version: 66.06
glider: 143
mission: 10
dive: 447
start: 12 30 109 20 19 49
data:
$ID,143
$MISSION,10
$DIVE,447
$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,-45414.328
$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,18
$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
$GPS1,200901,6733.128,-5711.695,43,1.8,44,-38.3
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-65.0
$GPS2,201931,6733.215,-5711.850,37,1.4,37,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.215,-5643.567
$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,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,-146.0,0.0,0.0,0,128,0.00,0.00,-110.03,0.000,2,0.000,0.000,129,2797,3190,0,0,0,0,0,0
$GC,132,-0.73,-146.0,3.6,-8.6,22,158,11.45,3.03,-5.35,0.000,4,0.297,0.107,2443,3919,3399,0,0,8,0,0,0
$GC,365,-0.73,-146.0,32.2,-10.9,64,371,0.00,2.80,0.00,0.000,6,0.000,0.066,2444,2793,3402,0,0,6,0,0,0
$GC,708,-0.73,-146.0,69.5,-9.2,125,713,0.00,2.95,0.00,0.000,4,0.000,0.093,2443,3920,3401,0,0,6,0,0,0
$GC,968,-0.73,-146.0,96.4,-10.2,171,974,0.00,2.78,0.00,0.000,6,0.000,0.067,2444,2798,3401,0,0,6,0,0,0
$GC,1297,-0.78,-146.0,124.2,-8.3,205,1302,0.00,2.90,0.00,0.000,4,0.000,0.094,2444,3921,3400,0,0,8,0,0,0
$GC,1482,-0.85,-146.0,142.5,-10.2,221,1487,0.00,2.78,0.00,0.000,6,0.000,0.067,2444,2793,3399,0,0,6,0,0,0
$GC,1807,-0.94,-146.0,172.5,-8.8,251,1812,0.17,2.90,0.00,0.000,4,0.107,0.089,2371,3916,3399,0,0,8,0,0,0
$GC,1943,-0.79,-146.0,188.1,-10.9,262,1949,0.25,2.75,0.00,0.000,6,0.207,0.064,2430,2795,3399,0,0,6,0,0,0
$STATE,2095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2095,begin apogee
$GC,2101,-0.16,0.0,201.7,8.7,277,2222,0.70,0.00,116.72,0.896,6,0.189,0.000,2626,2396,2800,0,0,0,0,0,0
$STATE,2223,end apogee,CONTROL_FINISHED_OK
$STATE,2223,begin climb
$GC,2227,0.73,146.0,205.3,0.0,289,2355,0.98,2.10,120.05,0.848,4,0.146,0.090,2920,793,2202,0,0,0,0,0,0
$GC,2416,0.73,146.0,191.9,10.2,306,2422,0.00,1.95,0.00,0.000,6,0.000,0.063,2920,2400,2199,0,0,0,0,0,0
$GC,2741,0.73,146.0,158.3,10.0,337,2751,0.00,3.92,0.00,0.000,4,0.000,0.083,2920,3924,2196,0,0,7,0,0,0
$GC,2842,0.63,146.0,146.6,12.3,346,2852,0.20,3.83,0.00,0.000,6,0.199,0.070,2891,2400,2194,0,0,6,0,0,0
$GC,3171,0.77,174.0,118.5,8.0,377,3203,0.15,3.92,22.98,0.785,4,0.117,0.083,2941,3922,2089,0,0,7,0,0,0
$GC,3310,0.65,174.0,102.5,12.5,389,3316,0.22,3.83,0.00,0.000,6,0.196,0.069,2905,2392,2087,0,0,6,0,0,0
$GC,3653,0.79,175.6,72.1,9.1,448,3659,0.12,3.90,0.00,0.000,4,0.125,0.081,2946,3925,2087,0,0,6,0,0,0
$GC,3705,0.69,175.6,65.8,12.6,457,3711,0.20,3.78,0.00,0.000,6,0.201,0.069,2916,2393,2086,0,0,7,0,0,0
