version: 66.06
glider: 143
mission: 10
dive: 450
start: 12 31 109 0 39 31
data:
$ID,143
$MISSION,10
$DIVE,450
$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,-45466.512
$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,15
$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
$GPS1,002230,6734.742,-5711.018,74,1.0,74,-38.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-64.4
$GPS2,003914,6735.060,-5711.162,17,1.6,17,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6735.060,-5642.842
$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,203
$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,14,-0.73,-146.0,0.0,0.0,0,103,0.00,0.00,-85.90,0.000,2,0.000,0.000,129,2801,2865,0,0,0,0,0,0
$GC,107,-0.73,-146.0,3.1,-6.3,17,143,11.48,3.03,-15.20,0.000,4,0.297,0.104,2444,3930,3398,0,0,8,0,0,0
$GC,208,-0.63,-146.0,22.9,-19.6,35,214,0.15,2.80,0.00,0.000,6,0.212,0.065,2480,2799,3400,0,0,6,0,0,0
$GC,554,-0.75,-146.0,63.8,-8.1,96,560,0.00,2.95,0.00,0.000,4,0.000,0.093,2479,3917,3400,0,0,7,0,0,0
$GC,735,-0.88,-146.0,79.1,-8.2,128,741,0.22,2.80,0.00,0.000,6,0.101,0.067,2402,2794,3401,0,0,6,0,0,0
$GC,1071,-0.82,-146.0,119.5,-11.9,174,1076,0.00,3.00,0.00,0.000,4,0.000,0.094,2402,3926,3399,0,0,6,0,0,0
$GC,1279,-0.75,-146.0,143.1,-10.8,192,1284,0.17,2.80,0.00,0.000,6,0.212,0.067,2442,2795,3398,0,0,6,0,0,0
$GC,1603,-0.83,-146.0,170.8,-8.1,222,1608,0.00,2.95,0.00,0.000,4,0.000,0.091,2442,3926,3398,0,0,6,0,0,0
$GC,1739,-0.90,-146.0,181.7,-7.8,233,1746,0.12,2.78,0.00,0.000,6,0.123,0.064,2402,2797,3398,0,0,6,0,0,0
$STATE,1966,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1968,begin apogee
$GC,1974,-0.16,0.0,203.9,10.0,255,2095,0.82,0.00,116.80,0.897,6,0.191,0.000,2627,2398,2800,0,0,0,0,0,0
$STATE,2096,end apogee,CONTROL_FINISHED_OK
$STATE,2096,begin climb
$GC,2098,0.73,146.0,207.3,0.0,267,2232,0.98,2.08,120.45,0.844,4,0.140,0.089,2923,793,2202,0,0,0,0,0,0
$GC,2362,0.73,146.0,185.3,10.6,291,2368,0.00,1.85,0.00,0.000,6,0.000,0.063,2923,2405,2198,0,0,0,0,0,0
$GC,2686,0.73,146.0,152.7,10.1,322,2696,0.00,3.90,0.00,0.000,4,0.000,0.082,2923,3915,2196,0,0,6,0,0,0
$GC,2814,0.62,146.0,138.2,11.2,333,2821,0.20,3.83,0.00,0.000,6,0.196,0.070,2894,2400,2194,0,0,6,0,0,0
$GC,3139,0.77,185.9,112.6,7.5,364,3181,0.15,3.95,32.75,0.791,4,0.117,0.082,2944,3928,2040,0,0,8,0,0,0
$GC,3267,0.66,185.9,97.9,13.0,376,3273,0.22,3.88,0.00,0.000,6,0.196,0.070,2909,2395,2037,0,0,6,0,0,0
$GC,3614,0.79,185.9,67.2,10.1,437,3620,0.12,3.90,0.00,0.000,4,0.125,0.081,2950,3920,2035,0,0,7,0,0,0
$GC,3723,0.73,238.7,58.1,6.9,456,3776,0.17,3.80,44.25,0.763,6,0.191,0.067,2926,2392,1826,0,0,6,0,0,0
$FREEZE,8.13,-0.674,-1.832,0,3,0
$FREEZE,7.49,-0.676,-1.832,0,3,0
$FREEZE,7.05,-0.677,-1.831,0,3,0
$GC,4114,1.04,404.7,24.1,2.2,526,4230,0.28,0.00,109.50,0.732,2,0.100,0.000,3022,2392,1287,0,0,0,0,0,0
$STATE,4230,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4230,begin subsurface finish
$FINISH1,7.0,1.026780,35
$GC,4236,0.04,34.9,7.0,-17.4,547,4303,1.15,4.03,-55.85,0.000,4,0.173,0.088,2707,3918,2659,0,0,7,0,0,0
$FINISH2,3.2
$STATE,4304,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4306,begin surface
$RAFOS_CLK,301
$RAFOS,6,1262220546,0.833333,0.818333,62,57,54,0,0,0,212,194,136,0,0,0
$RAFOS,5,1262220061,0.700000,0.683611,61,60,59,0,0,0,176,210,190,0,0,0
$RAFOS,2,1262218623,0.300000,0.284167,62,58,55,0,0,0,211,225,175,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5714.87,270399,000044
$TT8_MAMPS,0.026845
$HUMID,46.85
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,17.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.5,17.3
$24V_AH,22.8,76.433
$10V_AH,10.0,40.130
$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,16.250,55.300,423.750,0.000,0.000,83.747,145.382,504.148,1.000,0.000,19.179,853.318,2122.038,499.902,942.912,890.583,0.000,1053.425,0.000,918.780,720.000,2.627,0.000
$DEVICE_MAMPS,296.829,103.545,896.623,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,402.715,372.918,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152504
$DATA_FILE_SIZE,22163,560
$CAP_FILE_SIZE,74585,0
$CFSIZE,260165632,217276416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,97,0,0
$SOUNDSPEED,1455.8
$GPS,311209,003914,6735.060,-5711.162,17,1.6,17,-38.3