version: 66.06
glider: 143
mission: 10
dive: 453
start: 12 31 109 4 47 59
data:
$ID,143
$MISSION,10
$DIVE,453
$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,-45503.82
$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,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
$GPS1,042645,6735.779,-5707.577,44,99.0,63,-38.3
$_CALLS,3
$_XMS_NAKs,40
$_XMS_TOUTs,3
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-61.9
$GPS2,044740,6735.899,-5707.573,35,1.3,35,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6735.899,-5639.236
$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,-146.0,0.0,0.0,0,113,0.00,0.00,-95.57,0.000,2,0.000,0.000,129,2805,3008,0,0,0,0,0,0
$GC,117,-0.73,-146.0,3.2,-5.8,19,149,11.07,2.58,-11.07,0.000,4,0.285,0.101,2447,1185,3398,0,0,1,0,0,0
$GC,196,-0.73,-146.0,17.8,-16.4,33,202,0.00,2.42,0.00,0.000,6,0.000,0.074,2447,2799,3400,0,0,0,0,0,0
$GC,540,-0.73,-146.0,52.8,-11.9,94,545,0.00,2.95,0.00,0.000,4,0.000,0.096,2447,3926,3400,0,0,8,0,0,0
$GC,776,-0.73,-146.0,78.2,-11.6,136,782,0.00,2.80,0.00,0.000,6,0.000,0.067,2447,2798,3400,0,0,6,0,0,0
$GC,1119,-0.79,-146.0,110.4,-9.6,188,1124,0.00,2.95,0.00,0.000,4,0.000,0.094,2447,3923,3400,0,0,7,0,0,0
$GC,1215,-0.88,-146.0,120.1,-9.7,196,1221,0.12,2.80,0.00,0.000,6,0.130,0.067,2408,2795,3399,0,0,6,0,0,0
$GC,1540,-0.82,-146.0,157.2,-10.6,226,1545,0.00,2.92,0.00,0.000,4,0.000,0.092,2408,3928,3399,0,0,8,0,0,0
$GC,1698,-0.82,-146.0,173.5,-9.7,239,1703,0.00,2.78,0.00,0.000,6,0.000,0.065,2408,2798,3398,0,0,6,0,0,0
$STATE,2009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2009,begin apogee
$GC,2016,-0.16,0.0,203.6,9.5,269,2137,0.82,0.00,116.95,0.900,6,0.197,0.000,2631,2399,2799,0,0,0,0,0,0
$STATE,2137,end apogee,CONTROL_FINISHED_OK
$STATE,2137,begin climb
$GC,2139,0.73,146.0,207.6,0.0,281,2269,0.95,2.08,120.22,0.846,4,0.143,0.090,2919,800,2203,0,0,0,0,0,0
$GC,2409,0.73,146.0,186.4,10.9,305,2415,0.00,1.88,0.00,0.000,6,0.000,0.063,2919,2398,2199,0,0,0,0,0,0
$GC,2734,0.73,146.0,154.5,9.7,336,2743,0.00,3.90,0.00,0.000,4,0.000,0.082,2919,3916,2195,0,0,7,0,0,0
$GC,2845,0.63,146.0,142.0,11.7,346,2856,0.17,3.85,0.00,0.000,6,0.203,0.071,2897,2401,2195,0,0,5,0,0,0
$GC,3174,0.74,163.3,113.8,8.4,377,3196,0.00,3.92,14.38,0.771,4,0.000,0.082,2897,3916,2133,0,0,6,0,0,0
$GC,3275,0.74,163.3,103.9,10.9,386,3285,0.00,3.83,0.00,0.000,6,0.000,0.070,2912,2398,2132,0,0,6,0,0,0
$GC,3620,0.81,163.3,66.5,9.9,444,3626,0.12,3.90,0.00,0.000,4,0.110,0.081,2959,3926,2132,0,0,7,0,0,0
$GC,3729,0.64,163.3,53.4,12.2,463,3735,0.30,3.83,0.00,0.000,6,0.196,0.069,2903,2395,2132,0,0,6,0,0,0
$GC,4076,0.96,291.0,31.0,3.8,524,4193,0.25,3.95,106.20,0.748,4,0.104,0.085,2993,3921,1611,0,0,6,0,0,0
$FREEZE,8.81,-0.622,-1.833,0,1,0
$FREEZE,7.72,-0.625,-1.832,0,1,0
$STATE,4249,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4249,begin subsurface finish
$FINISH1,7.7,1.026782,35
$GC,4260,0.04,34.8,7.7,-16.8,556,4321,1.15,0.00,-53.38,0.000,6,0.196,0.000,2709,2396,2658,0,0,0,0,0,0
$FINISH2,0.6
$STATE,4322,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4322,begin surface
$RAFOS_CLK,319
$RAFOS,6,1262234944,4.833333,4.817778,61,59,52,0,0,0,199,209,139,0,0,0
$RAFOS,2,1262233025,4.300000,4.284722,62,62,59,0,0,0,116,224,187,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5707.08,270399,040432
$TT8_MAMPS,0.027612
$HUMID,47.04
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.3,16.2
$24V_AH,22.7,76.722
$10V_AH,10.0,40.238
$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,14.975,58.300,357.750,0.000,0.000,85.133,98.386,755.057,0.750,0.000,36.681,869.353,2170.828,460.414,958.903,1118.730,0.000,1002.709,0.000,917.511,360.000,2.626,0.000
$DEVICE_MAMPS,285.324,101.244,899.691,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,408.637,379.954,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152592
$DATA_FILE_SIZE,22161,568
$CAP_FILE_SIZE,75706,0
$CFSIZE,260165632,217182208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,92,0,0
$SOUNDSPEED,1455.5
$GPS,311209,044740,6735.899,-5707.573,35,1.3,35,-38.3