version: 66.06
glider: 143
mission: 10
dive: 440
start: 12 30 109 10 25 3
data:
$ID,143
$MISSION,10
$DIVE,440
$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,-45192.863
$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,16
$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
$GPS1,101828,6733.394,-5710.604,17,99.0,37,-38.3
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-60.7
$GPS2,102446,6733.502,-5710.665,32,2.7,51,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.502,-5642.376
$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,202
$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,15,-0.73,-146.0,0.0,0.0,0,108,0.00,0.00,-89.45,0.000,2,0.000,0.000,126,2807,2983,0,0,0,0,0,0
$GC,111,-0.73,-146.0,3.5,-6.7,18,142,11.57,2.90,-11.32,0.000,4,0.302,0.104,2449,3910,3398,0,0,8,0,0,0
$GC,171,-0.73,-146.0,15.8,-17.6,29,177,0.00,2.72,0.00,0.000,6,0.000,0.063,2450,2790,3400,0,0,7,0,0,0
$GC,516,-0.73,-146.0,48.0,-8.3,90,521,0.00,2.90,0.00,0.000,4,0.000,0.091,2450,3922,3401,0,0,6,0,0,0
$GC,730,-0.78,-146.0,68.0,-9.6,128,736,0.00,2.72,0.00,0.000,6,0.000,0.065,2450,2797,3401,0,0,6,0,0,0
$GC,1073,-0.84,-146.0,103.7,-10.4,186,1078,0.00,2.88,0.00,0.000,4,0.000,0.092,2450,3917,3400,0,0,6,0,0,0
$GC,1232,-0.93,-146.0,119.6,-10.6,199,1239,0.20,2.70,0.00,0.000,6,0.109,0.065,2385,2798,3399,0,0,6,0,0,0
$GC,1557,-0.81,-146.0,157.4,-11.3,230,1563,0.17,2.88,0.00,0.000,4,0.209,0.091,2424,3917,3398,0,0,7,0,0,0
$GC,1776,-0.81,-146.0,177.9,-9.6,249,1781,0.00,2.70,0.00,0.000,6,0.000,0.064,2424,2798,3398,0,0,6,0,0,0
$STATE,2069,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2069,begin apogee
$GC,2075,-0.16,0.0,202.7,8.4,276,2196,0.73,0.00,116.43,0.894,6,0.188,0.000,2627,2402,2800,0,0,0,0,0,0
$STATE,2196,end apogee,CONTROL_FINISHED_OK
$STATE,2196,begin climb
$GC,2199,0.73,146.0,205.7,0.0,288,2328,0.95,2.12,120.00,0.842,4,0.138,0.088,2919,801,2202,0,0,0,0,0,0
$GC,2447,0.73,146.0,185.0,11.3,310,2453,0.00,1.90,0.00,0.000,6,0.000,0.064,2919,2403,2198,0,0,0,0,0,0
$GC,2771,0.73,146.0,152.5,9.7,341,2781,0.00,3.80,0.00,0.000,4,0.000,0.082,2919,3915,2195,0,0,8,0,0,0
$GC,2883,0.63,146.0,140.2,11.0,351,2893,0.17,3.78,0.00,0.000,6,0.202,0.069,2897,2393,2194,0,0,5,0,0,0
$GC,3212,0.77,186.8,114.3,7.4,382,3254,0.12,3.92,33.15,0.791,4,0.124,0.083,2938,3927,2037,0,0,6,0,0,0
$GC,3333,0.66,186.8,99.9,12.8,393,3340,0.22,3.78,0.00,0.000,6,0.192,0.069,2902,2400,2035,0,0,6,0,0,0
$GC,3679,0.86,217.2,70.6,7.9,454,3716,0.20,3.83,26.02,0.766,4,0.104,0.081,2969,3922,1913,0,0,7,0,0,0
$GC,3747,0.71,217.2,62.2,14.6,466,3754,0.28,3.78,0.00,0.000,6,0.192,0.068,2919,2396,1912,0,0,6,0,0,0
$GC,4093,0.85,217.2,30.9,12.5,527,4100,0.12,3.83,0.00,0.000,4,0.121,0.082,2961,3914,1911,0,0,7,0,0,0
$GC,4146,0.75,217.2,22.4,16.1,536,4152,0.17,3.72,0.00,0.000,6,0.192,0.069,2937,2391,1911,0,0,7,0,0,0
$FREEZE,8.61,-0.399,-1.834,0,1,0
$FREEZE,7.73,-0.399,-1.833,0,1,0
$FREEZE,7.06,-0.400,-1.833,0,1,0
$FREEZE,6.43,-0.399,-1.832,0,1,0
$FREEZE,6.08,-0.399,-1.832,0,1,0
$FREEZE,5.86,-0.400,-1.832,0,1,0
$FREEZE,5.61,-0.400,-1.832,0,1,0
$FREEZE,5.10,-0.400,-1.831,0,1,0
$FREEZE,4.47,-0.400,-1.831,0,1,0
$FREEZE,3.90,-0.400,-1.831,0,1,0
$FREEZE,3.48,-0.401,-1.830,0,1,0
$FREEZE,3.03,-0.401,-1.830,0,1,0
$FREEZE,2.57,-0.401,-1.830,0,1,0
$FREEZE,2.22,-0.400,-1.829,0,1,0
$FREEZE,1.81,-0.401,-1.829,0,1,0
$STATE,4364,end climb,SURFACE_DEPTH_REACHED
$STATE,4364,begin surface coast
$FREEZE,1.40,-0.401,-1.829,0,1,0
$FREEZE,1.03,-0.401,-1.828,0,1,0
$FREEZE,0.40,-0.401,-1.828,0,1,0
$FREEZE,0.30,-0.394,-1.823,0,1,0
$FREEZE,0.20,-0.383,-1.823,0,1,0
$FINISH,0.2,1.026727
$STATE,4393,end surface coast,CONTROL_FINISHED_OK
$STATE,4393,begin surface
$SM_CCo,4411,62.70,0.726,1,0,1474,325.02
$SM_GC,0.96,0.00,0.00,62.70,0.000,0.000,0.726,131,2808,1474,-8.00,0.23,325.02
$RAFOS_CLK,280
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6703.95,-5713.18,260399,090956
$TT8_MAMPS,0.027612
$HUMID,48.26
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.00
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.8,19.6
$24V_AH,22.8,75.396
$10V_AH,10.0,39.750
$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,23.025,58.850,295.600,62.700,0.000,22.771,39.839,164.967,1.250,0.000,54.241,952.023,2107.213,447.656,1003.793,351.144,0.000,978.950,0.000,948.904,0.000,2.619,0.000
$DEVICE_MAMPS,302.198,103.545,894.322,726.349,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,422.517,390.819,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152544
$DATA_FILE_SIZE,22220,580
$CAP_FILE_SIZE,65779,0
$CFSIZE,260165632,217677824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,104,1,0
$SOUNDSPEED,1454.8
$GPS,301209,114058,6733.948,-5710.352,8,99.0,28,-38.3