version: 66.06
glider: 143
mission: 10
dive: 461
start: 12 31 109 16 7 2
data:
$ID,143
$MISSION,10
$DIVE,461
$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,-45672.043
$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,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
$GPS1,155222,6739.755,-5702.776,8,99.0,28,-38.4
$_CALLS,3
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-61.3
$GPS2,160643,6739.875,-5702.567,29,1.5,35,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6739.875,-5634.150
$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,128.4,20000,-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,14,-0.73,-146.0,0.0,0.0,0,108,0.00,0.00,-90.35,0.000,2,0.000,0.000,129,2807,2978,0,0,0,0,0,0
$GC,111,-0.73,-146.0,3.5,-6.7,18,143,11.25,2.95,-11.88,0.000,4,0.292,0.104,2448,3919,3398,0,0,8,0,0,0
$GC,312,-0.73,-146.0,29.2,-9.1,54,317,0.00,2.78,0.00,0.000,6,0.000,0.064,2448,2795,3400,0,0,6,0,0,0
$GC,655,-0.73,-146.0,65.1,-11.7,115,661,0.00,2.90,0.00,0.000,4,0.000,0.091,2448,3922,3401,0,0,8,0,0,0
$GC,898,-0.79,-146.0,89.6,-11.7,158,903,0.00,2.78,0.00,0.000,6,0.000,0.067,2448,2794,3401,0,0,6,0,0,0
$GC,1229,-0.85,-146.0,120.4,-7.9,197,1234,0.00,2.92,0.00,0.000,4,0.000,0.094,2448,3914,3400,0,0,6,0,0,0
$GC,1360,-0.94,-146.0,132.4,-9.3,208,1365,0.20,2.75,0.00,0.000,6,0.114,0.067,2383,2799,3398,0,0,6,0,0,0
$GC,1685,-0.82,-146.0,168.4,-11.1,238,1691,0.17,2.90,0.00,0.000,4,0.210,0.091,2413,3928,3398,0,0,8,0,0,0
$GC,1933,-0.82,-146.0,192.7,-9.1,259,1939,0.00,2.75,0.00,0.000,6,0.000,0.065,2413,2797,3398,0,0,6,0,0,0
$STATE,2000,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2000,begin apogee
$GC,2007,-0.16,0.0,199.3,9.3,266,2127,0.77,0.00,116.70,0.894,6,0.191,0.000,2626,2392,2800,0,0,0,0,0,0
$STATE,2128,end apogee,CONTROL_FINISHED_OK
$STATE,2128,begin climb
$GC,2130,0.73,146.0,201.6,0.0,278,2260,0.95,2.05,120.05,0.843,4,0.134,0.090,2919,802,2203,0,0,0,0,0,0
$GC,2374,0.73,146.0,182.2,9.8,300,2378,0.00,1.85,0.00,0.000,6,0.000,0.064,2919,2403,2199,0,0,0,0,0,0
$GC,2704,0.73,146.0,149.2,10.4,331,2713,0.00,3.92,0.00,0.000,4,0.000,0.083,2919,3926,2197,0,0,7,0,0,0
$GC,2774,0.63,146.0,141.1,11.7,337,2781,0.17,3.90,0.00,0.000,6,0.199,0.070,2897,2394,2195,0,0,5,0,0,0
$GC,3100,0.76,173.6,112.2,8.0,368,3131,0.12,3.95,22.83,0.783,4,0.126,0.082,2938,3914,2091,0,0,7,0,0,0
$GC,3227,0.66,173.6,98.0,11.2,381,3234,0.20,3.85,0.00,0.000,6,0.194,0.070,2909,2397,2090,0,0,6,0,0,0
$GC,3572,0.78,173.6,71.1,9.3,442,3578,0.00,3.90,0.00,0.000,4,0.000,0.081,2909,3927,2089,0,0,7,0,0,0
$GC,3651,0.78,173.6,62.8,9.5,456,3657,0.00,3.83,0.00,0.000,6,0.000,0.069,2924,2401,2089,0,0,6,0,0,0
$GC,3994,0.86,173.6,28.3,11.4,517,4001,0.12,3.88,0.00,0.000,4,0.110,0.081,2972,3916,2089,0,0,7,0,0,0
$GC,4075,0.67,173.6,17.1,13.6,531,4082,0.32,3.80,0.00,0.000,6,0.190,0.071,2908,2401,2089,0,0,6,0,0,0
$FREEZE,8.90,-0.483,-1.833,0,1,0
$FREEZE,8.54,-0.480,-1.833,0,1,0
$FREEZE,8.25,-0.482,-1.833,0,1,0
$FREEZE,7.70,-0.484,-1.832,0,1,0
$FREEZE,7.41,-0.485,-1.832,0,1,0
$FREEZE,7.17,-0.480,-1.832,0,1,0
$FREEZE,7.15,-0.481,-1.832,0,1,0
$FREEZE,7.04,-0.485,-1.832,0,1,0
$FREEZE,6.90,-0.485,-1.832,0,1,0
$FREEZE,6.70,-0.485,-1.832,0,1,0
$FREEZE,6.29,-0.485,-1.831,0,1,0
$FREEZE,5.83,-0.485,-1.831,0,1,0
$FREEZE,5.33,-0.486,-1.831,0,1,0
