version: 66.06
glider: 143
mission: 10
dive: 417
start: 12 29 109 1 33 4
data:
$ID,143
$MISSION,10
$DIVE,417
$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,-44545.652
$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,12
$R_STBD_OVSHOOT,22
$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
$GPS1,011736,6733.096,-5740.735,58,1.1,58,-38.5
$_CALLS,3
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-62.1
$GPS2,013246,6733.296,-5740.530,19,1.5,21,-38.5
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.296,-5712.245
$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,128.5,20000,-16.9,-9.167
$D_GRID,213
$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,-100.35,0.000,2,0.000,0.000,130,2802,3089,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.7,-7.7,20,149,11.35,2.85,-7.75,0.000,4,0.295,0.106,2446,3912,3398,0,0,8,0,0,0
$GC,236,-0.73,-146.0,25.4,-14.1,40,242,0.00,2.70,0.00,0.000,6,0.000,0.065,2446,2800,3400,0,0,5,0,0,0
$GC,579,-0.73,-146.0,59.9,-9.5,101,585,0.00,2.83,0.00,0.000,4,0.000,0.094,2446,3914,3401,0,0,6,0,0,0
$GC,826,-0.73,-146.0,86.0,-10.3,145,832,0.00,2.67,0.00,0.000,6,0.000,0.067,2446,2799,3400,0,0,5,0,0,0
$GC,1161,-0.80,-146.0,114.3,-7.4,189,1165,0.00,2.88,0.00,0.000,4,0.000,0.094,2446,3923,3399,0,0,6,0,0,0
$GC,1302,-0.88,-146.0,124.8,-7.7,201,1308,0.12,2.70,0.00,0.000,6,0.130,0.066,2407,2797,3399,0,0,5,0,0,0
$GC,1628,-0.82,-146.0,155.4,-9.6,231,1633,0.00,2.83,0.00,0.000,4,0.000,0.091,2406,3920,3399,0,0,6,0,0,0
$GC,1716,-0.82,-146.0,164.2,-10.1,238,1722,0.00,2.70,0.00,0.000,6,0.000,0.065,2407,2802,3398,0,0,5,0,0,0
$GC,2041,-0.82,-146.0,196.0,-9.3,269,2045,0.00,2.80,0.00,0.000,4,0.000,0.091,2407,3924,3398,0,0,7,0,0,0
$STATE,2217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2217,begin apogee
$GC,2226,-0.16,0.0,213.6,9.8,284,2347,0.82,0.00,116.93,0.896,6,0.193,0.000,2630,2394,2799,0,0,0,0,0,0
$STATE,2348,end apogee,CONTROL_FINISHED_OK
$STATE,2348,begin climb
$GC,2350,0.73,146.0,216.7,0.0,296,2479,0.95,2.10,119.78,0.848,4,0.142,0.087,2919,794,2204,0,0,0,0,0,0
$GC,2558,0.73,146.0,200.5,10.5,315,2562,0.00,1.98,0.00,0.000,6,0.000,0.063,2919,2401,2201,0,0,0,0,0,0
$GC,2888,0.73,146.0,166.1,10.5,346,2897,0.00,3.75,0.00,0.000,4,0.000,0.081,2919,3913,2198,0,0,6,0,0,0
$GC,2931,0.62,146.0,161.0,12.5,350,2942,0.17,3.70,0.00,0.000,6,0.204,0.069,2898,2397,2197,0,0,5,0,0,0
$GC,3260,0.75,183.4,131.8,7.6,381,3302,0.10,3.75,30.88,0.791,4,0.134,0.081,2929,3913,2051,0,0,7,0,0,0
$GC,3370,0.68,183.4,119.5,13.0,391,3380,0.15,3.70,0.00,0.000,6,0.199,0.068,2913,2393,2049,0,0,5,0,0,0
$GC,3706,0.76,183.4,85.5,10.0,434,3712,0.00,3.72,0.00,0.000,4,0.000,0.081,2913,3913,2048,0,0,6,0,0,0
$GC,3791,0.76,183.4,75.9,11.6,449,3797,0.00,3.65,0.00,0.000,6,0.000,0.068,2928,2398,2047,0,0,5,0,0,0
$GC,4135,0.84,183.4,41.2,10.4,510,4141,0.00,3.72,0.00,0.000,4,0.000,0.079,2927,3920,2048,0,0,5,0,0,0
$GC,4192,0.78,183.4,36.2,11.6,520,4198,0.00,3.65,0.00,0.000,6,0.000,0.068,2945,2404,2048,0,0,4,0,0,0
$FREEZE,8.36,-1.260,-1.827,0,1,0
$FREEZE,7.79,-1.259,-1.827,0,1,0
$FREEZE,7.24,-1.252,-1.826,0,1,0
$FREEZE,6.85,-1.256,-1.826,0,1,0
$FREEZE,6.70,-1.254,-1.826,0,1,0
$FREEZE,6.53,-1.256,-1.826,0,1,0
$FREEZE,6.31,-1.258,-1.825,0,1,0
$FREEZE,6.05,-1.264,-1.825,0,1,0
$FREEZE,5.56,-1.261,-1.825,0,1,0
$FREEZE,5.02,-1.263,-1.824,0,1,0
$FREEZE,4.61,-1.262,-1.824,0,1,0
$FREEZE,4.29,-1.259,-1.824,0,1,0
$FREEZE,4.07,-1.258,-1.824,0,1,0
$FREEZE,3.64,-1.242,-1.823,0,1,0
$FREEZE,2.94,-1.248,-1.823,0,1,0
$FREEZE,2.23,-1.250,-1.822,0,1,0
$FREEZE,1.66,-1.243,-1.822,0,1,0
$STATE,4534,end climb,SURFACE_DEPTH_REACHED
$STATE,4534,begin surface coast
$FREEZE,0.95,-1.250,-1.821,0,1,0
$FREEZE,0.24,-1.243,-1.821,0,1,0
$FREEZE,0.36,-1.245,-1.820,0,1,0
$FREEZE,0.14,-1.189,-1.817,0,1,0
$FINISH,0.1,1.026663
$STATE,4558,end surface coast,CONTROL_FINISHED_OK
$STATE,4558,begin surface
$SM_CCo,4575,78.38,0.733,0,0,1474,325.02
$SM_GC,1.03,0.00,0.00,78.38,0.000,0.000,0.733,122,2797,1474,-8.03,-0.11,325.02
$RAFOS_CLK,322
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6703.95,-5741.21,250399,010137
$TT8_MAMPS,0.027612
$HUMID,47.44
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.5,18.6
$24V_AH,22.8,73.017
$10V_AH,10.0,38.867
$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,22.025,63.325,267.575,78.375,0.000,88.768,102.662,451.507,1.000,0.000,23.363,974.215,2381.156,446.311,975.518,790.019,0.000,976.804,0.000,948.224,0.000,2.618,0.000
$DEVICE_MAMPS,295.295,105.846,895.856,733.252,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,423.991,395.572,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152564
$DATA_FILE_SIZE,22139,585
$CAP_FILE_SIZE,74646,0
$CFSIZE,260165632,218558464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,101,0,0
$SOUNDSPEED,1456.1
$GPS,291209,025156,6733.142,-5738.436,31,1.3,31,-38.4