version: 66.06
glider: 143
mission: 10
dive: 449
start: 12 30 109 23 5 30
data:
$ID,143
$MISSION,10
$DIVE,449
$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,14
$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
$GPS1,214746,6733.533,-5711.943,10,2.6,29,-38.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,4.73
$_SM_ANGLEo,2.5
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,22,0.00,0.00,-4.75,0.000,2,0.000,0.000,2708,2398,2810,0,0,0,0,0,0
$GC,25,-0.73,-146.0,6.2,-0.0,1,51,0.73,1.52,-17.70,0.000,4,0.099,0.111,2461,1178,3399,0,0,0,0,0,0
$GC,74,-0.73,-146.0,12.0,-14.7,10,79,0.00,2.40,0.00,0.000,6,0.000,0.070,2461,2801,3400,0,0,0,0,0,0
$GC,417,-0.73,-146.0,42.6,-6.7,71,422,0.00,2.95,0.00,0.000,4,0.000,0.093,2461,3922,3401,0,0,6,0,0,0
$GC,647,-0.80,-146.0,64.2,-9.4,112,653,0.00,2.75,0.00,0.000,6,0.000,0.064,2461,2800,3401,0,0,7,0,0,0
$GC,991,-0.89,-146.0,94.6,-8.1,173,997,0.17,2.95,0.00,0.000,4,0.110,0.091,2400,3926,3400,0,0,7,0,0,0
$GC,1155,-0.81,-146.0,112.2,-10.7,192,1161,0.12,2.78,0.00,0.000,6,0.220,0.065,2425,2797,3400,0,0,6,0,0,0
$GC,1480,-0.81,-146.0,143.2,-9.2,223,1485,0.00,2.92,0.00,0.000,4,0.000,0.091,2425,3917,3399,0,0,6,0,0,0
$GC,1715,-0.81,-146.0,165.1,-9.5,243,1721,0.00,2.78,0.00,0.000,6,0.000,0.064,2426,2792,3398,0,0,6,0,0,0
$GC,2041,-0.81,-146.0,194.2,-8.7,274,2045,0.00,2.92,0.00,0.000,4,0.000,0.089,2425,3917,3397,0,0,7,0,0,0
$STATE,2116,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2116,begin apogee
$GC,2125,-0.16,0.0,201.5,8.3,280,2245,0.75,0.00,116.40,0.880,6,0.198,0.000,2629,2399,2799,0,0,0,0,0,0
$STATE,2246,end apogee,CONTROL_FINISHED_OK
$STATE,2246,begin climb
$GC,2249,0.73,146.0,205.4,0.0,292,2378,0.98,2.08,119.90,0.833,4,0.144,0.088,2923,790,2202,0,0,0,0,0,0
$GC,2427,0.73,146.0,193.7,9.5,308,2434,0.00,1.92,0.00,0.000,6,0.000,0.061,2923,2397,2199,0,0,0,0,0,0
$GC,2752,0.73,146.0,159.3,10.5,339,2762,0.00,3.92,0.00,0.000,4,0.000,0.081,2923,3929,2194,0,0,7,0,0,0
$GC,2881,0.62,146.0,143.4,11.7,350,2887,0.20,3.85,0.00,0.000,6,0.199,0.069,2895,2393,2194,0,0,6,0,0,0
$GC,3205,0.72,146.0,113.5,9.5,381,3215,0.00,3.90,0.00,0.000,4,0.000,0.081,2895,3923,2193,0,0,6,0,0,0
$GC,3322,0.72,146.0,101.4,10.1,391,3328,0.00,3.78,0.00,0.000,6,0.000,0.069,2910,2395,2194,0,0,7,0,0,0
$GC,3665,0.84,189.1,72.3,7.4,451,3707,0.15,3.90,35.17,0.764,4,0.104,0.081,2964,3917,2026,0,0,6,0,0,0
$GC,3820,0.70,189.1,54.7,11.4,479,3826,0.25,3.83,0.00,0.000,6,0.194,0.067,2922,2394,2023,0,0,6,0,0,0
$GC,4164,0.79,189.1,26.4,11.0,540,4170,0.00,3.90,0.00,0.000,4,0.000,0.082,2921,3922,2023,0,0,6,0,0,0
$GC,4249,0.79,189.1,15.0,13.2,555,4255,0.00,3.80,0.00,0.000,6,0.000,0.069,2937,2400,2023,0,0,6,0,0,0
$FREEZE,8.64,-0.686,-1.833,0,2,0
$FREEZE,7.87,-0.688,-1.832,0,2,0
$FREEZE,7.56,-0.684,-1.832,0,2,0
$FREEZE,6.91,-0.688,-1.831,0,2,0
$FREEZE,6.69,-0.692,-1.831,0,2,0
$FREEZE,5.93,-0.694,-1.831,0,2,0
$FREEZE,5.52,-0.694,-1.830,0,2,0
$FREEZE,4.91,-0.694,-1.830,0,2,0
$FREEZE,4.65,-0.694,-1.830,0,2,0
$FREEZE,4.08,-0.694,-1.829,0,2,0
$FREEZE,3.46,-0.695,-1.829,0,2,0
$FREEZE,2.92,-0.694,-1.828,0,2,0
$FREEZE,2.64,-0.694,-1.828,0,2,0
$FREEZE,2.09,-0.694,-1.828,0,2,0
$FREEZE,1.73,-0.695,-1.827,0,2,0
$STATE,4377,end climb,SURFACE_DEPTH_REACHED
$STATE,4377,begin surface coast
$FREEZE,1.27,-0.695,-1.827,0,2,0
$FREEZE,0.30,-0.695,-1.826,0,2,0
$FREEZE,0.13,-0.599,-1.814,0,2,0
$FREEZE,0.20,-0.643,-1.003,0,2,0
$FINISH,0.2,1.014828
$STATE,4401,end surface coast,CONTROL_FINISHED_OK
$STATE,4401,begin surface
$SM_CCo,4419,79.50,0.730,0,0,1473,325.02
$SM_GC,0.87,0.00,0.00,79.50,0.000,0.000,0.730,129,2799,1473,-8.00,-0.03,325.02
$RAFOS_CLK,310
$RAFOS,1,1262218142,0.166667,0.150556,77,64,60,0,0,0,198,137,181,0,0,0
$RAFOS,0,1262217666,0.033333,0.018333,61,59,59,0,0,0,193,184,165,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6703.95,-5708.46,260399,212131
$TT8_MAMPS,0.029913
$HUMID,47.28
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,19.3
$24V_AH,22.8,76.295
$10V_AH,10.0,40.086
$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,11.650,63.650,271.475,79.500,0.000,0.000,0.000,0.000,0.750,0.000,0.000,961.833,2181.240,381.489,949.194,81.947,0.000,892.133,0.000,949.118,1080.000,2.614,0.000
$DEVICE_MAMPS,220.129,111.215,879.749,730.184,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,427.546,394.408,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152596
$DATA_FILE_SIZE,22175,582
$CAP_FILE_SIZE,60063,0
$CFSIZE,260165632,217341952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,101,0,0
$SOUNDSPEED,1456.0
$GPS,311209,002230,6734.742,-5711.018,74,1.0,74,-38.3