$GC,4049,0.81,175.6,43.3,10.6,518,4055,0.10,3.90,0.00,0.000,4,0.137,0.082,2949,3923,2086,0,0,6,0,0,0
$GC,4158,0.71,175.6,30.8,9.7,537,4164,0.17,3.78,0.00,0.000,6,0.194,0.070,2926,2393,2086,0,0,7,0,0,0
$FREEZE,8.94,-0.713,-1.833,0,1,0
$FREEZE,8.55,-0.713,-1.832,0,1,0
$FREEZE,8.02,-0.713,-1.832,0,1,0
$FREEZE,7.44,-0.712,-1.832,0,1,0
$FREEZE,6.76,-0.713,-1.831,0,1,0
$FREEZE,6.15,-0.713,-1.831,0,1,0
$FREEZE,5.58,-0.713,-1.830,0,1,0
$FREEZE,4.99,-0.713,-1.830,0,1,0
$FREEZE,4.49,-0.713,-1.829,0,1,0
$FREEZE,3.90,-0.713,-1.829,0,1,0
$FREEZE,3.47,-0.713,-1.829,0,1,0
$FREEZE,2.91,-0.713,-1.828,0,1,0
$FREEZE,2.41,-0.712,-1.828,0,1,0
$FREEZE,2.05,-0.711,-1.827,0,1,0
$GC,4503,0.78,180.1,2.4,9.0,598,4515,0.00,3.90,5.45,0.640,4,0.000,0.078,2926,3927,2062,0,0,6,0,0,0
$FREEZE,1.32,-0.712,-1.827,0,1,0
$STATE,4520,end climb,SURFACE_DEPTH_REACHED
$STATE,4520,begin surface coast
$FREEZE,0.99,-0.712,-1.827,0,1,0
$FREEZE,0.87,-0.711,-1.827,0,1,0
$FREEZE,0.86,-0.711,-1.827,0,1,0
$FREEZE,0.58,-0.712,-1.826,0,1,0
$FREEZE,0.30,-0.711,-1.826,0,1,0
$FREEZE,0.10,-0.709,-1.826,0,1,0
$FINISH,0.1,1.026776
$STATE,4558,end surface coast,CONTROL_FINISHED_OK
$STATE,4558,begin surface
$SM_CCo,4578,88.18,0.746,0,0,1473,325.02
$SM_GC,1.02,0.00,0.00,88.18,0.000,0.000,0.746,126,2786,1473,-8.01,-0.40,325.02
$RAFOS_CLK,309
$RAFOS,6,1262206150,20.833334,20.819445,59,55,51,0,0,0,115,198,132,0,0,0
$RAFOS,5,1262205661,20.700001,20.683611,59,58,56,0,0,0,133,211,121,0,0,0
$RAFOS,4,1262205185,20.566668,20.551390,62,59,58,0,0,0,199,115,166,0,0,0
$RAFOS,3,1262204702,20.433332,20.417223,65,59,59,0,0,0,193,175,151,0,0,0
$RAFOS,0,1262203262,20.033333,20.017221,61,56,54,0,0,0,131,219,173,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6703.95,-5717.92,260399,202028
$TT8_MAMPS,0.027612
$HUMID,47.91
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,16.80
$XPDR_PINGS,3
$ALTIM_TOP_PING,20.0,19.2
$24V_AH,22.8,76.114
$10V_AH,10.0,40.016
$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,23.075,65.425,265.200,88.175,0.000,54.962,72.178,300.290,1.000,0.000,40.241,985.484,2282.839,460.857,1013.511,559.687,0.000,1002.112,0.000,974.157,1440.000,2.617,0.000
$DEVICE_MAMPS,296.829,107.380,895.856,745.524,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,444.712,409.818,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152564
$DATA_FILE_SIZE,22173,607
$CAP_FILE_SIZE,71806,0
$CFSIZE,260165632,217407488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,118,0,0
$SOUNDSPEED,1453.5
$GPS,301209,213858,6733.421,-5711.850,14,2.7,34,-38.3