version: 66.06
glider: 143
mission: 10
dive: 421
start: 12 29 109 7 15 24
data:
$ID,143
$MISSION,10
$DIVE,421
$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,-44704.852
$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,13
$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
$GPS1,070932,6732.507,-5732.026,80,1.9,81,-38.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-65.1
$GPS2,071507,6732.553,-5731.959,14,1.8,32,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6732.553,-5703.689
$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,206
$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,14,-0.73,-146.0,0.0,0.0,0,108,0.00,0.00,-90.38,0.000,2,0.000,0.000,130,2803,3062,0,0,0,0,0,0
$GC,111,-0.73,-146.0,3.2,-4.5,18,142,11.68,2.90,-10.30,0.000,4,0.304,0.103,2446,3916,3398,0,0,8,0,0,0
$GC,155,-0.31,-146.0,11.3,-18.4,26,161,0.52,2.72,0.00,0.000,6,0.194,0.064,2585,2798,3400,0,0,6,0,0,0
$GC,500,-0.75,-146.0,33.1,-6.0,87,506,0.38,2.85,0.00,0.000,4,0.093,0.087,2449,3921,3401,0,0,7,0,0,0
$GC,697,-0.82,-146.0,55.4,-14.1,122,703,0.00,2.72,0.00,0.000,6,0.000,0.064,2449,2796,3401,0,0,5,0,0,0
$GC,1041,-0.88,-146.0,91.5,-10.6,183,1047,0.12,2.88,0.00,0.000,4,0.122,0.089,2400,3930,3400,0,0,7,0,0,0
$GC,1301,-0.77,-146.0,124.7,-12.4,212,1307,0.15,2.70,0.00,0.000,6,0.214,0.064,2432,2802,3398,0,0,6,0,0,0
$GC,1625,-0.77,-146.0,154.2,-8.9,242,1630,0.00,2.85,0.00,0.000,4,0.000,0.091,2432,3922,3398,0,0,6,0,0,0
$GC,1845,-0.82,-146.0,174.4,-9.3,261,1850,0.00,2.70,0.00,0.000,6,0.000,0.064,2433,2799,3398,0,0,5,0,0,0
$GC,2170,-0.88,-146.0,202.1,-8.8,291,2175,0.00,2.85,0.00,0.000,4,0.000,0.088,2433,3925,3398,0,0,7,0,0,0
$STATE,2218,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2218,begin apogee
$GC,2228,-0.16,0.0,206.2,8.7,295,2348,0.70,0.00,116.57,0.888,6,0.193,0.000,2626,2400,2799,0,0,0,0,0,0
$STATE,2349,end apogee,CONTROL_FINISHED_OK
$STATE,2349,begin climb
$GC,2351,0.73,146.0,209.3,0.0,307,2481,0.98,2.08,120.03,0.838,4,0.142,0.085,2923,794,2201,0,0,0,0,0,0
$GC,2530,0.73,146.0,194.7,11.5,323,2537,0.00,2.00,0.00,0.000,6,0.000,0.062,2923,2403,2199,0,0,0,0,0,0
$GC,2855,0.73,146.0,158.6,10.1,354,2865,0.00,3.80,0.00,0.000,4,0.000,0.081,2924,3923,2195,0,0,7,0,0,0
$GC,2955,0.61,146.0,146.9,11.8,363,2965,0.22,3.72,0.00,0.000,6,0.196,0.068,2888,2400,2194,0,0,6,0,0,0
$GC,3284,0.76,184.0,120.9,7.6,394,3326,0.15,3.83,30.95,0.788,4,0.116,0.081,2938,3921,2049,0,0,6,0,0,0
$GC,3444,0.67,184.0,101.3,13.8,408,3450,0.20,3.72,0.00,0.000,6,0.196,0.069,2909,2397,2046,0,0,6,0,0,0
$GC,3788,0.79,189.7,67.7,8.9,468,3805,0.12,3.78,6.03,0.652,4,0.116,0.084,2957,3919,2025,0,0,7,0,0,0
$GC,3828,0.74,237.3,64.5,7.2,475,3880,0.17,3.70,40.95,0.759,6,0.200,0.068,2935,2396,1830,0,0,6,0,0,0
$GC,4218,0.85,237.3,22.4,12.9,545,4224,0.00,3.78,0.00,0.000,4,0.000,0.081,2934,3926,1827,0,0,8,0,0,0
$GC,4287,0.90,237.3,14.0,10.9,557,4292,0.00,3.70,0.00,0.000,6,0.000,0.067,2949,2399,1825,0,0,6,0,0,0
$FREEZE,8.07,-0.536,-1.832,0,1,0
$FREEZE,7.43,-0.533,-1.831,0,1,0
$FREEZE,6.40,-0.537,-1.831,0,1,0
$FREEZE,5.62,-0.547,-1.830,0,1,0
$FREEZE,4.66,-0.539,-1.830,0,1,0
$FREEZE,4.13,-0.534,-1.829,0,1,0
$FREEZE,3.26,-0.553,-1.829,0,1,0
$FREEZE,2.38,-0.564,-1.828,0,1,0
$FREEZE,1.96,-0.568,-1.827,0,1,0
$STATE,4381,end climb,SURFACE_DEPTH_REACHED
$STATE,4381,begin surface coast
$FREEZE,1.41,-0.570,-1.827,0,1,0
$FREEZE,0.80,-0.565,-1.826,0,1,0
$FREEZE,0.13,-0.560,-1.826,0,1,0
$FINISH,0.1,1.026768
$STATE,4400,end surface coast,CONTROL_FINISHED_OK
$STATE,4400,begin surface
$SM_CCo,4418,53.78,0.728,0,0,1474,325.02
$SM_GC,0.81,0.00,0.00,53.78,0.000,0.000,0.728,128,2800,1474,-8.00,0.00,325.02
$RAFOS_CLK,278
$RAFOS,2,1262074623,8.300000,8.284166,62,55,52,0,0,0,172,192,204,0,0,0
$RAFOS,1,1262074142,8.166667,8.150556,60,59,56,0,0,0,210,186,149,0,0,0
$RAFOS,0,1262073671,8.033334,8.019722,65,61,55,0,0,0,195,219,164,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6703.95,-5733.45,250399,050526
$TT8_MAMPS,0.029913
$HUMID,48.18
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,19.9
$24V_AH,22.8,73.405
$10V_AH,10.1,39.018
$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,23.950,63.950,314.525,53.775,0.000,27.647,32.548,140.985,1.000,0.000,33.926,943.935,2101.035,455.149,986.912,324.092,0.000,995.254,0.000,951.391,1440.000,2.620,0.000
$DEVICE_MAMPS,303.732,102.778,888.186,727.883,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,419.279,388.269,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152580
$DATA_FILE_SIZE,22124,577
$CAP_FILE_SIZE,67421,0
$CFSIZE,260165632,218406912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,115,0,0
$SOUNDSPEED,1455.7
$GPS,291209,083155,6732.727,-5730.863,72,1.0,73,-38.4