version: 66.06
glider: 143
mission: 10
dive: 427
start: 12 29 109 15 55 26
data:
$ID,143
$MISSION,10
$DIVE,427
$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,-44799.02
$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,17
$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
$GPS1,155006,6734.221,-5726.861,62,1.0,67,-38.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-65.6
$GPS2,155508,6734.230,-5726.882,12,1.7,12,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6734.230,-5658.579
$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,-146.0,0.0,0.0,0,108,0.00,0.00,-89.90,0.000,2,0.000,0.000,128,2801,2983,0,0,0,0,0,0
$GC,110,-0.73,-146.0,3.0,-6.2,18,142,11.35,2.90,-12.70,0.000,4,0.295,0.100,2447,3930,3398,0,0,7,0,0,0
$GC,190,-0.73,-146.0,12.3,-7.9,32,196,0.00,2.75,0.00,0.000,6,0.000,0.063,2448,2791,3400,0,0,6,0,0,0
$GC,534,-0.73,-146.0,50.4,-9.8,93,539,0.00,2.90,0.00,0.000,4,0.000,0.091,2448,3920,3400,0,0,6,0,0,0
$GC,736,-0.73,-146.0,73.4,-10.8,129,741,0.00,2.70,0.00,0.000,6,0.000,0.064,2448,2801,3400,0,0,6,0,0,0
$GC,1082,-0.78,-146.0,105.6,-8.2,185,1087,0.00,2.88,0.00,0.000,4,0.000,0.092,2448,3924,3400,0,0,6,0,0,0
$GC,1334,-0.85,-146.0,129.8,-9.1,207,1339,0.00,2.70,0.00,0.000,6,0.000,0.066,2448,2802,3399,0,0,6,0,0,0
$GC,1659,-0.94,-146.0,157.0,-8.2,237,1665,0.20,2.83,0.00,0.000,4,0.107,0.088,2367,3921,3398,0,0,5,0,0,0
$GC,1793,-0.77,-146.0,172.9,-12.6,248,1800,0.30,2.72,0.00,0.000,6,0.213,0.064,2438,2797,3397,0,0,6,0,0,0
$GC,2119,-0.84,-146.0,201.1,-8.4,279,2124,0.00,2.85,0.00,0.000,4,0.000,0.090,2438,3917,3398,0,0,6,0,0,0
$STATE,2167,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2167,begin apogee
$GC,2177,-0.16,0.0,205.4,8.5,283,2297,0.68,0.00,116.28,0.884,6,0.189,0.000,2627,2401,2800,0,0,0,0,0,0
$STATE,2298,end apogee,CONTROL_FINISHED_OK
$STATE,2298,begin climb
$GC,2300,0.73,146.0,209.3,0.0,295,2430,0.98,2.15,119.95,0.838,4,0.144,0.088,2921,796,2202,0,0,0,0,0,0
$GC,2513,0.73,146.0,192.9,10.1,314,2520,0.00,1.98,0.00,0.000,6,0.000,0.062,2921,2400,2198,0,0,0,0,0,0
$GC,2838,0.73,146.0,159.3,10.3,345,2848,0.00,3.80,0.00,0.000,4,0.000,0.081,2921,3925,2195,0,0,8,0,0,0
$GC,2893,0.61,146.0,152.8,11.9,350,2903,0.20,3.75,0.00,0.000,6,0.200,0.069,2892,2402,2193,0,0,6,0,0,0
$GC,3225,0.73,182.0,124.6,7.7,381,3261,0.00,3.88,29.12,0.786,4,0.000,0.081,2892,3920,2057,0,0,5,0,0,0
$GC,3352,0.78,186.7,113.9,9.0,392,3366,0.10,3.75,5.20,0.621,6,0.130,0.068,2940,2401,2038,0,0,6,0,0,0
$GC,3696,0.78,186.7,79.7,9.2,441,3702,0.00,3.78,0.00,0.000,4,0.000,0.081,2940,3920,2037,0,0,7,0,0,0
$GC,3731,0.73,186.7,76.5,10.0,447,3737,0.12,3.70,0.00,0.000,6,0.199,0.068,2930,2390,2037,0,0,7,0,0,0
$GC,4076,0.81,186.7,46.9,9.2,508,4082,0.00,3.80,0.00,0.000,4,0.000,0.081,2930,3915,2037,0,0,5,0,0,0
$GC,4155,0.81,186.7,38.3,10.6,522,4161,0.00,3.70,0.00,0.000,6,0.000,0.069,2946,2393,2037,0,0,6,0,0,0
$FREEZE,8.38,-0.622,-1.831,0,1,0
$FREEZE,7.75,-0.625,-1.831,0,1,0
$FREEZE,6.99,-0.614,-1.830,0,1,0
$GC,4500,0.86,186.7,7.0,12.5,583,4506,0.00,3.83,0.00,0.000,4,0.000,0.083,2945,3925,2037,0,0,5,0,0,0
$FREEZE,5.26,-0.613,-1.829,0,1,0
$FREEZE,4.57,-0.621,-1.828,0,1,0
$FREEZE,3.79,-0.621,-1.827,0,1,0
$FREEZE,2.87,-0.617,-1.827,0,1,0
$FREEZE,2.05,-0.616,-1.826,0,1,0
$FREEZE,1.49,-0.617,-1.826,0,1,0
$STATE,4539,end climb,SURFACE_DEPTH_REACHED
$STATE,4539,begin surface coast
$FREEZE,1.01,-0.616,-1.825,0,1,0
$FREEZE,0.36,-0.617,-1.825,0,1,0
$FINISH,0.4,1.026755
$STATE,4551,end surface coast,CONTROL_FINISHED_OK
$STATE,4551,begin surface
$SM_CCo,4572,78.38,0.732,0,0,1474,325.02
$SM_GC,0.87,0.00,0.00,78.38,0.000,0.000,0.732,131,2790,1474,-8.00,-0.28,325.02
$RAFOS_CLK,289
$RAFOS,6,1262105345,16.833334,16.818056,60,59,54,0,0,0,208,186,116,0,0,0
$RAFOS,5,1262104867,16.700001,16.685278,59,56,55,0,0,0,210,166,123,0,0,0
$RAFOS,4,1262104386,16.566668,16.551666,69,64,59,0,0,0,196,153,115,0,0,0
$RAFOS,3,1262103903,16.433332,16.417500,59,58,56,0,0,0,188,199,152,0,0,0
$RAFOS,2,1262103424,16.299999,16.284445,62,60,60,0,0,0,212,171,154,0,0,0
$RAFOS,1,1262102945,16.166666,16.151388,61,57,50,0,0,0,210,199,157,0,0,0
$RAFOS,0,1262102466,16.033333,16.018333,60,58,54,0,0,0,204,218,146,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5732.16,250399,141459
$TT8_MAMPS,0.027612
$HUMID,48.11
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,19.9
$24V_AH,22.8,74.030
$10V_AH,10.0,39.251
$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,22.200,69.750,270.550,78.375,0.000,26.210,37.131,130.554,1.000,0.000,13.987,972.496,2243.486,447.712,981.633,310.311,0.000,988.404,0.000,966.975,2520.000,2.621,0.000
$DEVICE_MAMPS,295.295,99.710,884.351,732.485,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,432.683,399.889,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152516
$DATA_FILE_SIZE,22124,592
$CAP_FILE_SIZE,67964,0
$CFSIZE,260165632,218173440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,121,0,0
$SOUNDSPEED,1455.9
$GPS,291209,171414,6733.690,-5726.482,30,1.4,31,-38.4