version: 66.06
glider: 143
mission: 10
dive: 423
start: 12 29 109 10 16 50
data:
$ID,143
$MISSION,10
$DIVE,423
$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,-44737.668
$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,18
$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
$GPS1,100140,6733.352,-5729.792,28,1.4,29,-38.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-58.5
$GPS2,101632,6733.608,-5729.853,14,1.2,14,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.608,-5701.562
$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,205
$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,-146.0,0.0,0.0,0,118,0.00,0.00,-100.28,0.000,2,0.000,0.000,131,2803,3092,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.3,-6.6,20,149,11.52,2.90,-8.18,0.000,4,0.301,0.101,2448,3913,3397,0,0,6,0,0,0
$GC,283,-0.73,-146.0,27.2,-9.9,49,289,0.00,2.72,0.00,0.000,6,0.000,0.065,2448,2798,3400,0,0,6,0,0,0
$GC,626,-0.73,-146.0,63.6,-11.2,110,632,0.00,2.90,0.00,0.000,4,0.000,0.094,2448,3914,3400,0,0,6,0,0,0
$GC,817,-0.77,-146.0,83.0,-9.4,144,823,0.00,2.72,0.00,0.000,6,0.000,0.066,2448,2794,3400,0,0,6,0,0,0
$GC,1157,-0.84,-146.0,114.4,-8.6,191,1162,0.00,2.90,0.00,0.000,4,0.000,0.093,2448,3925,3400,0,0,6,0,0,0
$GC,1371,-0.91,-146.0,133.0,-8.9,209,1377,0.17,2.72,0.00,0.000,6,0.119,0.066,2392,2795,3398,0,0,6,0,0,0
$GC,1695,-0.82,-146.0,165.2,-9.5,240,1701,0.15,2.90,0.00,0.000,4,0.206,0.092,2426,3927,3398,0,0,7,0,0,0
$GC,1881,-0.82,-146.0,179.8,-7.2,256,1886,0.00,2.72,0.00,0.000,6,0.000,0.064,2426,2796,3398,0,0,6,0,0,0
$GC,2206,-0.82,-146.0,201.4,-6.9,286,2211,0.00,2.88,0.00,0.000,4,0.000,0.090,2426,3927,3398,0,0,6,0,0,0
$STATE,2259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2259,begin apogee
$GC,2268,-0.16,0.0,205.3,6.8,290,2389,0.73,0.00,116.68,0.887,6,0.189,0.000,2627,2400,2800,0,0,0,0,0,0
$STATE,2389,end apogee,CONTROL_FINISHED_OK
$STATE,2389,begin climb
$GC,2392,0.73,146.0,206.9,0.0,302,2521,0.98,2.05,120.00,0.834,4,0.142,0.085,2923,805,2202,0,0,0,0,0,0
$GC,2582,0.73,146.0,189.4,12.1,319,2588,0.00,1.98,0.00,0.000,6,0.000,0.063,2923,2402,2200,0,0,0,0,0,0
$GC,2907,0.73,146.0,152.2,10.3,350,2916,0.00,3.85,0.00,0.000,4,0.000,0.082,2923,3919,2196,0,0,5,0,0,0
$GC,3000,0.61,146.0,141.1,12.6,358,3007,0.20,3.75,0.00,0.000,6,0.199,0.069,2894,2401,2195,0,0,5,0,0,0
$GC,3325,0.73,166.4,111.6,8.3,389,3350,0.00,3.88,16.88,0.764,4,0.000,0.081,2894,3921,2120,0,0,7,0,0,0
$GC,3424,0.73,166.4,101.8,10.4,398,3433,0.00,3.72,0.00,0.000,6,0.000,0.068,2909,2400,2118,0,0,6,0,0,0
$GC,3771,0.91,208.7,70.2,7.4,458,3818,0.22,3.83,36.00,0.762,4,0.094,0.080,2988,3909,1948,0,0,6,0,0,0
$GC,3864,0.69,208.7,59.4,14.0,475,3871,0.38,3.72,0.00,0.000,6,0.198,0.067,2913,2400,1945,0,0,6,0,0,0
$GC,4208,0.83,208.7,26.4,11.9,536,4214,0.15,3.85,0.00,0.000,4,0.110,0.083,2965,3920,1943,0,0,5,0,0,0
$GC,4289,0.72,208.7,14.2,14.4,550,4295,0.22,3.70,0.00,0.000,6,0.191,0.067,2926,2390,1943,0,0,6,0,0,0
$FREEZE,8.92,-0.696,-1.831,0,2,0
$FREEZE,8.63,-0.692,-1.831,0,2,0
$FREEZE,8.59,-0.710,-1.831,0,2,0
$FREEZE,8.48,-0.706,-1.831,0,2,0
$FREEZE,8.38,-0.707,-1.831,0,2,0
$FREEZE,7.86,-0.707,-1.831,0,2,0
$FREEZE,7.28,-0.708,-1.830,0,2,0
$FREEZE,6.61,-0.707,-1.830,0,2,0
$STATE,4380,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4380,begin subsurface finish
$FINISH1,6.6,1.026759,36
$GC,4386,0.04,36.0,6.6,-7.2,566,4422,0.73,3.83,-27.15,0.000,4,0.166,0.087,2711,3927,2655,0,0,5,0,0,0
$FINISH2,3.1
$STATE,4423,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4423,begin surface
$RAFOS_CLK,306
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6703.95,-5728.71,250399,101022
$TT8_MAMPS,0.027612
$HUMID,48.18
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,17.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.3,17.2
$24V_AH,22.9,73.621
$10V_AH,10.0,39.100
$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,15.450,67.275,289.550,0.000,0.000,89.374,180.261,361.050,1.000,0.000,15.492,918.885,2267.663,397.215,953.627,775.771,0.000,934.045,0.000,939.486,0.000,2.615,0.000
$DEVICE_MAMPS,300.664,101.244,887.419,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,417.606,385.524,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152576
$DATA_FILE_SIZE,22196,573
$CAP_FILE_SIZE,69005,0
$CFSIZE,260165632,218329088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,111,0,0
$SOUNDSPEED,1456.2
$GPS,291209,101632,6733.608,-5729.853,14,1.2,14,-38.4