6734.510,-5710.522,13,2.7,32,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6734.510,-5642.213
$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,203
$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,14,-0.73,-146.0,0.0,0.0,0,103,0.00,0.00,-85.38,0.000,2,0.000,0.000,123,2808,2927,0,0,0,0,0,0
$GC,106,-0.73,-146.0,3.2,-6.1,17,142,11.05,2.88,-15.18,0.000,4,0.287,0.102,2445,3915,3397,0,0,7,0,0,0
$GC,318,-0.73,-146.0,24.1,-7.3,55,324,0.00,2.72,0.00,0.000,6,0.000,0.064,2445,2796,3400,0,0,6,0,0,0
$GC,661,-0.73,-146.0,56.6,-11.1,116,667,0.00,2.90,0.00,0.000,4,0.000,0.091,2446,3927,3399,0,0,6,0,0,0
$GC,803,-0.73,-146.0,70.7,-9.5,141,808,0.00,2.72,0.00,0.000,6,0.000,0.065,2446,2799,3400,0,0,6,0,0,0
$GC,1147,-0.78,-146.0,101.9,-9.0,200,1152,0.00,2.88,0.00,0.000,4,0.000,0.093,2446,3914,3398,0,0,7,0,0,0
$GC,1231,-0.86,-146.0,110.2,-9.4,207,1236,0.00,2.70,0.00,0.000,6,0.000,0.065,2445,2801,3398,0,0,6,0,0,0
$GC,1556,-0.93,-146.0,140.4,-9.3,237,1562,0.17,2.88,0.00,0.000,4,0.109,0.088,2373,3922,3397,0,0,7,0,0,0
$GC,1697,-0.76,-146.0,158.1,-12.6,249,1703,0.28,2.70,0.00,0.000,6,0.213,0.064,2438,2799,3397,0,0,6,0,0,0
$GC,2022,-0.84,-146.0,186.8,-8.4,279,2027,0.00,2.88,0.00,0.000,4,0.000,0.090,2438,3918,3397,0,0,7,0,0,0
$GC,2196,-0.90,-146.0,202.6,-9.6,294,2202,0.12,2.70,0.00,0.000,6,0.126,0.062,2398,2793,3397,0,0,6,0,0,0
$STATE,2210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2210,begin apogee
$GC,2216,-0.16,0.0,204.2,10.0,295,2337,0.85,0.00,116.43,0.894,6,0.197,0.000,2626,2394,2800,0,0,0,0,0,0
$STATE,2337,end apogee,CONTROL_FINISHED_OK
$STATE,2338,begin climb
$GC,2340,0.73,146.0,208.6,0.0,307,2470,0.98,2.05,120.00,0.842,4,0.142,0.087,2922,792,2202,0,0,0,0,0,0
$GC,2504,0.73,146.0,197.6,11.4,322,2508,0.00,1.95,0.00,0.000,6,0.000,0.062,2921,2399,2199,0,0,0,0,0,0
$GC,2834,0.73,146.7,165.1,9.1,353,2844,0.00,3.83,0.00,0.000,4,0.000,0.081,2921,3916,2195,0,0,8,0,0,0
$GC,2939,0.61,146.7,153.6,11.2,362,2946,0.20,3.80,0.00,0.000,6,0.196,0.069,2892,2397,2193,0,0,5,0,0,0
$GC,3264,0.76,181.4,127.6,7.7,393,3301,0.12,3.90,28.90,0.796,4,0.123,0.083,2933,3919,2059,0,0,7,0,0,0
$GC,3358,0.65,181.4,117.9,12.0,401,3368,0.20,3.78,0.00,0.000,6,0.194,0.068,2904,2401,2056,0,0,6,0,0,0
$GC,3694,0.80,212.5,89.3,7.9,443,3730,0.15,3.90,26.50,0.776,4,0.119,0.081,2953,3917,1932,0,0,7,0,0,0
$GC,3737,0.74,212.5,84.9,10.6,451,3743,0.17,3.80,0.00,0.000,6,0.193,0.069,2930,2393,1931,0,0,6,0,0,0
$GC,4082,0.84,232.1,55.6,8.3,512,4108,0.00,3.88,17.48,0.752,4,0.000,0.081,2930,3923,1852,0,0,7,0,0,0
$GC,4182,0.84,232.1,46.6,10.4,530,4188,0.00,3.78,0.00,0.000,6,0.000,0.070,2945,2401,1852,0,0,6,0,0,0
$GC,4528,0.91,232.1,9.0,10.0,591,4535,0.10,3.83,0.00,0.000,4,0.121,0.079,2982,3921,1850,0,0,6,0,0,0
$FREEZE,8.09,-0.535,-1.833,0,1,0
$FREEZE,7.46,-0.535,-1.833,0,1,0
$FREEZE,6.80,-0.535,-1.832,0,1,0
$FREEZE,6.33,-0.536,-1.832,0,1,0
$FREEZE,5.32,-0.535,-1.831,0,1,0
$FREEZE,4.43,-0.535,-1.831,0,1,0
$FREEZE,3.51,-0.536,-1.830,0,1,0
$FREEZE,2.49,-0.536,-1.829,0,1,0
$FREEZE,1.63,-0.536,-1.828,0,1,0
$STATE,4586,end climb,SURFACE_DEPTH_REACHED
$STATE,4586,begin surface coast
$FREEZE,0.62,-0.536,-1.828,0,1,0
$FREEZE,0.17,-0.535,-1.066,0,1,0
$FINISH,0.2,1.015753
$STATE,4596,end surface coast,CONTROL_FINISHED_OK
$STATE,4597,begin surface
$SM_CCo,4616,57.90,0.739,0,0,1474,325.02
$SM_GC,0.98,0.00,0.00,57.90,0.000,0.000,0.739,125,2795,1474,-8.02,-0.11,325.02
$RAFOS_CLK,307
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6703.95,-5710.13,260399,131314
$TT8_MAMPS,0.027612
$HUMID,47.91
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,19.4
$24V_AH,22.8,75.599
$10V_AH,10.1,39.826
$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,22.575,70.175,309.300,57.900,0.000,56.003,71.553,199.536,1.000,0.000,35.303,978.440,2303.542,452.809,1009.468,461.619,0.000,1005.338,0.000,973.964,0.000,2.619,0.000
$DEVICE_MAMPS,286.858,102.011,894.322,739.388,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,441.237,406.740,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152512
$DATA_FILE_SIZE,22138,603
$CAP_FILE_SIZE,70752,0
$CFSIZE,260165632,217600000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,128,0,0
$SOUNDSPEED,1455.4
$GPS,301209,143407,6734.655,-5710.386,94,1.0,94,-38.3