version: 66.06
glider: 143
mission: 10
dive: 452
start: 12 31 109 3 7 52
data:
$ID,143
$MISSION,10
$DIVE,452
$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,-45466.512
$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,18
$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
$GPS1,003914,6735.060,-5711.162,17,1.6,17,-38.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.45
$_SM_ANGLEo,1.3
$GPS2,003914,6735.060,-5711.162,17,1.6,17,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6735.060,-5642.842
$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,128.3,20000,-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,16,-0.73,-146.0,0.0,0.0,0,22,0.00,0.00,-4.78,0.000,2,0.000,0.000,2709,3926,2819,0,0,0,0,0,0
$GC,25,-0.73,-146.0,7.1,-0.0,1,52,0.73,5.25,-17.83,0.000,4,0.107,0.075,2464,1192,3399,0,0,6,0,0,0
$GC,86,-0.73,-146.0,9.2,-5.3,12,92,0.00,2.35,0.00,0.000,6,0.000,0.067,2464,2798,3401,0,0,0,0,0,0
$GC,431,-0.73,-146.0,37.3,-7.6,73,436,0.00,2.90,0.00,0.000,4,0.000,0.089,2464,3929,3401,0,0,6,0,0,0
$GC,602,-0.81,-146.0,51.3,-9.2,103,608,0.12,2.75,0.00,0.000,6,0.125,0.063,2422,2798,3401,0,0,6,0,0,0
$GC,947,-0.81,-146.0,90.5,-13.0,164,953,0.00,2.92,0.00,0.000,4,0.000,0.091,2422,3926,3400,0,0,6,0,0,0
$GC,1054,-0.81,-146.0,103.0,-10.9,181,1060,0.00,2.78,0.00,0.000,6,0.000,0.064,2421,2792,3399,0,0,6,0,0,0
$GC,1378,-0.81,-146.0,134.6,-9.0,212,1383,0.00,2.95,0.00,0.000,4,0.000,0.091,2421,3919,3398,0,0,7,0,0,0
$GC,1614,-0.81,-146.0,156.1,-9.1,232,1620,0.00,2.75,0.00,0.000,6,0.000,0.064,2421,2794,3397,0,0,6,0,0,0
$GC,1938,-0.81,-146.0,184.8,-8.8,263,1943,0.00,2.88,0.00,0.000,4,0.000,0.090,2421,3917,3397,0,0,8,0,0,0
$GC,2105,-0.81,-146.0,199.8,-9.6,277,2112,0.00,2.78,0.00,0.000,6,0.000,0.063,2421,2795,3397,0,0,6,0,0,0
$STATE,2141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2142,begin apogee
$GC,2147,-0.16,0.0,203.4,9.6,281,2268,0.77,0.00,116.50,0.883,6,0.193,0.000,2628,2399,2799,0,0,0,0,0,0
$STATE,2269,end apogee,CONTROL_FINISHED_OK
$STATE,2269,begin climb
$GC,2271,0.73,146.0,206.8,0.0,293,2400,0.95,2.08,120.05,0.835,4,0.140,0.088,2919,786,2203,0,0,0,0,0,0
$GC,2435,0.73,146.0,195.6,11.1,308,2439,0.00,1.90,0.00,0.000,6,0.000,0.061,2919,2403,2201,0,0,0,0,0,0
$GC,2764,0.73,146.0,161.7,10.3,339,2774,0.00,3.92,0.00,0.000,4,0.000,0.081,2919,3929,2195,0,0,7,0,0,0
$GC,2888,0.63,146.0,147.5,11.5,350,2898,0.17,3.85,0.00,0.000,6,0.204,0.069,2898,2402,2194,0,0,6,0,0,0
$GC,3217,0.75,164.7,119.6,8.4,381,3242,0.10,3.90,15.40,0.762,4,0.135,0.081,2930,3926,2127,0,0,7,0,0,0
$GC,3300,0.65,164.7,110.6,12.5,388,3306,0.20,3.85,0.00,0.000,6,0.198,0.069,2901,2392,2126,0,0,6,0,0,0
$GC,3637,0.81,183.7,78.0,8.4,439,3664,0.15,3.95,16.98,0.755,4,0.114,0.081,2952,3920,2050,0,0,7,0,0,0
