version: 66.06
glider: 143
mission: 10
dive: 473
start: 1 1 110 8 6 57
data:
$ID,143
$MISSION,10
$DIVE,473
$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,120
$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,-46082.395
$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,20
$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
$GPS1,080202,6738.126,-5649.582,9,1.8,10,-38.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-67.4
$GPS2,080638,6738.105,-5649.579,11,1.8,11,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6732.706,-5625.093
$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,158.3,20000,-16.9,-9.167
$D_GRID,185
$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,-146.0,0.0,0.0,0,113,0.00,0.00,-94.95,0.000,2,0.000,0.000,129,2792,3165,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.1,-4.9,19,143,11.52,2.97,-6.30,0.000,4,0.300,0.100,2445,3916,3399,0,0,7,0,0,0
$GC,172,-0.73,-146.0,13.3,-11.2,29,178,0.00,2.75,0.00,0.000,6,0.000,0.062,2446,2797,3400,0,0,6,0,0,0
$GC,516,-0.73,-146.0,47.4,-10.9,90,522,0.00,2.90,0.00,0.000,4,0.000,0.089,2445,3922,3401,0,0,6,0,0,0
$GC,675,-0.73,-146.0,65.2,-11.3,118,680,0.00,2.72,0.00,0.000,6,0.000,0.064,2446,2801,3401,0,0,6,0,0,0
$GC,1019,-0.78,-146.0,98.8,-9.1,179,1024,0.00,2.90,0.00,0.000,4,0.000,0.090,2446,3929,3400,0,0,6,0,0,0
$GC,1203,-0.85,-146.0,116.5,-9.4,197,1208,0.00,2.75,0.00,0.000,6,0.000,0.064,2445,2801,3399,0,0,5,0,0,0
$GC,1529,-0.93,-146.0,147.2,-9.2,228,1535,0.17,2.88,0.00,0.000,4,0.107,0.087,2373,3924,3398,0,0,7,0,0,0
$GC,1650,-0.77,-146.0,162.5,-12.7,238,1655,0.28,2.72,0.00,0.000,6,0.209,0.062,2439,2800,3398,0,0,6,0,0,0
$STATE,1899,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1899,begin apogee
$GC,1906,-0.16,0.0,185.5,8.0,261,2026,0.68,0.00,116.20,0.867,6,0.180,0.000,2630,2403,2799,0,0,0,0,0,0
$STATE,2027,end apogee,CONTROL_FINISHED_OK
$STATE,2027,begin climb
$GC,2030,0.73,146.0,189.0,0.0,273,2158,0.95,1.95,119.60,0.822,4,0.139,0.087,2922,787,2202,0,0,0,0,0,0
$GC,2187,0.73,146.0,179.0,9.8,288,2190,0.00,1.90,0.00,0.000,6,0.000,0.061,2921,2400,2200,0,0,0,0,0,0
$GC,2516,0.73,146.0,143.7,9.9,319,2527,0.00,3.92,0.00,0.000,4,0.000,0.081,2922,3929,2194,0,0,7,0,0,0
$GC,2589,0.62,146.0,135.7,11.1,325,2595,0.20,3.88,0.00,0.000,6,0.198,0.069,2893,2404,2195,0,0,5,0,0,0
$GC,2914,0.74,164.0,107.9,8.4,356,2936,0.12,3.90,14.82,0.752,4,0.125,0.081,2934,3920,2129,0,0,7,0,0,0
$GC,3017,0.63,164.0,96.5,11.9,367,3023,0.22,3.85,0.00,0.000,6,0.193,0.069,2898,2390,2129,0,0,6,0,0,0
$GC,3362,0.83,214.0,70.3,7.1,428,3414,0.17,3.97,42.05,0.759,4,0.109,0.081,2958,3916,1926,0,0,7,0,0,0
$GC,3493,0.75,214.0,55.2,13.5,452,3500,0.17,3.88,0.00,0.000,6,0.195,0.069,2936,2393,1924,0,0,6,0,0,0
$GC,3837,0.84,214.0,22.4,9.4,513,3843,0.00,3.90,0.00,0.000,4,0.000,0.081,2936,3923,1922,0,0,7,0,0,0
$GC,3888,0.84,214.0,16.6,11.5,522,3894,0.00,3.83,0.00,0.000,6,0.000,0.070,2951,2402,1922,0,0,6,0,0,0
$FREEZE,8.49,-0.109,-1.836,0,1,0
$FREEZE,7.95,-0.110,-1.835,0,1,0
$FREEZE,7.38,-0.111,-1.835,0,1,0
$FREEZE,6.79,-0.110,-1.834,0,1,0
$FREEZE,6.22,-0.110,-1.834,0,1,0
$FREEZE,5.64,-0.109,-1.834,0,1,0
$FREEZE,5.02,-0.108,-1.833,0,1,0
$FREEZE,4.50,-0.108,-1.833,0,1,0
$FREEZE,3.87,-0.110,-1.832,0,1,0
$FREEZE,3.29,-0.112,-1.832,0,1,0
$FREEZE,2.74,-0.109,-1.831,0,1,0
$FREEZE,2.06,-0.110,-1.831,0,1,0
$FREEZE,1.54,-0.126,-1.831,0,1,0
$STATE,4028,end climb,SURFACE_DEPTH_REACHED
$STATE,4029,begin surface coast
$FREEZE,0.94,-0.139,-1.830,0,1,0
$FREEZE,0.44,-0.140,-1.830,0,1,0
$FREEZE,0.82,-0.125,-1.830,0,1,0
$FINISH,0.8,1.026801
$STATE,4047,end surface coast,CONTROL_FINISHED_OK
$STATE,4047,begin surface
$SM_CCo,4065,64.65,0.725,0,0,1474,325.02
$SM_GC,1.43,0.00,0.00,64.65,0.000,0.000,0.725,130,2807,1474,-8.00,0.20,325.02
$RAFOS_CLK,250
$RAFOS,6,1262335741,8.833333,8.816944,61,59,54,0,0,0,212,196,153,0,0,0
$RAFOS,5,1262335261,8.700000,8.683611,60,59,55,0,0,0,192,172,214,0,0,0
$RAFOS,4,1262334784,8.566667,8.551111,62,62,58,0,0,0,213,223,183,0,0,0
$RAFOS,3,1262334301,8.433333,8.416945,61,61,60,0,0,0,160,195,125,0,0,0
$RAFOS,2,1262333821,8.300000,8.283611,58,57,56,0,0,0,212,221,157,0,0,0
$RAFOS,1,1262333342,8.166667,8.150556,57,56,55,0,0,0,213,162,224,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5648.38,280399,060631
$TT8_MAMPS,0.027612
$HUMID,47.91
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.10
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.8,19.4
$24V_AH,22.9,78.835
$10V_AH,10.1,40.978
$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,22.775,59.650,292.675,64.650,0.000,28.037,36.691,106.236,1.250,0.000,12.668,890.220,1908.689,435.876,886.987,290.504,0.000,935.674,0.000,870.949,2160.000,2.621,0.000
$DEVICE_MAMPS,299.897,99.710,867.477,724.815,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,401.293,370.249,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152588
$DATA_FILE_SIZE,19010,550
$CAP_FILE_SIZE,62216,0
$CFSIZE,260165632,216440832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,100,0,0
$SOUNDSPEED,1457.9
$GPS,010110,091707,6737.632,-5648.517,31,1.0,32,-38.3