version: 66.06
glider: 143
mission: 10
dive: 458
start: 12 31 109 11 44 2
data:
$ID,143
$MISSION,10
$DIVE,458
$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,-45581.934
$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
$GPS1,113327,6736.825,-5703.627,49,2.3,69,-38.3
$_CALLS,2
$_XMS_NAKs,20
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-61.8
$GPS2,114344,6737.066,-5703.763,14,1.2,14,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6737.066,-5635.402
$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,199
$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,-90.00,0.000,2,0.000,0.000,125,2803,2949,0,0,0,0,0,0
$GC,111,-0.73,-146.0,3.3,-6.2,18,143,10.98,3.00,-13.45,0.000,4,0.283,0.107,2443,3915,3398,0,0,6,0,0,0
$GC,277,-0.73,-146.0,24.1,-12.8,48,283,0.00,2.80,0.00,0.000,6,0.000,0.066,2443,2793,3400,0,0,6,0,0,0
$GC,621,-0.73,-146.0,58.1,-10.3,109,626,0.00,2.92,0.00,0.000,4,0.000,0.091,2443,3928,3400,0,0,8,0,0,0
$GC,817,-0.73,-146.0,77.5,-10.6,144,823,0.00,2.78,0.00,0.000,6,0.000,0.066,2443,2800,3401,0,0,6,0,0,0
$GC,1161,-0.78,-146.0,110.9,-10.3,196,1165,0.00,2.90,0.00,0.000,4,0.000,0.093,2443,3922,3400,0,0,8,0,0,0
$GC,1314,-0.83,-146.0,126.7,-10.6,209,1319,0.00,2.78,0.00,0.000,6,0.000,0.067,2443,2798,3399,0,0,6,0,0,0
$GC,1639,-0.89,-146.0,158.5,-9.2,239,1644,0.12,2.92,0.00,0.000,4,0.120,0.091,2400,3930,3398,0,0,8,0,0,0
$GC,1804,-0.83,-146.0,176.7,-10.9,253,1808,0.00,2.78,0.00,0.000,6,0.000,0.066,2400,2800,3398,0,0,6,0,0,0
$STATE,2009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2009,begin apogee
$GC,2017,-0.16,0.0,199.0,11.0,272,2138,0.85,0.00,116.82,0.894,6,0.196,0.000,2629,2401,2799,0,0,0,0,0,0
$STATE,2138,end apogee,CONTROL_FINISHED_OK
$STATE,2138,begin climb
$GC,2141,0.73,146.0,201.5,0.0,284,2270,0.98,2.00,119.78,0.847,4,0.146,0.087,2922,804,2204,0,0,0,0,0,0
$GC,2488,0.73,146.0,172.1,10.1,315,2494,0.00,1.85,0.00,0.000,6,0.000,0.063,2922,2403,2199,0,0,0,0,0,0
$GC,2813,0.73,146.0,139.3,10.1,346,2822,0.00,3.90,0.00,0.000,4,0.000,0.083,2922,3919,2197,0,0,7,0,0,0
$GC,2984,0.61,146.0,119.6,10.8,361,2991,0.20,3.85,0.00,0.000,6,0.198,0.071,2893,2399,2196,0,0,5,0,0,0
$GC,3314,0.78,185.1,92.8,7.5,399,3356,0.15,3.95,32.00,0.788,4,0.117,0.083,2943,3916,2044,0,0,7,0,0,0
$GC,3427,0.68,185.1,80.5,13.2,419,3433,0.20,3.85,0.00,0.000,6,0.191,0.070,2913,2402,2041,0,0,6,0,0,0
$GC,3771,0.81,185.1,52.4,9.5,480,3777,0.12,3.90,0.00,0.000,4,0.123,0.082,2955,3917,2041,0,0,7,0,0,0
$GC,3887,0.69,185.1,39.1,16.4,500,3893,0.22,3.83,0.00,0.000,6,0.184,0.070,2917,2394,2041,0,0,6,0,0,0
$FREEZE,8.55,-0.461,-1.833,0,1,0
$FREEZE,7.93,-0.461,-1.833,0,1,0
$FREEZE,7.40,-0.461,-1.832,0,1,0
$FREEZE,6.90,-0.461,-1.832,0,1,0
$FREEZE,6.51,-0.460,-1.832,0,1,0
$FREEZE,5.93,-0.461,-1.831,0,1,0
$FREEZE,5.51,-0.460,-1.831,0,1,0
$FREEZE,5.28,-0.459,-1.831,0,1,0
$FREEZE,5.11,-0.459,-1.830,0,1,0
$FREEZE,4.32,-0.459,-1.830,0,1,0
$FREEZE,3.63,-0.459,-1.829,0,1,0
$FREEZE,3.06,-0.459,-1.829,0,1,0
$FREEZE,2.58,-0.459,-1.829,0,1,0
$FREEZE,1.87,-0.459,-1.828,0,1,0
$GC,4233,0.96,332.3,13.6,3.0,561,4365,0.25,4.15,122.12,0.740,6,0.091,0.091,3010,3927,1443,0,0,9,0,0,0
$STATE,4366,end climb,SURFACE_DEPTH_REACHED
$STATE,4366,begin surface coast
$FREEZE,0.27,-0.460,-1.827,0,1,0
$FREEZE,0.11,-0.436,-1.163,0,1,0
$FREEZE,0.09,-0.437,-1.825,0,1,0
$FREEZE,0.05,-0.419,-1.211,0,1,0
$FINISH,0.1,1.017892
$STATE,4390,end surface coast,CONTROL_FINISHED_OK
$STATE,4390,begin surface
$SM_CCo,4470,0.00,0.000,0,0,1431,335.82
$SM_GC,0.97,8.82,0.00,0.00,0.090,0.000,0.000,126,2793,1431,-7.99,-0.20,335.82
$RAFOS_CLK,296
$RAFOS,6,1262263745,12.833333,12.818055,68,62,61,0,0,0,196,214,132,0,0,0
$RAFOS,5,1262263264,12.700000,12.684444,60,60,58,0,0,0,149,222,119,0,0,0
$RAFOS,4,1262262786,12.566667,12.551666,65,58,57,0,0,0,213,168,114,0,0,0
$RAFOS,3,1262262302,12.433333,12.417222,62,57,56,0,0,0,178,148,196,0,0,0
$RAFOS,2,1262261830,12.300000,12.286111,67,58,56,0,0,0,204,217,115,0,0,0
$RAFOS,1,1262261351,12.166667,12.153055,61,56,52,0,0,0,216,183,166,0,0,0
$RAFOS,0,1262260866,12.033333,12.018333,67,67,58,0,0,0,197,209,169,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5708.76,270399,111104
$TT8_MAMPS,0.027612
$HUMID,47.75
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,18.2
$24V_AH,22.7,77.248
$10V_AH,9.9,40.424
$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,22.900,58.150,390.725,0.000,0.000,58.592,69.923,304.398,1.000,0.000,16.326,921.142,2179.493,446.637,974.099,566.644,0.000,993.518,0.000,956.473,2520.000,2.617,0.000
$DEVICE_MAMPS,283.023,106.613,894.322,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,427.840,394.252,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152520
$DATA_FILE_SIZE,22206,588
$CAP_FILE_SIZE,69294,0
$CFSIZE,260165632,216993792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,107,0,0
$SOUNDSPEED,1454.2
$GPS,311209,125927,6738.107,-5703.771,8,1.4,10,-38.4