version: 66.06
glider: 143
mission: 10
dive: 425
start: 12 29 109 13 1 56
data:
$ID,143
$MISSION,10
$DIVE,425
$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,-44770.559
$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,18
$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
$GPS1,124755,6734.363,-5728.164,41,1.9,42,-38.4
$_CALLS,3
$_XMS_NAKs,19
$_XMS_TOUTs,1
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-60.5
$GPS2,130137,6734.537,-5728.273,30,1.0,30,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6734.537,-5659.963
$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,-146.0,0.0,0.0,0,113,0.00,0.00,-95.15,0.000,2,0.000,0.000,130,2808,3052,0,0,0,0,0,0
$GC,117,-0.73,-146.0,3.6,-6.7,19,144,11.45,2.92,-9.15,0.000,4,0.297,0.102,2447,3923,3397,0,0,7,0,0,0
$GC,207,-0.73,-146.0,19.3,-10.9,35,212,0.00,2.75,0.00,0.000,6,0.000,0.064,2447,2797,3399,0,0,6,0,0,0
$GC,550,-0.73,-146.0,48.5,-8.4,96,556,0.00,2.90,0.00,0.000,4,0.000,0.093,2447,3921,3400,0,0,6,0,0,0
$GC,735,-0.73,-146.0,67.8,-11.6,129,741,0.00,2.72,0.00,0.000,6,0.000,0.064,2448,2795,3400,0,0,6,0,0,0
$GC,1076,-0.73,-146.0,103.2,-9.7,187,1081,0.00,2.90,0.00,0.000,4,0.000,0.093,2447,3927,3399,0,0,6,0,0,0
$GC,1262,-0.80,-146.0,120.1,-8.2,203,1267,0.00,2.75,0.00,0.000,6,0.000,0.067,2448,2801,3399,0,0,5,0,0,0
$GC,1587,-0.89,-146.0,148.6,-8.7,233,1592,0.15,2.88,0.00,0.000,4,0.115,0.091,2388,3921,3398,0,0,7,0,0,0
$GC,1677,-0.78,-146.0,159.1,-12.2,240,1683,0.20,2.72,0.00,0.000,6,0.215,0.064,2434,2793,3397,0,0,6,0,0,0
$GC,2002,-0.83,-146.0,188.6,-8.9,271,2007,0.00,2.88,0.00,0.000,4,0.000,0.090,2434,3919,3397,0,0,6,0,0,0
$STATE,2197,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2197,begin apogee
$GC,2206,-0.16,0.0,205.0,8.4,288,2326,0.70,0.00,116.55,0.892,6,0.186,0.000,2630,2396,2800,0,0,0,0,0,0
$STATE,2327,end apogee,CONTROL_FINISHED_OK
$STATE,2327,begin climb
$GC,2330,0.73,146.0,208.5,0.0,300,2459,0.95,2.08,119.93,0.844,4,0.139,0.087,2921,795,2203,0,0,0,0,0,0
$GC,2487,0.73,146.0,198.0,10.5,314,2492,0.00,1.98,0.00,0.000,6,0.000,0.063,2921,2403,2201,0,0,0,0,0,0
$GC,2811,0.73,146.0,164.4,10.2,345,2820,0.00,3.80,0.00,0.000,4,0.000,0.081,2921,3920,2197,0,0,8,0,0,0
$GC,2866,0.61,146.0,157.8,12.0,350,2876,0.20,3.80,0.00,0.000,6,0.199,0.069,2892,2400,2196,0,0,4,0,0,0
$GC,3195,0.75,173.5,129.6,8.0,381,3227,0.12,3.85,22.77,0.785,4,0.121,0.082,2933,3913,2092,0,0,5,0,0,0
$GC,3299,0.65,173.5,117.5,12.1,390,3306,0.20,3.78,0.00,0.000,6,0.197,0.068,2903,2391,2090,0,0,4,0,0,0
