version: 66.06
glider: 143
mission: 10
dive: 438
start: 12 30 109 7 41 30
data:
$ID,143
$MISSION,10
$DIVE,438
$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,-45079.566
$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,15
$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
$GPS1,072934,6732.956,-5711.915,8,3.5,28,-38.3
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-62.0
$GPS2,074113,6733.007,-5711.995,38,2.6,57,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.007,-5643.715
$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,201
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,119,0.00,0.00,-100.43,0.000,2,0.000,0.000,131,2806,3189,0,0,0,0,0,0
$GC,124,-0.73,-146.0,3.9,-7.5,20,145,11.20,0.00,-5.28,0.000,6,0.292,0.000,2447,2806,3398,0,0,0,0,0,0
$GC,482,-0.73,-146.0,47.4,-10.2,84,488,0.00,2.88,0.00,0.000,4,0.000,0.094,2447,3917,3402,0,0,6,0,0,0
$GC,679,-0.73,-146.0,67.7,-9.3,119,685,0.00,2.72,0.00,0.000,6,0.000,0.067,2448,2793,3401,0,0,7,0,0,0
$GC,1021,-0.80,-146.0,102.6,-10.2,178,1026,0.00,2.90,0.00,0.000,4,0.000,0.093,2448,3923,3400,0,0,6,0,0,0
$GC,1179,-0.87,-146.0,117.7,-8.9,191,1185,0.12,2.72,0.00,0.000,6,0.130,0.065,2408,2794,3400,0,0,6,0,0,0
$GC,1503,-0.82,-146.0,149.0,-9.3,222,1508,0.00,2.88,0.00,0.000,4,0.000,0.091,2408,3918,3399,0,0,6,0,0,0
$GC,1658,-0.82,-146.0,163.6,-9.7,235,1662,0.00,2.70,0.00,0.000,6,0.000,0.064,2409,2800,3399,0,0,6,0,0,0
$GC,1982,-0.82,-146.0,195.4,-9.4,265,1987,0.00,2.88,0.00,0.000,4,0.000,0.090,2409,3914,3399,0,0,7,0,0,0
$STATE,2034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2035,begin apogee
$GC,2044,-0.16,0.0,201.0,10.1,269,2164,0.82,0.00,116.65,0.887,6,0.199,0.000,2630,2404,2800,0,0,0,0,0,0
$STATE,2165,end apogee,CONTROL_FINISHED_OK
$STATE,2165,begin climb
$GC,2168,0.73,146.0,204.5,0.0,281,2297,0.95,2.12,120.00,0.841,4,0.142,0.088,2920,803,2202,0,0,0,0,0,0
$GC,2347,0.73,146.0,191.6,10.7,297,2353,0.00,1.92,0.00,0.000,6,0.000,0.063,2920,2400,2200,0,0,0,0,0,0
$GC,2671,0.73,146.0,155.3,11.4,328,2681,0.00,3.83,0.00,0.000,4,0.000,0.081,2920,3920,2196,0,0,8,0,0,0
$GC,2750,0.62,146.0,146.0,12.6,335,2760,0.20,3.78,0.00,0.000,6,0.197,0.068,2891,2399,2194,0,0,6,0,0,0
$GC,3079,0.75,160.9,117.0,8.5,366,3100,0.12,3.80,12.30,0.758,4,0.123,0.082,2932,3925,2142,0,0,7,0,0,0
$GC,3247,0.65,160.9,97.3,12.0,383,3254,0.20,3.75,0.00,0.000,6,0.196,0.069,2902,2398,2141,0,0,6,0,0,0
$GC,3594,0.83,220.4,71.7,6.7,444,3656,0.17,3.90,50.12,0.773,4,0.110,0.081,2962,3926,1899,0,0,7,0,0,0
$GC,3729,0.76,220.4,55.5,12.3,469,3736,0.17,3.78,0.00,0.000,6,0.199,0.067,2939,2400,1896,0,0,6,0,0,0
$GC,4075,0.82,220.4,23.5,10.2,530,4081,0.00,3.80,0.00,0.000,4,0.000,0.082,2939,3921,1894,0,0,7,0,0,0
$GC,4126,0.82,220.4,16.5,15.3,539,4132,0.00,3.70,0.00,0.000,6,0.000,0.069,2954,2399,1893,0,0,7,0,0,0
$FREEZE,8.86,-0.411,-1.834,0,1,0
$FREEZE,8.42,-0.411,-1.834,0,1,0
$FREEZE,7.60,-0.412,-1.833,0,1,0
$FREEZE,6.85,-0.412,-1.832,0,1,0
$FREEZE,6.00,-0.412,-1.832,0,1,0
$FREEZE,5.25,-0.411,-1.831,0,1,0
$FREEZE,4.80,-0.411,-1.831,0,1,0
$FREEZE,4.65,-0.410,-1.831,0,1,0
$FREEZE,4.01,-0.411,-1.830,0,1,0
$FREEZE,3.79,-0.410,-1.830,0,1,0
$FREEZE,3.41,-0.409,-1.830,0,1,0
$FREEZE,2.54,-0.410,-1.829,0,1,0
$FREEZE,1.36,-0.409,-1.828,0,1,0
$STATE,4249,end climb,SURFACE_DEPTH_REACHED
$STATE,4249,begin surface coast
$FREEZE,0.72,-0.409,-1.828,0,1,0
$FREEZE,0.38,-0.381,-1.826,0,1,0
$FREEZE,0.19,-0.402,-1.826,0,1,0
$FINISH,0.2,1.026770
$STATE,4267,end surface coast,CONTROL_FINISHED_OK
$STATE,4267,begin surface
$SM_CCo,4285,62.22,0.733,0,0,1474,325.02
$SM_GC,1.08,0.00,0.00,62.22,0.000,0.000,0.733,128,2807,1474,-8.00,0.20,325.02
$RAFOS_CLK,285
$RAFOS,5,1262162462,8.700000,8.683888,59,59,57,0,0,0,197,218,178,0,0,0
$RAFOS,4,1262161982,8.566667,8.550555,69,57,56,0,0,0,193,205,161,0,0,0
$RAFOS,3,1262161506,8.433333,8.418333,68,63,60,0,0,0,187,218,124,0,0,0
$RAFOS,2,1262161028,8.300000,8.285556,66,66,62,0,0,0,206,218,159,0,0,0
$RAFOS,1,1262160543,8.166667,8.150833,67,57,55,0,0,0,215,233,155,0,0,0
$RAFOS,0,1262160061,8.033334,8.016945,59,59,59,0,0,0,174,185,210,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6703.95,-5710.13,260399,070700
$TT8_MAMPS,0.029913
$HUMID,47.87
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.00
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.8,20.1
$24V_AH,22.8,75.189
$10V_AH,10.0,39.675
$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,22.350,58.750,299.075,62.225,0.000,57.055,76.122,324.191,1.250,0.000,60.030,918.644,2101.321,445.749,980.593,603.737,0.000,965.314,0.000,915.781,2520.000,2.620,0.000
$DEVICE_MAMPS,292.227,93.574,886.652,733.252,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,408.857,379.905,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152540
$DATA_FILE_SIZE,22201,564
$CAP_FILE_SIZE,69380,0
$CFSIZE,260165632,217747456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,104,0,0
$SOUNDSPEED,1456.0
$GPS,301209,085513,6732.984,-5711.111,10,1.7,28,-38.3