version: 66.06
glider: 143
mission: 10
dive: 454
start: 12 31 109 6 1 43
data:
$ID,143
$MISSION,10
$DIVE,454
$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,-45503.82
$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,15
$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
$GPS1,044740,6735.899,-5707.573,35,1.3,35,-38.3
$_CALLS,3
$_XMS_NAKs,40
$_XMS_TOUTs,3
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-0.0
$GPS2,044740,6735.899,-5707.573,35,1.3,35,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6735.899,-5639.236
$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,15,-0.73,-146.0,0.0,0.0,0,52,0.00,0.00,-32.25,0.000,6,0.000,0.000,2708,2396,3396,0,0,0,0,0,0
$GC,54,-0.73,-146.0,3.2,-1.2,7,65,0.77,3.92,0.00,0.000,4,0.123,0.079,2460,3922,3397,0,0,7,0,0,0
$GC,158,-0.80,-146.0,18.5,-14.5,25,164,0.00,2.78,0.00,0.000,6,0.000,0.061,2461,2798,3398,0,0,7,0,0,0
$GC,502,-0.84,-146.0,54.9,-9.5,86,509,0.12,2.95,0.00,0.000,4,0.120,0.089,2413,3923,3398,0,0,7,0,0,0
$GC,729,-0.78,-146.0,81.0,-9.6,126,734,0.00,2.78,0.00,0.000,6,0.000,0.064,2413,2799,3398,0,0,6,0,0,0
$GC,1069,-0.71,-146.0,116.1,-9.9,173,1075,0.17,2.92,0.00,0.000,4,0.216,0.089,2453,3916,3397,0,0,7,0,0,0
$GC,1179,-0.80,-146.0,125.1,-8.5,182,1184,0.00,2.75,0.00,0.000,6,0.000,0.064,2453,2798,3396,0,0,6,0,0,0
$GC,1504,-0.89,-146.0,150.0,-8.2,212,1509,0.15,2.90,0.00,0.000,4,0.110,0.087,2389,3921,3395,0,0,8,0,0,0
$GC,1601,-0.78,-146.0,160.9,-12.4,220,1606,0.20,2.78,0.00,0.000,6,0.216,0.062,2434,2791,3395,0,0,6,0,0,0
$GC,1926,-0.83,-146.0,192.1,-9.1,250,1931,0.00,2.90,0.00,0.000,4,0.000,0.087,2434,3922,3395,0,0,8,0,0,0
$STATE,2053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2055,begin apogee
$GC,2064,-0.16,0.0,203.4,8.6,261,2183,0.70,0.00,116.10,0.881,6,0.187,0.000,2629,2395,2800,0,0,0,0,0,0
$STATE,2184,end apogee,CONTROL_FINISHED_OK
$STATE,2184,begin climb
$GC,2187,0.73,146.0,206.6,0.0,273,2315,0.95,1.98,119.80,0.832,4,0.141,0.086,2918,804,2203,0,0,0,0,0,0
$GC,2361,0.73,146.0,194.0,10.3,289,2364,0.00,1.88,0.00,0.000,6,0.000,0.061,2918,2404,2199,0,0,0,0,0,0
$GC,2690,0.73,146.0,160.4,9.7,320,2700,0.00,3.92,0.00,0.000,4,0.000,0.081,2918,3927,2194,0,0,7,0,0,0
$GC,2773,0.63,146.0,151.0,11.6,327,2779,0.17,3.88,0.00,0.000,6,0.200,0.068,2896,2400,2194,0,0,5,0,0,0
$GC,3097,0.71,146.0,122.4,9.4,358,3107,0.00,3.90,0.00,0.000,4,0.000,0.081,2896,3920,2194,0,0,6,0,0,0
$GC,3186,0.71,146.0,113.1,10.3,366,3196,0.00,3.83,0.00,0.000,6,0.000,0.069,2912,2392,2193,0,0,6,0,0,0
$GC,3526,0.79,208.8,84.4,6.5,415,3587,0.00,4.03,51.28,0.777,4,0.000,0.081,2912,3914,1946,0,0,7,0,0,0
$GC,3717,0.79,208.8,69.1,9.3,450,3722,0.00,3.85,0.00,0.000,6,0.000,0.069,2928,2399,1942,0,0,6,0,0,0
$GC,4061,0.91,211.5,41.3,9.1,511,4067,0.15,3.90,0.00,0.000,4,0.105,0.081,2982,3920,1940,0,0,7,0,0,0
$GC,4147,0.75,211.5,28.9,16.7,526,4154,0.25,3.85,0.00,0.000,6,0.190,0.072,2937,2393,1940,0,0,6,0,0,0
$FREEZE,8.49,-0.587,-1.833,0,2,0
$FREEZE,7.59,-0.587,-1.832,0,2,0
$STATE,4322,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4322,begin subsurface finish
$FINISH1,7.6,1.026782,35
$GC,4328,0.04,34.8,7.6,-13.1,557,4360,0.77,3.92,-23.90,0.000,4,0.165,0.091,2707,3927,2662,0,0,8,0,0,0
$FINISH2,5.4
$STATE,4361,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4361,begin surface
$RAFOS_CLK,304
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5707.08,270399,040432
$TT8_MAMPS,0.027612
$HUMID,48.85
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,16.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.4,16.8
$24V_AH,22.8,76.791
$10V_AH,10.1,40.268
$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,4.425,69.425,287.175,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,917.976,2177.172,334.792,907.685,75.773,0.000,838.843,0.000,905.673,0.000,2.612,0.000
$DEVICE_MAMPS,216.294,90.506,881.283,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,407.945,380.679,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152536
$DATA_FILE_SIZE,22191,563
$CAP_FILE_SIZE,56519,0
$CFSIZE,260165632,217165824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,126,0,0
$SOUNDSPEED,1456.3
$GPS,311209,044740,6735.899,-5707.573,35,1.3,35,-38.3