$GC,3734,0.71,183.7,67.8,11.9,456,3741,0.20,3.83,0.00,0.000,6,0.197,0.068,2923,2397,2048,0,0,6,0,0,0
$GC,4080,0.79,183.7,33.6,13.1,517,4086,0.00,3.90,0.00,0.000,4,0.000,0.081,2923,3926,2047,0,0,6,0,0,0
$GC,4149,0.74,183.7,24.1,14.6,529,4156,0.00,3.78,0.00,0.000,6,0.000,0.069,2939,2393,2047,0,0,6,0,0,0
$FREEZE,8.92,-0.655,-1.833,0,5,1
$FREEZE,8.06,-0.655,-1.832,0,5,1
$FREEZE,7.57,-0.654,-1.832,0,5,1
$FREEZE,7.33,-0.654,-1.832,0,5,1
$FREEZE,7.28,-0.654,-1.832,0,5,1
$FREEZE,7.01,-0.653,-1.831,0,5,1
$FREEZE,6.93,-0.646,-1.831,0,5,1
$FREEZE,7.00,-0.647,-1.831,0,5,1
$FREEZE,6.96,-0.648,-1.831,0,5,1
$FREEZE,6.84,-0.650,-1.831,0,5,1
$FREEZE,6.69,-0.648,-1.831,0,5,1
$FREEZE,6.60,-0.647,-1.831,0,5,1
$FREEZE,6.72,-0.635,-1.831,0,5,1
$FREEZE,6.87,-0.635,-1.831,0,5,1
$FREEZE,6.93,-0.635,-1.831,0,5,1
$FREEZE,7.06,-0.636,-1.832,0,5,1
$FREEZE,6.91,-0.640,-1.831,0,5,1
$FREEZE,6.96,-0.638,-1.831,0,5,1
$FREEZE,6.80,-0.642,-1.831,0,5,1
$FREEZE,6.75,-0.639,-1.831,0,5,1
$FREEZE,6.41,-0.639,-1.831,0,5,1
$FREEZE,5.85,-0.641,-1.831,0,5,1
$FREEZE,5.61,-0.641,-1.831,0,5,1
$FREEZE,5.02,-0.640,-1.830,0,5,1
$FREEZE,4.71,-0.639,-1.830,0,5,1
$FREEZE,4.21,-0.642,-1.829,0,5,1
$FREEZE,3.55,-0.647,-1.829,0,5,1
$FREEZE,2.94,-0.647,-1.828,0,5,1
$FREEZE,2.17,-0.648,-1.828,0,5,1
$FREEZE,1.61,-0.640,-1.827,0,5,1
$STATE,4493,end climb,SURFACE_DEPTH_REACHED
$STATE,4493,begin surface coast
$FREEZE,1.24,-0.640,-1.827,0,5,1
$FREEZE,0.60,-0.640,-1.827,0,5,1
$FREEZE,0.17,-0.639,-1.826,0,5,1
$FINISH,0.2,1.026780
$STATE,4512,end surface coast,CONTROL_FINISHED_OK
$STATE,4513,begin surface
$SM_CCo,4531,88.12,0.737,0,0,1473,325.02
$SM_GC,1.24,0.00,0.00,88.12,0.000,0.000,0.737,129,2802,1473,-8.00,0.06,325.02
$RAFOS_CLK,320
$RAFOS,1,1262232545,4.166667,4.151389,73,65,51,0,0,0,185,217,166,0,0,0
$RAFOS,0,1262232065,4.033333,4.018055,57,56,51,0,0,0,201,139,188,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5714.87,270399,000044
$TT8_MAMPS,0.029146
$HUMID,47.67
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,16.90
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.4,19.9
$24V_AH,22.8,76.583
$10V_AH,10.0,40.192
$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,11.700,67.275,268.925,88.125,0.000,0.000,0.000,0.000,1.250,0.000,0.000,1018.982,2219.475,390.029,961.118,88.199,0.000,909.163,0.000,959.033,1080.000,2.615,0.000
$DEVICE_MAMPS,204.022,91.273,882.817,737.087,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,433.102,402.127,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152540
$DATA_FILE_SIZE,22212,593
$CAP_FILE_SIZE,62797,0
$CFSIZE,260165632,217210880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,108,0,0
$SOUNDSPEED,1455.2
$GPS,311209,042645,6735.779,-5707.577,44,99.0,63,-38.3