$FREEZE,5.02,-0.485,-1.830,0,1,0
$FREEZE,4.58,-0.487,-1.830,0,1,0
$FREEZE,4.30,-0.486,-1.830,0,1,0
$FREEZE,3.97,-0.489,-1.830,0,1,0
$FREEZE,3.66,-0.490,-1.829,0,1,0
$FREEZE,3.79,-0.490,-1.829,0,1,0
$FREEZE,3.98,-0.488,-1.829,0,1,0
$FREEZE,3.96,-0.491,-1.830,0,1,0
$FREEZE,3.81,-0.491,-1.829,0,1,0
$FREEZE,3.73,-0.489,-1.829,0,1,0
$FREEZE,3.89,-0.489,-1.829,0,1,0
$FREEZE,3.91,-0.489,-1.829,0,1,0
$FREEZE,3.75,-0.488,-1.829,0,1,0
$FREEZE,3.53,-0.491,-1.829,0,1,0
$FREEZE,3.22,-0.487,-1.829,0,1,0
$FREEZE,2.97,-0.486,-1.829,0,1,0
$FREEZE,2.71,-0.486,-1.829,0,1,0
$FREEZE,2.38,-0.489,-1.828,0,1,0
$FREEZE,2.44,-0.494,-1.829,0,1,0
$FREEZE,2.44,-0.494,-1.828,0,1,0
$FREEZE,2.46,-0.495,-1.828,0,1,0
$FREEZE,2.32,-0.488,-1.828,0,1,0
$FREEZE,2.30,-0.490,-1.828,0,1,0
$FREEZE,1.97,-0.488,-1.828,0,1,0
$STATE,4367,end climb,SURFACE_DEPTH_REACHED
$STATE,4367,begin surface coast
$FREEZE,1.71,-0.490,-1.828,0,1,0
$FREEZE,1.43,-0.489,-1.828,0,1,0
$FREEZE,1.17,-0.494,-1.828,0,1,0
$FREEZE,0.85,-0.495,-1.827,0,1,0
$FREEZE,0.38,-0.491,-1.827,0,1,0
$FREEZE,0.41,-0.486,-1.826,0,1,0
$FREEZE,0.28,-0.486,-1.826,0,1,0
$FREEZE,0.07,-0.443,-1.002,0,1,0
$FREEZE,0.15,-0.513,-1.439,0,1,0
$FREEZE,0.23,-0.514,-1.723,0,1,0
$FREEZE,0.27,-0.500,-1.569,0,1,0
$FREEZE,0.22,-0.481,-1.773,0,1,0
$FREEZE,0.21,-0.481,-1.800,0,1,0
$FREEZE,0.25,-0.525,-0.290,0,1,0
$FREEZE,0.39,-0.468,-1.810,0,1,0
$FREEZE,0.30,-0.432,-1.772,0,1,0
$FREEZE,0.37,-0.426,-1.822,0,1,0
$FREEZE,0.20,-0.482,-1.255,0,1,0
$FREEZE,0.23,-0.485,-1.823,0,1,0
$FREEZE,0.26,-0.508,-0.757,0,1,0
$FREEZE,0.19,-0.464,-1.822,0,1,0
$FREEZE,0.16,-0.499,-1.824,0,1,0
$FREEZE,0.27,-0.499,-1.817,0,1,0
$FREEZE,0.20,-0.505,-1.825,0,1,0
$FREEZE,0.18,-0.500,-1.819,0,1,0
$FREEZE,0.31,-0.507,-1.826,0,1,0
$FREEZE,0.22,-0.506,-0.121,0,1,0
$FREEZE,0.26,-0.496,-1.787,0,1,0
$FINISH,0.3,1.026216
$STATE,4526,end surface coast,CONTROL_FINISHED_OK
$STATE,4526,begin surface
$SM_CCo,4544,90.80,0.746,0,0,1474,325.02
$SM_GC,1.04,0.00,0.00,90.80,0.000,0.000,0.746,124,2808,1474,-8.02,0.25,325.02
$RAFOS_CLK,316
$RAFOS,6,1262278143,16.833334,16.817499,74,61,60,0,0,0,209,151,175,0,0,0
$RAFOS,5,1262277663,16.700001,16.684166,67,58,58,0,0,0,178,195,206,0,0,0
$RAFOS,4,1262277187,16.566668,16.551945,65,60,59,0,0,0,210,173,113,0,0,0
$RAFOS,3,1262276710,16.433332,16.419445,60,59,54,0,0,0,223,193,116,0,0,0
$RAFOS,2,1262276224,16.299999,16.284445,65,63,62,0,0,0,204,194,177,0,0,0
$RAFOS,1,1262275741,16.166666,16.150278,67,61,60,0,0,0,184,157,214,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5657.86,270399,161655
$TT8_MAMPS,0.027612
$HUMID,48.11
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.4,19.2
$24V_AH,22.8,77.587
$10V_AH,10.0,40.545
$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,22.650,59.750,259.575,90.800,0.000,85.924,124.321,371.640,0.750,0.000,37.332,1038.514,2268.955,438.153,1025.265,733.230,0.000,979.100,0.000,984.807,2160.000,2.618,0.000
$DEVICE_MAMPS,292.227,103.545,894.322,745.524,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,447.376,413.041,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152564
$DATA_FILE_SIZE,22155,611
$CAP_FILE_SIZE,75961,0
$CFSIZE,260165632,216870912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,105,0,0
$SOUNDSPEED,1454.0
$GPS,311209,172536,6739.767,-5701.768,9,1.4,25,-38.4