version: 66.06
glider: 143
mission: 10
dive: 465
start: 12 31 109 21 40 41
data:
$ID,143
$MISSION,10
$DIVE,465
$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,120
$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,-45821.332
$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,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
$GPS1,213513,6738.466,-5659.682,6,1.8,11,-38.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-64.1
$GPS2,214022,6738.485,-5659.656,30,2.1,49,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.085,-5635.164
$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,158.4,20000,-16.9,-9.167
$D_GRID,192
$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,-146.0,0.0,0.0,0,113,0.00,0.00,-95.45,0.000,2,0.000,0.000,124,2813,3134,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.7,-7.5,19,142,11.27,2.97,-6.95,0.000,4,0.292,0.106,2447,3910,3397,0,0,7,0,0,0
$GC,311,-0.73,-146.0,27.6,-14.1,54,317,0.00,2.75,0.00,0.000,6,0.000,0.065,2447,2799,3400,0,0,6,0,0,0
$GC,656,-0.73,-146.0,69.2,-11.0,115,662,0.00,2.92,0.00,0.000,4,0.000,0.092,2447,3923,3400,0,0,7,0,0,0
$GC,821,-0.80,-146.0,88.7,-11.5,144,827,0.00,2.78,0.00,0.000,6,0.000,0.067,2447,2794,3399,0,0,6,0,0,0
$GC,1158,-0.86,-146.0,121.0,-8.8,185,1164,0.12,2.90,0.00,0.000,4,0.124,0.091,2400,3914,3398,0,0,8,0,0,0
$GC,1283,-0.80,-146.0,133.2,-9.9,195,1290,0.12,2.75,0.00,0.000,6,0.219,0.065,2426,2795,3398,0,0,6,0,0,0
$GC,1608,-0.80,-146.0,159.5,-8.0,226,1613,0.00,2.92,0.00,0.000,4,0.000,0.091,2425,3923,3397,0,0,8,0,0,0
$GC,1761,-0.80,-146.0,171.8,-7.4,239,1766,0.00,2.75,0.00,0.000,6,0.000,0.064,2425,2798,3397,0,0,6,0,0,0
$STATE,2032,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2032,begin apogee
$GC,2039,-0.16,0.0,192.6,7.4,264,2159,0.73,0.00,116.45,0.876,6,0.192,0.000,2627,2402,2800,0,0,0,0,0,0
$STATE,2160,end apogee,CONTROL_FINISHED_OK
$STATE,2160,begin climb
$GC,2162,0.73,146.0,194.4,0.0,276,2289,0.98,0.00,119.80,0.828,6,0.143,0.000,2914,2402,2204,0,0,0,0,0,0
$GC,2603,0.73,146.0,153.1,10.9,318,2612,0.00,3.95,0.00,0.000,4,0.000,0.081,2914,3916,2197,0,0,7,0,0,0
$GC,2628,0.73,146.0,149.9,11.8,320,2635,0.00,3.88,0.00,0.000,6,0.000,0.069,2931,2401,2196,0,0,6,0,0,0
$GC,2953,0.73,146.0,114.5,10.2,351,2962,0.00,3.90,0.00,0.000,4,0.000,0.082,2932,3924,2196,0,0,7,0,0,0
$GC,3031,0.62,146.0,105.1,12.3,358,3041,0.22,3.83,0.00,0.000,6,0.199,0.069,2896,2399,2195,0,0,6,0,0,0
$GC,3375,0.79,198.4,76.4,7.0,414,3427,0.15,3.97,42.88,0.765,4,0.116,0.081,2947,3921,1989,0,0,7,0,0,0
$GC,3528,0.71,198.4,58.2,12.7,442,3535,0.17,3.88,0.00,0.000,6,0.194,0.069,2924,2390,1985,0,0,6,0,0,0
$GC,3874,0.86,232.3,29.1,7.7,503,3911,0.12,3.95,28.67,0.736,4,0.127,0.081,2964,3914,1851,0,0,8,0,0,0
$GC,4020,0.78,232.3,10.3,14.4,529,4026,0.17,3.85,0.00,0.000,6,0.192,0.069,2942,2393,1848,0,0,6,0,0,0
$FREEZE,8.58,-0.544,-1.832,0,1,0
$FREEZE,7.74,-0.551,-1.832,0,1,0
$FREEZE,7.17,-0.547,-1.831,0,1,0
$FREEZE,6.56,-0.547,-1.831,0,1,0
$FREEZE,5.98,-0.548,-1.830,0,1,0
$FREEZE,5.56,-0.559,-1.830,0,1,0
$FREEZE,5.01,-0.558,-1.829,0,1,0
$FREEZE,4.56,-0.559,-1.829,0,1,0
$FREEZE,3.96,-0.558,-1.829,0,1,0
$FREEZE,3.42,-0.556,-1.828,0,1,0
$FREEZE,3.10,-0.560,-1.828,0,1,0
$FREEZE,2.57,-0.560,-1.828,0,1,0
$FREEZE,1.90,-0.548,-1.827,0,1,0
$STATE,4100,end climb,SURFACE_DEPTH_REACHED
$STATE,4100,begin surface coast
$FREEZE,1.32,-0.552,-1.827,0,1,0
$FREEZE,0.74,-0.555,-1.826,0,1,0
$FREEZE,0.33,-0.935,-0.634,0,1,0
$FREEZE,0.58,-0.511,-1.823,0,1,0
$FINISH,0.6,1.026724
$STATE,4122,end surface coast,CONTROL_FINISHED_OK
$STATE,4123,begin surface
$SM_CCo,4140,57.05,0.719,0,0,1474,325.02
$SM_GC,1.16,0.00,0.00,57.05,0.000,0.000,0.719,126,2809,1474,-8.01,0.25,325.02
$RAFOS_CLK,263
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6658.43,-5138.87,270399,202053
$TT8_MAMPS,0.027612
$HUMID,47.04
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,20.5
$24V_AH,22.8,78.033
$10V_AH,10.1,40.693
$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,22.425,56.050,307.800,57.050,0.000,25.094,31.989,105.627,0.750,0.000,52.224,860.931,2018.625,450.236,900.544,282.917,0.000,934.082,0.000,851.886,0.000,4.549,0.000
$DEVICE_MAMPS,292.227,105.846,875.914,719.446,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,400.089,367.625,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152536
$DATA_FILE_SIZE,22172,547
$CAP_FILE_SIZE,59576,0
$CFSIZE,260165632,216739840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,107,0,0
$SOUNDSPEED,1457.1
$GPS,311209,225207,6738.521,-5659.026,35,1.3,43,-38.4