version: 66.06
glider: 143
mission: 10
dive: 439
start: 12 30 109 9 5 8
data:
$ID,143
$MISSION,10
$DIVE,439
$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,-45137.992
$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,24
$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
$GPS1,085513,6732.984,-5711.111,10,1.7,28,-38.3
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-65.0
$GPS2,090450,6733.076,-5711.155,36,99.0,55,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.076,-5642.875
$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,-146.0,0.0,0.0,0,118,0.00,0.00,-99.38,0.000,2,0.000,0.000,128,2810,3148,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.6,-6.7,20,148,11.70,2.88,-6.80,0.000,4,0.305,0.105,2448,3921,3398,0,0,8,0,0,0
$GC,260,-0.73,-146.0,22.0,-12.0,45,266,0.00,2.72,0.00,0.000,6,0.000,0.064,2448,2786,3401,0,0,7,0,0,0
$GC,604,-0.73,-146.0,62.1,-9.3,106,610,0.00,2.90,0.00,0.000,4,0.000,0.091,2448,3919,3401,0,0,6,0,0,0
$GC,753,-0.78,-146.0,76.8,-8.9,132,758,0.00,2.70,0.00,0.000,6,0.000,0.064,2448,2801,3401,0,0,6,0,0,0
$GC,1092,-0.84,-146.0,108.5,-9.0,184,1097,0.00,2.85,0.00,0.000,4,0.000,0.092,2448,3923,3400,0,0,8,0,0,0
$GC,1227,-0.92,-146.0,121.1,-9.4,195,1234,0.17,2.70,0.00,0.000,6,0.120,0.064,2392,2800,3399,0,0,6,0,0,0
$GC,1552,-0.83,-146.0,158.5,-12.0,226,1557,0.12,2.85,0.00,0.000,4,0.216,0.089,2413,3910,3399,0,0,7,0,0,0
$GC,1776,-0.83,-146.0,182.9,-10.7,245,1782,0.00,2.67,0.00,0.000,6,0.000,0.063,2413,2799,3399,0,0,6,0,0,0
$STATE,1971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1971,begin apogee
$GC,1978,-0.16,0.0,201.8,9.4,264,2098,0.77,0.00,116.68,0.890,6,0.192,0.000,2626,2401,2800,0,0,0,0,0,0
$STATE,2099,end apogee,CONTROL_FINISHED_OK
$STATE,2099,begin climb
$GC,2101,0.73,146.0,205.1,0.0,276,2231,0.98,2.12,119.97,0.844,4,0.143,0.088,2922,802,2203,0,0,0,0,0,0
$GC,2314,0.73,146.0,188.9,11.1,295,2321,0.00,1.95,0.00,0.000,6,0.000,0.063,2922,2395,2199,0,0,0,0,0,0
$GC,2639,0.73,146.0,155.4,10.1,326,2649,0.00,3.85,0.00,0.000,4,0.000,0.082,2921,3917,2196,0,0,6,0,0,0
$GC,2744,0.62,146.0,143.2,12.4,335,2751,0.20,3.78,0.00,0.000,6,0.198,0.069,2893,2399,2195,0,0,5,0,0,0
$GC,3069,0.77,181.0,116.4,7.7,366,3105,0.15,3.90,28.67,0.792,4,0.117,0.083,2943,3917,2061,0,0,7,0,0,0
$GC,3236,0.65,181.0,98.6,10.7,381,3242,0.22,3.75,0.00,0.000,6,0.193,0.069,2906,2401,2058,0,0,6,0,0,0
$GC,3582,0.83,216.5,70.4,7.7,442,3624,0.15,3.85,30.33,0.769,4,0.117,0.081,2956,3922,1915,0,0,7,0,0,0
$GC,3672,0.74,216.5,61.0,11.9,458,3679,0.17,3.78,0.00,0.000,6,0.192,0.068,2933,2399,1913,0,0,6,0,0,0
$GC,4017,0.84,216.5,27.8,9.2,519,4023,0.00,3.90,0.00,0.000,4,0.000,0.082,2933,3932,1912,0,0,6,0,0,0
$GC,4115,0.94,265.7,17.9,7.1,536,4167,0.15,3.75,41.80,0.748,6,0.114,0.068,2997,2395,1716,0,0,6,0,0,0
$FREEZE,8.20,-0.401,-1.834,0,1,0
$FREEZE,7.16,-0.402,-1.833,0,1,0
$FREEZE,6.37,-0.401,-1.832,0,1,0
$FREEZE,5.35,-0.401,-1.832,0,1,0
$FREEZE,4.08,-0.402,-1.831,0,1,0
$FREEZE,2.93,-0.402,-1.830,0,1,0
$FREEZE,2.13,-0.401,-1.829,0,1,0
$FREEZE,1.59,-0.401,-1.829,0,1,0
$STATE,4245,end climb,SURFACE_DEPTH_REACHED
$STATE,4245,begin surface coast
$FREEZE,0.72,-0.401,-1.828,0,1,0
$FREEZE,0.27,-0.399,-1.827,0,1,0
$FINISH,0.3,1.026783
$STATE,4257,end surface coast,CONTROL_FINISHED_OK
$STATE,4257,begin surface
$SM_CCo,4276,42.22,0.727,0,0,1475,325.02
$SM_GC,1.17,0.00,0.00,42.22,0.000,0.000,0.727,128,2802,1475,-8.01,0.06,325.02
$RAFOS_CLK,283
$RAFOS,6,1262162944,8.833333,8.817778,59,52,51,0,0,0,197,228,117,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6703.95,-5711.82,260399,090932
$TT8_MAMPS,0.026845
$HUMID,47.95
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.00
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.9,20.0
$24V_AH,22.8,75.298
$10V_AH,10.1,39.713
$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,23.600,58.900,337.450,42.225,0.000,47.643,64.103,241.049,1.250,0.000,57.797,901.192,2078.375,456.159,978.284,484.207,0.000,984.857,0.000,921.683,0.000,2.619,0.000
$DEVICE_MAMPS,305.266,105.079,890.487,727.116,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,409.147,377.177,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152612
$DATA_FILE_SIZE,22211,562
$CAP_FILE_SIZE,67801,0
$CFSIZE,260165632,217714688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,103,0,0
$SOUNDSPEED,1455.3
$GPS,301209,101828,6733.394,-5710.604,17,99.0,37,-38.3