version: 66.06
glider: 143
mission: 10
dive: 462
start: 12 31 109 17 36 37
data:
$ID,143
$MISSION,10
$DIVE,462
$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,120
$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,-45685.641
$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,19
$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
$GPS1,172536,6739.767,-5701.768,9,1.4,25,-38.4
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-64.3
$GPS2,173619,6739.784,-5701.577,11,1.2,11,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6734.384,-5637.063
$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,158.4,20000,-16.9,-9.167
$D_GRID,196
$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,14,begin dive
$GC,16,-0.73,-146.0,0.0,0.0,0,113,0.00,0.00,-93.60,0.000,2,0.000,0.000,124,2810,3043,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.5,-6.1,19,143,10.88,2.55,-9.73,0.000,4,0.281,0.100,2446,1188,3397,0,0,0,0,0,0
$GC,239,-0.64,-146.0,24.7,-16.7,41,246,0.15,2.47,0.00,0.000,6,0.212,0.078,2481,2803,3400,0,0,0,0,0,0
$GC,583,-0.76,-146.0,57.1,-9.2,102,590,0.12,2.92,0.00,0.000,4,0.117,0.092,2426,3929,3400,0,0,7,0,0,0
$GC,842,-0.76,-146.0,87.1,-11.1,148,848,0.00,2.80,0.00,0.000,6,0.000,0.068,2426,2795,3400,0,0,6,0,0,0
$GC,1174,-0.76,-146.0,122.7,-10.4,189,1179,0.00,2.90,0.00,0.000,4,0.000,0.094,2426,3919,3399,0,0,8,0,0,0
$GC,1315,-0.76,-146.0,137.8,-9.7,201,1320,0.00,2.78,0.00,0.000,6,0.000,0.067,2426,2796,3398,0,0,6,0,0,0
$GC,1639,-0.76,-146.0,167.2,-9.3,231,1644,0.00,2.90,0.00,0.000,4,0.000,0.092,2426,3927,3397,0,0,8,0,0,0
$GC,1774,-0.76,-146.0,180.1,-8.9,242,1780,0.00,2.75,0.00,0.000,6,0.000,0.065,2426,2798,3397,0,0,6,0,0,0
$STATE,1969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1969,begin apogee
$GC,1976,-0.16,0.0,196.7,8.3,261,2097,0.75,0.00,116.80,0.885,6,0.193,0.000,2629,2402,2799,0,0,0,0,0,0
$STATE,2097,end apogee,CONTROL_FINISHED_OK
$STATE,2097,begin climb
$GC,2099,0.73,146.0,199.8,0.0,273,2229,0.95,2.08,120.05,0.840,4,0.137,0.089,2919,799,2202,0,0,0,0,0,0
$GC,2313,0.73,146.0,183.7,9.9,292,2319,0.00,1.90,0.00,0.000,6,0.000,0.063,2920,2398,2198,0,0,0,0,0,0
$GC,2638,0.73,146.0,151.6,10.0,323,2647,0.00,3.92,0.00,0.000,4,0.000,0.083,2920,3916,2196,0,0,7,0,0,0
$GC,2697,0.63,146.0,144.5,11.4,328,2704,0.17,3.88,0.00,0.000,6,0.201,0.070,2898,2397,2194,0,0,5,0,0,0
$GC,3022,0.76,182.0,116.3,7.7,359,3063,0.12,3.97,29.45,0.785,4,0.123,0.082,2939,3929,2057,0,0,7,0,0,0
$GC,3188,0.67,182.0,95.6,12.6,377,3195,0.20,3.88,0.00,0.000,6,0.194,0.069,2910,2391,2054,0,0,6,0,0,0
$GC,3535,0.80,184.5,66.8,9.1,438,3542,0.12,3.92,0.00,0.000,4,0.123,0.083,2952,3916,2054,0,0,7,0,0,0
$GC,3621,0.67,184.5,55.1,14.1,453,3627,0.25,3.83,0.00,0.000,6,0.187,0.071,2908,2397,2053,0,0,6,0,0,0
$FREEZE,8.36,-0.501,-1.833,0,1,0
$GC,3966,1.07,406.7,32.5,-0.2,514,4165,0.35,4.12,184.62,0.729,4,0.092,0.084,3033,3915,1138,0,0,10,0,0,0
$FREEZE,5.49,-0.502,-1.831,0,1,0
$FREEZE,4.14,-0.503,-1.830,0,1,0
$FREEZE,3.07,-0.503,-1.829,0,1,0
$FREEZE,1.93,-0.508,-1.828,0,1,0
$STATE,4188,end climb,SURFACE_DEPTH_REACHED
$STATE,4188,begin surface coast
$FREEZE,0.63,-0.503,-1.827,0,1,0
$FINISH,0.6,1.026776
$STATE,4195,end surface coast,CONTROL_FINISHED_OK
$STATE,4195,begin surface
$SM_CCo,4276,0.00,0.000,0,0,1127,410.39
$SM_GC,0.98,8.98,0.00,0.00,0.087,0.000,0.000,127,2789,1127,-7.98,-0.31,410.39
$RAFOS_CLK,282
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5656.20,270399,171709
$TT8_MAMPS,0.026845
$HUMID,46.06
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,17.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.5,19.2
$24V_AH,22.8,77.715
$10V_AH,10.0,40.583
$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,23.050,57.575,450.925,0.000,0.000,55.018,71.356,324.529,1.000,0.000,12.973,837.208,2093.729,487.466,908.071,594.921,0.000,1023.383,0.000,893.377,0.000,4.645,0.000
$DEVICE_MAMPS,280.722,99.710,885.118,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,402.604,371.151,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152544
$DATA_FILE_SIZE,22130,557
$CAP_FILE_SIZE,66402,0
$CFSIZE,260165632,216842240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,95,0,0
$SOUNDSPEED,1456.2
$GPS,311209,184849,6739.298,-5701.063,7,1.5,13,-38.4