version: 66.06
glider: 143
mission: 10
dive: 482
start: 1 1 110 19 34 22
data:
$ID,143
$MISSION,10
$DIVE,482
$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,-46266.965
$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,20
$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
$GPS1,192922,6739.232,-5645.984,8,2.6,28,-38.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-67.8
$GPS2,193404,6739.189,-5645.991,8,2.7,27,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.790,-5621.487
$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,188
$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,-146.0,0.0,0.0,0,118,0.00,0.00,-100.07,0.000,2,0.000,0.000,127,2795,3267,0,0,0,0,0,0
$GC,121,-0.73,-146.0,3.7,-7.1,20,142,11.30,2.45,-3.22,0.000,4,0.294,0.094,2446,1186,3399,0,0,1,0,0,0
$GC,236,-0.73,-146.0,22.3,-11.0,40,242,0.00,2.42,0.00,0.000,6,0.000,0.071,2446,2797,3401,0,0,0,0,0,0
$GC,579,-0.73,-146.0,56.8,-9.8,101,585,0.00,2.92,0.00,0.000,4,0.000,0.091,2446,3927,3401,0,0,6,0,0,0
$GC,827,-0.73,-146.0,82.3,-10.9,145,833,0.00,2.75,0.00,0.000,6,0.000,0.064,2446,2798,3401,0,0,7,0,0,0
$GC,1163,-0.79,-146.0,112.2,-8.6,193,1168,0.00,2.92,0.00,0.000,4,0.000,0.091,2446,3925,3399,0,0,6,0,0,0
$GC,1337,-0.88,-146.0,127.7,-8.9,208,1343,0.12,2.78,0.00,0.000,6,0.127,0.064,2406,2791,3399,0,0,6,0,0,0
$GC,1663,-0.82,-146.0,162.2,-10.1,238,1668,0.00,2.92,0.00,0.000,4,0.000,0.090,2406,3925,3398,0,0,6,0,0,0
$GC,1837,-0.77,-146.0,179.2,-10.2,253,1843,0.15,2.75,0.00,0.000,6,0.201,0.062,2440,2797,3398,0,0,6,0,0,0
$STATE,1968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1968,begin apogee
$GC,1975,-0.16,0.0,188.9,7.3,265,2095,0.65,0.00,116.35,0.874,6,0.178,0.000,2626,2401,2800,0,0,0,0,0,0
$STATE,2096,end apogee,CONTROL_FINISHED_OK
$STATE,2098,begin climb
$GC,2100,0.73,146.0,192.5,0.0,277,2229,0.98,1.98,119.72,0.825,4,0.143,0.086,2922,804,2204,0,0,0,0,0,0
$GC,2245,0.73,146.0,183.1,9.6,290,2251,0.00,1.92,0.00,0.000,6,0.000,0.061,2922,2406,2201,0,0,0,0,0,0
$GC,2571,0.73,146.0,149.8,9.7,321,2581,0.00,3.92,0.00,0.000,4,0.000,0.081,2921,3921,2196,0,0,7,0,0,0
$GC,2638,0.62,146.0,142.2,12.1,327,2648,0.20,3.88,0.00,0.000,6,0.198,0.068,2893,2396,2196,0,0,6,0,0,0
$GC,2967,0.74,172.0,114.8,8.1,358,2999,0.12,3.92,21.58,0.779,4,0.125,0.081,2934,3923,2096,0,0,7,0,0,0
$GC,3096,0.64,172.0,100.7,11.8,369,3102,0.22,3.85,0.00,0.000,6,0.193,0.068,2898,2400,2094,0,0,6,0,0,0
$GC,3439,0.80,198.7,71.2,8.0,429,3471,0.15,3.95,23.08,0.759,4,0.115,0.081,2950,3919,1988,0,0,6,0,0,0
$GC,3537,0.70,198.7,60.2,13.3,446,3544,0.20,3.85,0.00,0.000,6,0.192,0.068,2920,2399,1986,0,0,6,0,0,0
$GC,3881,0.84,198.7,28.0,9.3,507,3888,0.12,3.90,0.00,0.000,4,0.125,0.081,2961,3925,1985,0,0,6,0,0,0
$GC,3969,0.74,198.7,18.0,12.4,522,3976,0.20,3.83,0.00,0.000,6,0.194,0.068,2931,2399,1985,0,0,6,0,0,0
$FREEZE,8.80,-0.324,-1.835,0,1,0
$FREEZE,8.23,-0.323,-1.835,0,1,0
$FREEZE,7.75,-0.323,-1.834,0,1,0
$FREEZE,7.20,-0.324,-1.834,0,1,0
$FREEZE,6.84,-0.324,-1.834,0,1,0
$FREEZE,6.42,-0.324,-1.833,0,1,0
$FREEZE,5.91,-0.323,-1.833,0,1,0
$FREEZE,5.38,-0.321,-1.833,0,1,0
$FREEZE,4.75,-0.321,-1.832,0,1,0
$FREEZE,4.10,-0.322,-1.832,0,1,0
$FREEZE,3.62,-0.324,-1.831,0,1,0
$FREEZE,3.05,-0.325,-1.831,0,1,0
$FREEZE,2.51,-0.324,-1.830,0,1,0
$FREEZE,2.15,-0.324,-1.830,0,1,0
$FREEZE,1.78,-0.326,-1.830,0,1,0
$STATE,4144,end climb,SURFACE_DEPTH_REACHED
$STATE,4145,begin surface coast
$FREEZE,1.33,-0.323,-1.830,0,1,0
$FREEZE,0.78,-0.327,-1.829,0,1,0
$FREEZE,0.39,-0.329,-1.828,0,1,0
$FREEZE,0.64,-0.325,-1.829,0,1,0
$FINISH,0.6,1.026796
$STATE,4167,end surface coast,CONTROL_FINISHED_OK
$STATE,4167,begin surface
$SM_CCo,4185,72.25,0.729,0,0,1474,325.02
$SM_GC,1.30,0.00,0.00,72.25,0.000,0.000,0.729,129,2802,1474,-8.00,0.06,325.02
$RAFOS_CLK,259
$RAFOS,4,1262377982,20.566668,20.550556,67,57,56,0,0,0,169,122,210,0,0,0
$RAFOS,3,1262377504,20.433332,20.417778,62,60,60,0,0,0,224,199,184,0,0,0
$RAFOS,2,1262377030,20.299999,20.286112,63,58,58,0,0,0,154,179,208,0,0,0
$RAFOS,1,1262376541,20.166666,20.150278,59,53,51,0,0,0,217,177,139,0,0,0
$RAFOS,0,1262376068,20.033333,20.018888,64,61,60,0,0,0,163,188,132,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5635.83,280399,181846
$TT8_MAMPS,0.029146
$HUMID,47.83
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.20
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.4,19.2
$24V_AH,22.9,79.672
$10V_AH,10.0,41.284
$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,22.550,58.975,280.725,72.250,0.000,22.813,35.343,101.802,1.500,0.000,29.878,911.112,1983.807,444.556,922.617,282.378,0.000,945.623,0.000,891.614,2160.000,2.619,0.000
$DEVICE_MAMPS,293.761,94.341,874.380,729.417,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,406.687,375.465,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152568
$DATA_FILE_SIZE,22163,557
$CAP_FILE_SIZE,63661,0
$CFSIZE,260165632,216109056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,88,0,0
$SOUNDSPEED,1457.2
$GPS,010110,204619,6738.498,-5645.659,6,1.5,12,-38.3