version: 66.06
glider: 143
mission: 10
dive: 430
start: 12 29 109 20 15 15
data:
$ID,143
$MISSION,10
$DIVE,430
$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,-44867.977
$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,22
$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
$GPS1,200916,6733.242,-5725.741,11,99.0,30,-38.4
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-63.4
$GPS2,201458,6733.275,-5725.721,14,99.0,33,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.275,-5657.437
$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,203
$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,14,-0.73,-146.0,0.0,0.0,0,118,0.00,0.00,-100.82,0.000,2,0.000,0.000,132,2806,3194,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.6,-7.0,20,149,11.57,2.90,-5.32,0.000,4,0.302,0.104,2447,3911,3400,0,0,8,0,0,0
$GC,155,0.50,-146.0,12.0,-23.8,26,165,1.42,2.72,0.00,0.000,6,0.179,0.064,2841,2798,3401,0,0,6,0,0,0
$GC,505,-0.56,-146.0,28.0,-6.0,88,511,1.00,2.45,0.00,0.000,4,0.114,0.084,2514,1188,3402,0,0,0,0,0,0
$GC,643,-0.75,-146.0,41.1,-10.2,112,649,0.20,2.40,0.00,0.000,6,0.099,0.073,2440,2794,3402,0,0,0,0,0,0
$GC,988,-0.75,-146.0,78.8,-12.2,173,994,0.00,2.88,0.00,0.000,4,0.000,0.091,2440,3929,3401,0,0,6,0,0,0
$GC,1246,-0.75,-146.0,105.3,-9.9,215,1251,0.00,2.72,0.00,0.000,6,0.000,0.065,2440,2798,3400,0,0,6,0,0,0
$GC,1571,-0.81,-146.0,135.6,-8.7,245,1576,0.00,2.90,0.00,0.000,4,0.000,0.092,2440,3924,3399,0,0,7,0,0,0
$GC,1761,-0.87,-146.0,152.4,-9.0,261,1767,0.00,2.70,0.00,0.000,6,0.000,0.064,2440,2799,3398,0,0,6,0,0,0
$GC,2086,-0.94,-146.0,176.1,-6.7,292,2091,0.15,2.85,0.00,0.000,4,0.115,0.087,2374,3927,3398,0,0,7,0,0,0
$GC,2206,-0.78,-146.0,187.4,-10.0,302,2212,0.25,2.70,0.00,0.000,6,0.212,0.062,2433,2794,3398,0,0,6,0,0,0
$STATE,2433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2433,begin apogee
$GC,2439,-0.16,0.0,203.5,7.2,323,2560,0.70,0.00,116.72,0.883,6,0.193,0.000,2628,2394,2800,0,0,0,0,0,0
$STATE,2560,end apogee,CONTROL_FINISHED_OK
$STATE,2561,begin climb
$GC,2563,0.73,146.0,205.5,0.0,335,2692,0.98,2.12,119.90,0.837,4,0.147,0.087,2920,808,2202,0,0,0,0,0,0
$GC,2771,0.73,146.0,188.8,10.0,354,2775,0.00,1.95,0.00,0.000,6,0.000,0.063,2921,2409,2198,0,0,0,0,0,0
$GC,3100,0.73,146.0,155.3,10.6,385,3110,0.00,3.78,0.00,0.000,4,0.000,0.081,2921,3916,2196,0,0,7,0,0,0
$GC,3240,0.63,146.0,137.8,12.9,397,3246,0.20,3.70,0.00,0.000,6,0.199,0.069,2892,2403,2194,0,0,6,0,0,0
$GC,3564,0.79,185.9,110.4,7.5,428,3606,0.17,3.85,32.53,0.784,4,0.108,0.082,2951,3911,2040,0,0,5,0,0,0
$GC,3680,0.65,185.9,97.2,12.2,440,3686,0.25,3.72,0.00,0.000,6,0.193,0.069,2908,2399,2038,0,0,6,0,0,0
$GC,4026,0.87,261.5,71.1,6.0,501,4098,0.20,3.90,63.40,0.763,4,0.104,0.081,2976,3912,1732,0,0,6,0,0,0
$GC,4128,0.78,261.5,60.0,11.4,520,4134,0.20,3.78,0.00,0.000,6,0.190,0.068,2947,2399,1729,0,0,6,0,0,0
$GC,4473,0.89,277.8,25.5,8.5,581,4494,0.00,3.85,14.02,0.719,4,0.000,0.084,2947,3924,1666,0,0,6,0,0,0
$GC,4542,0.89,277.8,19.8,11.0,593,4548,0.00,3.75,0.00,0.000,6,0.000,0.069,2962,2395,1665,0,0,6,0,0,0
$FREEZE,8.60,-0.508,-1.832,0,1,0
$FREEZE,7.69,-0.505,-1.831,0,1,0
$FREEZE,6.91,-0.505,-1.831,0,1,0
$FREEZE,5.99,-0.508,-1.830,0,1,0
$FREEZE,5.17,-0.511,-1.830,0,1,0
$FREEZE,4.26,-0.513,-1.829,0,1,0
$FREEZE,3.49,-0.538,-1.828,0,1,0
$FREEZE,2.89,-0.526,-1.828,0,1,0
$FREEZE,1.97,-0.530,-1.827,0,1,0
$STATE,4661,end climb,SURFACE_DEPTH_REACHED
$STATE,4661,begin surface coast
$FREEZE,0.97,-0.533,-1.826,0,1,0
$FREEZE,0.11,-0.526,-1.825,0,1,0
$FINISH,0.1,1.026759
$STATE,4672,end surface coast,CONTROL_FINISHED_OK
$STATE,4673,begin surface
$SM_CCo,4691,36.53,0.732,0,0,1474,325.02
$SM_GC,1.05,0.00,0.00,36.53,0.000,0.000,0.732,130,2803,1474,-8.00,0.08,325.02
$RAFOS_CLK,298
$RAFOS,6,1262119745,20.833334,20.818056,65,54,52,0,0,0,204,159,129,0,0,0
$RAFOS,5,1262119262,20.700001,20.683889,61,60,59,0,0,0,213,163,185,0,0,0
$RAFOS,4,1262118785,20.566668,20.551390,60,59,57,0,0,0,222,206,166,0,0,0
$RAFOS,3,1262118303,20.433332,20.417500,65,58,56,0,0,0,196,212,1502,0,0,0
$RAFOS,2,1262117826,20.299999,20.285000,62,59,58,0,0,0,203,152,123,0,0,0
$RAFOS,0,1262116863,20.033333,20.017500,66,53,50,0,0,0,214,175,119,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6703.95,-5652.91,250399,181831
$TT8_MAMPS,0.027612
$HUMID,47.79
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.10
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.8,18.8
$24V_AH,22.8,74.346
$10V_AH,10.0,39.366
$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,25.800,63.575,346.575,36.525,0.000,27.324,31.638,147.192,1.250,0.000,35.768,976.529,2269.415,457.886,1032.153,335.996,0.000,1024.688,0.000,993.828,1800.000,2.618,0.000
$DEVICE_MAMPS,302.198,103.545,882.817,731.718,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,449.351,414.308,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152536
$DATA_FILE_SIZE,22191,616
$CAP_FILE_SIZE,70800,0
$CFSIZE,260165632,218054656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,100,0,0
$SOUNDSPEED,1455.3
$GPS,291209,213624,6733.524,-5724.921,93,1.1,94,-38.4