version: 66.06
glider: 143
mission: 10
dive: 424
start: 12 29 109 11 32 12
data:
$ID,143
$MISSION,10
$DIVE,424
$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,-44737.668
$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,19
$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
$GPS1,101632,6733.608,-5729.853,14,1.2,14,-38.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.01
$_SM_ANGLEo,1.4
$GPS2,101632,6733.608,-5729.853,14,1.2,14,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.608,-5701.562
$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,205
$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,-146.0,0.0,0.0,0,22,0.00,0.00,-5.07,0.000,2,0.000,0.000,2711,3927,2795,0,0,0,0,0,0
$GC,25,-0.73,-146.0,4.5,-0.0,1,57,0.75,5.25,-21.95,0.000,4,0.108,0.079,2460,1193,3399,0,0,5,0,0,0
$GC,132,-0.73,-146.0,15.9,-17.5,20,137,0.00,2.40,0.00,0.000,6,0.000,0.071,2460,2805,3401,0,0,0,0,0,0
$GC,475,-0.73,-146.0,48.2,-8.1,81,481,0.00,2.83,0.00,0.000,4,0.000,0.089,2460,3915,3401,0,0,5,0,0,0
$GC,661,-0.80,-146.0,66.8,-11.3,114,667,0.00,2.70,0.00,0.000,6,0.000,0.063,2460,2797,3401,0,0,5,0,0,0
$GC,1010,-0.87,-146.0,101.4,-9.0,175,1016,0.15,2.85,0.00,0.000,4,0.118,0.089,2397,3916,3400,0,0,7,0,0,0
$GC,1135,-0.77,-146.0,115.8,-11.9,185,1142,0.17,2.67,0.00,0.000,6,0.216,0.064,2436,2802,3400,0,0,6,0,0,0
$GC,1460,-0.83,-146.0,148.0,-8.9,216,1465,0.00,2.85,0.00,0.000,4,0.000,0.090,2436,3927,3399,0,0,6,0,0,0
$GC,1585,-0.89,-146.0,159.0,-8.7,226,1590,0.00,2.72,0.00,0.000,6,0.000,0.063,2436,2795,3398,0,0,5,0,0,0
$GC,1909,-0.95,-146.0,185.2,-7.8,257,1915,0.17,2.85,0.00,0.000,4,0.111,0.087,2364,3927,3397,0,0,7,0,0,0
$GC,2073,-0.77,-146.0,203.3,-11.6,271,2079,0.30,2.70,0.00,0.000,6,0.210,0.061,2435,2797,3397,0,0,5,0,0,0
$STATE,2087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2087,begin apogee
$GC,2094,-0.16,0.0,205.1,11.3,272,2214,0.68,0.00,116.45,0.882,6,0.186,0.000,2626,2394,2800,0,0,0,0,0,0
$STATE,2215,end apogee,CONTROL_FINISHED_OK
$STATE,2215,begin climb
$GC,2218,0.73,146.0,208.0,0.0,284,2345,0.98,2.05,119.90,0.834,4,0.140,0.087,2922,807,2203,0,0,0,0,0,0
$GC,2367,0.73,146.0,198.1,10.6,298,2373,0.00,2.00,0.00,0.000,6,0.000,0.062,2922,2397,2201,0,0,0,0,0,0
$GC,2694,0.73,146.0,162.4,11.1,329,2703,0.00,3.80,0.00,0.000,4,0.000,0.081,2922,3915,2195,0,0,7,0,0,0
$GC,2771,0.62,146.0,152.7,12.8,336,2781,0.20,3.72,0.00,0.000,6,0.197,0.068,2893,2399,2195,0,0,6,0,0,0
$GC,3101,0.75,167.7,124.4,8.3,367,3126,0.12,3.85,18.02,0.771,4,0.123,0.082,2934,3921,2114,0,0,5,0,0,0
$GC,3198,0.64,167.7,112.6,11.9,375,3205,0.22,3.75,0.00,0.000,6,0.196,0.068,2898,2393,2113,0,0,4,0,0,0
$GC,3533,0.82,209.0,83.4,7.4,423,3576,0.17,3.88,34.72,0.765,4,0.109,0.081,2956,3925,1948,0,0,5,0,0,0
$GC,3683,0.74,209.0,66.1,12.9,450,3689,0.17,3.72,0.00,0.000,6,0.196,0.068,2934,2401,1945,0,0,6,0,0,0
$GC,4029,0.83,209.0,30.6,12.4,511,4035,0.00,3.75,0.00,0.000,4,0.000,0.080,2934,3927,1944,0,0,7,0,0,0
$GC,4097,0.85,230.8,24.1,8.2,523,4123,0.00,3.70,19.20,0.731,6,0.000,0.069,2949,2400,1858,0,0,6,0,0,0
$FREEZE,8.56,-0.701,-1.831,0,3,0
$FREEZE,7.77,-0.704,-1.830,0,3,0
$FREEZE,6.89,-0.702,-1.829,0,3,0
$FREEZE,6.29,-0.700,-1.829,0,3,0
$FREEZE,5.62,-0.700,-1.829,0,3,0
$FREEZE,5.10,-0.685,-1.828,0,3,0
$FREEZE,4.37,-0.680,-1.828,0,3,0
$FREEZE,4.00,-0.676,-1.827,0,3,0
$FREEZE,3.70,-0.669,-1.827,0,3,0
$FREEZE,2.87,-0.675,-1.827,0,3,0
$FREEZE,2.08,-0.673,-1.826,0,3,0
$FREEZE,1.46,-0.669,-1.826,0,3,0
$STATE,4354,end climb,SURFACE_DEPTH_REACHED
$STATE,4354,begin surface coast
$FREEZE,0.68,-0.670,-1.825,0,3,0
$FREEZE,0.43,-0.668,-1.825,0,3,0
$FREEZE,0.08,-0.662,-1.824,0,3,0
$FINISH,0.1,1.026754
$STATE,4371,end surface coast,CONTROL_FINISHED_OK
$STATE,4371,begin surface
$SM_CCo,4389,63.30,0.731,0,0,1475,325.02
$SM_GC,1.07,0.00,0.00,63.30,0.000,0.000,0.731,130,2805,1475,-8.00,0.14,325.02
$RAFOS_CLK,309
$RAFOS,4,1262089985,12.566667,12.551389,67,58,52,0,0,0,220,208,120,0,0,0
$RAFOS,3,1262089501,12.433333,12.416945,67,63,63,0,0,0,214,191,203,0,0,0
$RAFOS,2,1262089022,12.300000,12.283889,60,60,56,0,0,0,193,207,177,0,0,0
$RAFOS,1,1262088554,12.166667,12.153889,62,61,57,0,0,0,184,144,195,0,0,0
$RAFOS,0,1262088069,12.033333,12.019167,58,54,54,0,0,0,219,188,141,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6703.95,-5728.71,250399,101022
$TT8_MAMPS,0.029913
$HUMID,48.22
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,19.8
$24V_AH,22.9,73.707
$10V_AH,10.0,39.131
$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,12.525,65.975,308.300,63.300,0.000,0.000,0.000,0.000,1.000,0.000,0.000,953.757,2157.128,390.270,924.973,85.873,0.000,902.943,0.000,924.407,2160.000,2.615,0.000
$DEVICE_MAMPS,215.527,89.739,882.050,730.951,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,420.506,386.909,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152524
$DATA_FILE_SIZE,22179,572
$CAP_FILE_SIZE,63039,0
$CFSIZE,260165632,218292224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,97,0,0
$SOUNDSPEED,1455.5
$GPS,291209,124755,6734.363,-5728.164,41,1.9,42,-38.4