$GC,3632,0.76,173.5,87.6,9.5,432,3638,0.00,3.78,0.00,0.000,4,0.000,0.081,2903,3921,2089,0,0,8,0,0,0
$GC,3739,0.76,173.5,77.0,9.9,451,3745,0.00,3.67,0.00,0.000,6,0.000,0.068,2918,2401,2089,0,0,7,0,0,0
$GC,4082,0.85,202.6,51.4,7.9,512,4119,0.15,3.80,25.30,0.759,4,0.100,0.081,2973,3926,1973,0,0,7,0,0,0
$GC,4209,0.71,210.5,38.1,8.8,535,4226,0.28,3.75,7.80,0.680,6,0.200,0.068,2925,2390,1941,0,0,6,0,0,0
$FREEZE,8.92,-0.673,-1.831,0,4,0
$FREEZE,8.86,-0.672,-1.831,0,4,0
$FREEZE,8.80,-0.670,-1.831,0,4,0
$FREEZE,8.88,-0.669,-1.831,0,4,0
$FREEZE,8.98,-0.667,-1.831,0,4,0
$FREEZE,8.92,-0.669,-1.831,0,4,0
$FREEZE,8.63,-0.672,-1.831,0,4,0
$FREEZE,8.22,-0.674,-1.831,0,4,0
$FREEZE,7.71,-0.674,-1.830,0,4,0
$FREEZE,7.20,-0.673,-1.830,0,4,0
$FREEZE,6.79,-0.668,-1.829,0,4,0
$FREEZE,6.44,-0.664,-1.829,0,4,0
$FREEZE,6.11,-0.663,-1.829,0,4,0
$FREEZE,5.34,-0.666,-1.828,0,4,0
$FREEZE,4.60,-0.669,-1.828,0,4,0
$FREEZE,3.62,-0.653,-1.827,0,4,0
$FREEZE,2.97,-0.652,-1.827,0,4,0
$FREEZE,2.36,-0.652,-1.826,0,4,0
$FREEZE,1.48,-0.652,-1.826,0,4,0
$GC,4564,1.02,383.8,8.2,1.9,598,4631,0.25,0.00,63.53,0.742,2,0.092,0.000,3016,2391,1636,0,0,0,0,0,0
$STATE,4634,end climb,SURFACE_DEPTH_REACHED
$STATE,4634,begin surface coast
$FREEZE,0.30,-0.621,-1.823,0,4,0
$FREEZE,0.27,-0.645,-1.824,0,4,0
$FREEZE,0.24,-0.646,-0.716,0,4,0
$FINISH,0.2,1.010535
$STATE,4651,end surface coast,CONTROL_FINISHED_OK
$STATE,4651,begin surface
$SM_CCo,4669,26.08,0.709,0,0,1473,325.02
$SM_GC,1.04,0.00,0.00,26.08,0.000,0.000,0.709,127,2798,1473,-8.01,-0.06,325.02
$RAFOS_CLK,323
$RAFOS,5,1262090465,12.700000,12.684722,58,56,56,0,0,0,177,130,215,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6703.95,-5730.43,250399,131300
$TT8_MAMPS,0.027612
$HUMID,48.03
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,18.6
$24V_AH,22.8,73.825
$10V_AH,10.0,39.174
$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,23.325,64.450,355.875,26.075,0.000,89.722,126.861,315.449,1.000,0.000,32.260,972.378,2371.521,457.825,1020.330,701.314,0.000,1020.272,0.000,986.292,0.000,4.441,0.000
$DEVICE_MAMPS,296.829,102.011,892.021,708.708,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,445.770,411.613,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152604
$DATA_FILE_SIZE,22173,612
$CAP_FILE_SIZE,76367,0
$CFSIZE,260165632,218218496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,109,0,0
$SOUNDSPEED,1454.9
$GPS,291209,142125,6734.539,-5727.501,10,1.7,27,-38.4