version: 66.06
glider: 143
mission: 10
dive: 426
start: 12 29 109 14 30 56
data:
$ID,143
$MISSION,10
$DIVE,426
$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,-44784.406
$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,17
$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
$GPS1,142125,6734.539,-5727.501,10,1.7,27,-38.4
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,1
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-63.2
$GPS2,143038,6734.601,-5727.524,11,1.7,11,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6734.601,-5659.213
$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,206
$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,-95.22,0.000,2,0.000,0.000,126,2801,3055,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.4,-6.8,19,147,11.85,2.92,-9.35,0.000,4,0.309,0.104,2445,3929,3397,0,0,7,0,0,0
$GC,242,-0.73,-146.0,25.1,-12.2,42,248,0.00,2.75,0.00,0.000,6,0.000,0.064,2446,2799,3399,0,0,6,0,0,0
$GC,585,-0.73,-146.0,56.7,-10.9,103,591,0.00,2.90,0.00,0.000,4,0.000,0.091,2446,3925,3399,0,0,7,0,0,0
$GC,788,-0.73,-146.0,79.9,-10.3,139,793,0.00,2.72,0.00,0.000,6,0.000,0.066,2446,2799,3399,0,0,6,0,0,0
$GC,1125,-0.79,-146.0,111.9,-8.8,188,1129,0.00,2.88,0.00,0.000,4,0.000,0.093,2446,3914,3398,0,0,6,0,0,0
$GC,1322,-0.85,-146.0,128.5,-7.7,205,1326,0.00,2.72,0.00,0.000,6,0.000,0.066,2446,2793,3397,0,0,6,0,0,0
$GC,1647,-0.94,-146.0,153.3,-7.3,235,1653,0.17,2.88,0.00,0.000,4,0.110,0.090,2374,3920,3397,0,0,7,0,0,0
$GC,1761,-0.77,-146.0,165.0,-10.5,244,1767,0.25,2.72,0.00,0.000,6,0.209,0.064,2433,2797,3396,0,0,5,0,0,0
$GC,2086,-0.83,-146.0,187.6,-6.9,275,2091,0.00,2.88,0.00,0.000,4,0.000,0.090,2432,3929,3396,0,0,6,0,0,0
$GC,2277,-0.88,-146.0,202.7,-8.6,291,2282,0.00,2.72,0.00,0.000,6,0.000,0.063,2433,2792,3396,0,0,5,0,0,0
$STATE,2323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2323,begin apogee
$GC,2329,-0.16,0.0,206.8,8.2,296,2449,0.73,0.00,116.15,0.884,6,0.186,0.000,2632,2396,2800,0,0,0,0,0,0
$STATE,2449,end apogee,CONTROL_FINISHED_OK
$STATE,2449,begin climb
$GC,2452,0.73,146.0,209.3,0.0,308,2581,0.95,2.08,119.88,0.838,4,0.139,0.086,2924,790,2202,0,0,0,0,0,0
$GC,2620,0.67,146.0,197.8,10.9,323,2626,0.00,1.98,0.00,0.000,6,0.000,0.062,2923,2404,2199,0,0,0,0,0,0
$GC,2944,0.67,146.0,162.8,10.6,354,2954,0.00,3.80,0.00,0.000,4,0.000,0.081,2923,3916,2195,0,0,7,0,0,0
$GC,2988,0.55,146.0,157.6,12.6,358,2999,0.30,3.75,0.00,0.000,6,0.196,0.069,2868,2401,2195,0,0,6,0,0,0
$GC,3317,0.77,184.1,131.8,7.6,389,3359,0.20,3.88,31.08,0.793,4,0.102,0.081,2937,3911,2047,0,0,7,0,0,0
$GC,3443,0.67,184.1,116.4,12.8,400,3450,0.20,3.78,0.00,0.000,6,0.194,0.068,2907,2394,2045,0,0,4,0,0,0
$GC,3777,0.82,196.7,85.4,8.6,445,3799,0.15,3.85,11.60,0.732,4,0.117,0.081,2957,3910,1997,0,0,6,0,0,0
$GC,3880,0.71,196.7,72.3,14.1,463,3886,0.22,3.67,0.00,0.000,6,0.191,0.068,2921,2401,1995,0,0,7,0,0,0
$GC,4225,0.88,241.0,40.6,7.3,524,4272,0.15,3.88,38.20,0.751,4,0.114,0.081,2971,3920,1816,0,0,5,0,0,0
$GC,4335,0.79,241.0,24.9,14.9,544,4341,0.17,3.75,0.00,0.000,6,0.192,0.069,2948,2401,1813,0,0,6,0,0,0
$FREEZE,8.79,-0.597,-1.831,0,1,0
$FREEZE,8.18,-0.597,-1.831,0,1,0
$FREEZE,7.59,-0.596,-1.831,0,1,0
$FREEZE,7.02,-0.598,-1.830,0,1,0
$FREEZE,6.48,-0.598,-1.830,0,1,0
$FREEZE,5.81,-0.599,-1.829,0,1,0
$FREEZE,5.34,-0.597,-1.829,0,1,0
$FREEZE,4.66,-0.598,-1.828,0,1,0
$FREEZE,4.06,-0.598,-1.828,0,1,0
$FREEZE,3.46,-0.598,-1.827,0,1,0
$FREEZE,2.77,-0.599,-1.827,0,1,0
$FREEZE,2.11,-0.599,-1.826,0,1,0
$FREEZE,1.66,-0.598,-1.826,0,1,0
$STATE,4548,end climb,SURFACE_DEPTH_REACHED
$STATE,4548,begin surface coast
$FREEZE,1.05,-0.598,-1.826,0,1,0
$FREEZE,0.58,-0.598,-1.825,0,1,0
$FREEZE,0.16,-0.598,-1.825,0,1,0
$FINISH,0.2,1.026757
$STATE,4568,end surface coast,CONTROL_FINISHED_OK
$STATE,4568,begin surface
$SM_CCo,4586,52.50,0.726,0,0,1474,325.02
$SM_GC,0.91,0.00,0.00,52.50,0.000,0.000,0.726,128,2798,1474,-8.00,-0.06,325.02
$RAFOS_CLK,300
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6703.95,-5735.19,250399,131345
$TT8_MAMPS,0.028379
$HUMID,47.04
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,20.5
$24V_AH,22.8,73.937
$10V_AH,10.0,39.213
$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,23.725,64.425,316.900,52.500,0.000,26.130,36.877,370.905,1.000,0.000,13.218,950.248,2250.308,456.662,968.990,567.723,0.000,1002.311,0.000,956.486,0.000,2.625,0.000
$DEVICE_MAMPS,309.101,103.545,884.351,726.349,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,426.432,393.828,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152548
$DATA_FILE_SIZE,22215,585
$CAP_FILE_SIZE,72773,0
$CFSIZE,260165632,218210304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,109,0,0
$SOUNDSPEED,1456.4
$GPS,291209,155006,6734.221,-5726.861,62,1.0,67,-38.4