version: 66.06
glider: 143
mission: 10
dive: 460
start: 12 31 109 14 38 26
data:
$ID,143
$MISSION,10
$DIVE,460
$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,-45634.082
$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,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
$GPS1,142930,6739.287,-5703.491,106,0.9,107,-38.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-62.5
$GPS2,143808,6739.425,-5703.387,13,1.3,13,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6739.425,-5634.979
$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,128.4,20000,-16.9,-9.167
$D_GRID,200
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.73,-146.0,0.0,0.0,0,110,0.00,0.00,-90.25,0.000,2,0.000,0.000,128,2803,2982,0,0,0,0,0,0
$GC,113,-0.73,-146.0,3.6,-7.4,18,144,10.98,2.95,-11.50,0.000,4,0.285,0.103,2443,3913,3398,0,0,8,0,0,0
$GC,307,-0.73,-146.0,31.6,-12.2,53,313,0.00,2.78,0.00,0.000,6,0.000,0.064,2444,2792,3401,0,0,6,0,0,0
$GC,651,-0.73,-146.0,70.1,-12.2,114,656,0.00,2.92,0.00,0.000,4,0.000,0.093,2444,3926,3401,0,0,8,0,0,0
$GC,887,-0.77,-146.0,94.2,-9.8,156,894,0.00,2.75,0.00,0.000,6,0.000,0.067,2444,2805,3401,0,0,6,0,0,0
$GC,1217,-0.83,-146.0,126.5,-8.7,192,1221,0.00,2.90,0.00,0.000,4,0.000,0.092,2444,3918,3400,0,0,6,0,0,0
$GC,1341,-0.91,-146.0,137.1,-8.4,202,1348,0.15,2.75,0.00,0.000,6,0.122,0.066,2396,2799,3400,0,0,6,0,0,0
$GC,1667,-0.84,-146.0,169.1,-9.9,233,1672,0.00,2.92,0.00,0.000,4,0.000,0.092,2396,3925,3399,0,0,7,0,0,0
$GC,1897,-0.76,-146.0,191.8,-10.0,253,1903,0.20,2.78,0.00,0.000,6,0.206,0.067,2442,2792,3399,0,0,6,0,0,0
$STATE,1986,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1986,begin apogee
$GC,1992,-0.16,0.0,200.5,9.7,261,2114,0.65,0.00,117.05,0.894,6,0.185,0.000,2626,2400,2799,0,0,0,0,0,0
$STATE,2115,end apogee,CONTROL_FINISHED_OK
$STATE,2115,begin climb
$GC,2117,0.73,146.0,204.5,0.0,273,2247,0.98,2.08,119.97,0.847,4,0.143,0.089,2920,795,2203,0,0,0,0,0,0
$GC,2372,0.73,146.0,184.6,10.8,296,2376,0.00,1.85,0.00,0.000,6,0.000,0.064,2920,2404,2199,0,0,0,0,0,0
$GC,2702,0.74,160.8,154.0,8.5,327,2723,0.00,3.92,12.40,0.772,4,0.000,0.083,2921,3922,2144,0,0,8,0,0,0
$GC,2795,0.66,160.8,144.1,11.1,335,2802,0.15,3.88,0.00,0.000,6,0.204,0.071,2906,2396,2142,0,0,6,0,0,0
$GC,3120,0.76,181.7,114.5,8.3,366,3146,0.00,3.97,18.65,0.782,4,0.000,0.083,2905,3929,2058,0,0,6,0,0,0
$GC,3259,0.76,181.7,100.5,9.5,378,3268,0.00,3.88,0.00,0.000,6,0.000,0.070,2921,2391,2056,0,0,6,0,0,0
$GC,3606,0.91,229.5,73.9,7.2,439,3658,0.17,3.95,40.70,0.775,4,0.100,0.081,2982,3918,1863,0,0,7,0,0,0
$GC,3719,0.76,229.5,61.3,14.9,460,3726,0.25,3.88,0.00,0.000,6,0.186,0.070,2939,2399,1860,0,0,6,0,0,0
$GC,4063,0.83,229.5,29.1,9.2,521,4069,0.00,3.90,0.00,0.000,4,0.000,0.084,2939,3918,1857,0,0,7,0,0,0
$GC,4131,0.83,229.5,21.5,11.6,533,4137,0.00,3.85,0.00,0.000,6,0.000,0.071,2955,2391,1857,0,0,6,0,0,0
$FREEZE,8.60,-0.471,-1.833,0,1,0
$FREEZE,7.85,-0.471,-1.832,0,1,0
$FREEZE,6.88,-0.471,-1.832,0,1,0
$FREEZE,6.14,-0.471,-1.831,0,1,0
$FREEZE,5.11,-0.472,-1.830,0,1,0
$FREEZE,4.33,-0.472,-1.830,0,1,0
$FREEZE,3.42,-0.472,-1.829,0,1,0
$FREEZE,2.63,-0.469,-1.828,0,1,0
$FREEZE,1.86,-0.471,-1.828,0,1,0
$STATE,4271,end climb,SURFACE_DEPTH_REACHED
$STATE,4271,begin surface coast
$FREEZE,1.32,-0.473,-1.827,0,1,0
$FREEZE,0.88,-0.463,-1.827,0,1,0
$FINISH,0.9,1.026768
$STATE,4283,end surface coast,CONTROL_FINISHED_OK
$STATE,4284,begin surface
$SM_CCo,4301,59.28,0.736,0,0,1475,325.02
$SM_GC,0.88,0.00,0.00,59.28,0.000,0.000,0.736,129,2806,1475,-8.00,0.14,325.02
$RAFOS_CLK,282
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6715.07,-5723.04,270399,141405
$TT8_MAMPS,0.027612
$HUMID,47.99
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,16.90
$XPDR_PINGS,5
$ALTIM_TOP_PING,20.0,19.0
$24V_AH,22.8,77.473
$10V_AH,10.0,40.502
$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,21.925,60.000,308.775,59.275,0.000,53.898,73.230,211.066,1.500,0.000,15.319,904.126,2129.756,446.285,936.293,466.924,0.000,967.509,0.000,920.246,0.000,2.618,0.000
$DEVICE_MAMPS,284.557,102.778,893.555,736.320,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,408.512,377.452,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152580
$DATA_FILE_SIZE,22186,560
$CAP_FILE_SIZE,66276,0
$CFSIZE,260165632,216920064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,105,0,0
$SOUNDSPEED,1455.9
$GPS,311209,155222,6739.755,-5702.776,8,99.0,28,-38.4