version: 66.06
glider: 143
mission: 10
dive: 451
start: 12 31 109 1 52 55
data:
$ID,143
$MISSION,10
$DIVE,451
$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,16
$R_STBD_OVSHOOT,20
$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
$GPS1,003914,6735.060,-5711.162,17,1.6,17,-38.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.44
$_SM_ANGLEo,0.1
$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,13,begin dive
$GC,16,-0.73,-146.0,0.0,0.0,0,22,0.00,0.00,-4.68,0.000,2,0.000,0.000,2707,3918,2804,0,0,0,0,0,0
$GC,25,-0.73,-146.0,6.0,-0.0,1,57,0.75,5.32,-19.20,0.000,4,0.107,0.074,2460,1185,3399,0,0,6,0,0,0
$GC,265,-0.73,-146.0,31.5,-2.0,44,270,0.00,2.40,0.00,0.000,6,0.000,0.073,2460,2796,3401,0,0,0,0,0,0
$GC,609,-0.78,-146.0,48.6,-8.1,105,615,0.00,2.95,0.00,0.000,4,0.000,0.092,2460,3931,3401,0,0,6,0,0,0
$GC,795,-0.85,-146.0,66.1,-10.6,138,802,0.12,2.80,0.00,0.000,6,0.126,0.064,2418,2794,3401,0,0,6,0,0,0
$GC,1138,-0.85,-146.0,104.1,-11.1,196,1143,0.00,2.92,0.00,0.000,4,0.000,0.092,2418,3928,3400,0,0,8,0,0,0
$GC,1368,-0.85,-146.0,128.8,-10.8,216,1373,0.00,2.78,0.00,0.000,6,0.000,0.066,2418,2793,3398,0,0,7,0,0,0
$GC,1692,-0.85,-146.0,163.3,-10.3,246,1697,0.00,2.92,0.00,0.000,4,0.000,0.091,2418,3919,3398,0,0,6,0,0,0
$GC,1922,-0.85,-146.0,186.8,-10.3,266,1927,0.00,2.75,0.00,0.000,6,0.000,0.064,2418,2797,3397,0,0,6,0,0,0
$STATE,2095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2096,begin apogee
$GC,2102,-0.16,0.0,203.7,8.9,282,2222,0.77,0.00,116.20,0.883,6,0.190,0.000,2630,2399,2800,0,0,0,0,0,0
$STATE,2223,end apogee,CONTROL_FINISHED_OK
$STATE,2223,begin climb
$GC,2225,0.73,146.0,206.6,0.0,294,2354,0.95,2.00,119.85,0.833,4,0.143,0.087,2918,798,2202,0,0,0,0,0,0
$GC,2438,0.73,146.0,190.7,10.5,313,2444,0.00,1.90,0.00,0.000,6,0.000,0.062,2919,2398,2198,0,0,0,0,0,0
$GC,2763,0.73,146.0,157.9,9.9,344,2772,0.00,3.90,0.00,0.000,4,0.000,0.081,2918,3915,2194,0,0,7,0,0,0
$GC,2879,0.63,146.0,145.1,10.9,354,2885,0.17,3.83,0.00,0.000,6,0.199,0.070,2896,2401,2194,0,0,6,0,0,0
$GC,3204,0.76,172.2,118.9,8.1,385,3235,0.12,3.97,21.27,0.779,4,0.124,0.082,2937,3919,2096,0,0,6,0,0,0
$GC,3307,0.65,172.2,106.0,14.1,394,3314,0.22,3.85,0.00,0.000,6,0.191,0.070,2901,2399,2095,0,0,5,0,0,0
$GC,3649,0.80,193.7,71.8,8.3,450,3676,0.15,3.92,18.85,0.755,4,0.113,0.082,2952,3926,2009,0,0,7,0,0,0
$GC,3751,0.69,193.7,61.2,12.3,468,3757,0.22,3.85,0.00,0.000,6,0.192,0.069,2916,2392,2007,0,0,6,0,0,0
$GC,4095,0.82,193.7,31.2,13.0,529,4101,0.12,3.90,0.00,0.000,4,0.124,0.082,2957,3918,2006,0,0,7,0,0,0
$GC,4170,0.71,193.7,22.2,12.3,542,4178,0.22,3.75,0.00,0.000,6,0.188,0.071,2919,2398,2007,0,0,7,0,0,0
$FREEZE,8.71,-0.662,-1.833,0,4,0
$FREEZE,7.96,-0.663,-1.832,0,4,0
$FREEZE,7.31,-0.662,-1.832,0,4,0
$FREEZE,6.40,-0.661,-1.831,0,4,0
$STATE,4357,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4357,begin subsurface finish
$FINISH1,6.4,1.026780,35
$GC,4363,0.04,35.0,6.4,-11.1,575,4400,0.70,3.88,-24.98,0.000,4,0.161,0.084,2709,3926,2658,0,0,6,0,0,0
$FINISH2,4.0
$STATE,4401,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4401,begin surface
$RAFOS_CLK,309
$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,49.13
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,17.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.4,17.2
$24V_AH,22.8,76.500
$10V_AH,10.0,40.160
$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,4.550,64.600,276.175,0.000,0.000,0.000,0.000,0.000,1.000,0.000,0.000,964.451,2131.873,315.988,961.460,77.681,0.000,836.947,0.000,956.275,0.000,2.613,0.000
$DEVICE_MAMPS,198.653,92.040,882.817,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,421.362,393.856,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152572
$DATA_FILE_SIZE,22176,582
$CAP_FILE_SIZE,57367,0
$CFSIZE,260165632,217255936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,102,0,0
$SOUNDSPEED,1454.8
$GPS,311209,003914,6735.060,-5711.162,17,1.6,17,-38.3