version: 66.06
glider: 143
mission: 10
dive: 448
start: 12 30 109 21 48 3
data:
$ID,143
$MISSION,10
$DIVE,448
$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,-45446.707
$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,21
$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
$GPS1,213858,6733.421,-5711.850,14,2.7,34,-38.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-60.0
$GPS2,214746,6733.533,-5711.943,10,2.6,29,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.533,-5643.653
$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,16,-0.73,-146.0,0.0,0.0,0,119,0.00,0.00,-100.12,0.000,2,0.000,0.000,126,2784,3127,0,0,0,0,0,0
$GC,123,-0.73,-146.0,3.5,-6.1,20,149,11.18,3.05,-7.30,0.000,4,0.290,0.107,2445,3922,3399,0,0,7,0,0,0
$GC,230,-0.73,-146.0,17.4,-9.5,39,236,0.00,2.80,0.00,0.000,6,0.000,0.065,2446,2797,3402,0,0,6,0,0,0
$GC,574,-0.73,-146.0,42.5,-9.4,100,580,0.00,2.92,0.00,0.000,4,0.000,0.093,2446,3924,3402,0,0,8,0,0,0
$GC,782,-0.73,-146.0,63.1,-9.3,137,787,0.00,2.80,0.00,0.000,6,0.000,0.067,2446,2792,3402,0,0,6,0,0,0
$GC,1125,-0.73,-146.0,94.5,-9.7,198,1131,0.00,2.92,0.00,0.000,4,0.000,0.093,2445,3925,3401,0,0,8,0,0,0
$GC,1256,-0.79,-146.0,106.5,-9.7,215,1262,0.00,2.80,0.00,0.000,6,0.000,0.067,2446,2793,3400,0,0,6,0,0,0
$GC,1581,-0.87,-146.0,135.1,-8.7,246,1587,0.12,2.95,0.00,0.000,4,0.124,0.092,2400,3920,3399,0,0,7,0,0,0
$GC,1772,-0.79,-146.0,155.6,-10.9,262,1778,0.15,2.78,0.00,0.000,6,0.212,0.066,2433,2797,3399,0,0,6,0,0,0
$GC,2097,-0.84,-146.0,185.2,-8.6,293,2102,0.00,2.92,0.00,0.000,4,0.000,0.091,2432,3918,3399,0,0,6,0,0,0
$GC,2193,-0.90,-146.0,193.8,-8.9,301,2198,0.00,2.78,0.00,0.000,6,0.000,0.064,2433,2794,3399,0,0,6,0,0,0
$STATE,2282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2282,begin apogee
$GC,2288,-0.16,0.0,201.3,8.2,309,2409,0.70,0.00,116.85,0.895,6,0.189,0.000,2628,2397,2800,0,0,0,0,0,0
$STATE,2410,end apogee,CONTROL_FINISHED_OK
$STATE,2410,begin climb
$GC,2412,0.73,146.0,204.8,0.0,321,2546,0.98,2.08,120.22,0.844,4,0.143,0.089,2922,804,2202,0,0,0,0,0,0
$GC,2574,0.73,146.0,193.4,10.6,336,2580,0.00,1.95,0.00,0.000,6,0.000,0.062,2922,2399,2200,0,0,0,0,0,0
$GC,2899,0.73,146.0,159.9,10.2,367,2909,0.00,3.92,0.00,0.000,4,0.000,0.082,2922,3929,2196,0,0,7,0,0,0
$GC,3017,0.62,146.0,146.3,11.7,377,3023,0.20,3.85,0.00,0.000,6,0.199,0.070,2894,2397,2194,0,0,6,0,0,0
$GC,3341,0.71,146.0,116.7,9.3,408,3351,0.00,3.88,0.00,0.000,4,0.000,0.081,2893,3917,2194,0,0,6,0,0,0
$GC,3463,0.71,146.0,103.7,11.0,419,3473,0.00,3.83,0.00,0.000,6,0.000,0.070,2909,2397,2194,0,0,5,0,0,0
$GC,3809,0.82,160.7,72.6,8.5,477,3831,0.15,3.90,12.25,0.744,4,0.104,0.082,2965,3932,2143,0,0,7,0,0,0
$GC,3883,0.63,160.7,64.1,12.2,490,3893,0.35,3.83,0.00,0.000,6,0.197,0.069,2895,2396,2142,0,0,6,0,0,0
$GC,4233,0.92,245.4,39.5,5.6,552,4315,0.25,4.00,70.85,0.757,4,0.100,0.083,2987,3918,1798,0,0,6,0,0,0
$GC,4430,0.84,272.1,17.3,8.0,588,4462,0.17,3.88,23.12,0.719,6,0.193,0.071,2964,2397,1689,0,0,6,0,0,0
$FREEZE,7.99,-0.702,-1.832,0,1,0
$FREEZE,7.07,-0.703,-1.831,0,1,0
$STATE,4500,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4501,begin subsurface finish
$FINISH1,7.1,1.026780,35
$GC,4507,0.04,35.0,7.1,-17.7,601,4548,0.90,0.00,-35.70,0.000,6,0.173,0.000,2708,2397,2659,0,0,0,0,0,0
$FINISH2,4.2
$STATE,4549,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4549,begin surface
$RAFOS_CLK,294
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6703.95,-5708.46,260399,212131
$TT8_MAMPS,0.027612
$HUMID,47.32
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,17.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,17.5
$24V_AH,22.7,76.213
$10V_AH,10.0,40.055
$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,15.150,64.800,343.300,0.000,0.000,58.299,68.843,203.947,1.000,0.000,31.750,921.337,2232.820,449.562,1009.500,459.702,0.000,1017.414,0.000,976.868,0.000,2.614,0.000
$DEVICE_MAMPS,289.926,107.380,895.089,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,442.236,407.733,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152540
$DATA_FILE_SIZE,22196,609
$CAP_FILE_SIZE,68337,0
$CFSIZE,260165632,217374720
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,115,0,0
$SOUNDSPEED,1454.5
$GPS,301209,214746,6733.533,-5711.943,10,2.6,29,-38.3