version: 66.06
glider: 143
mission: 10
dive: 422
start: 12 29 109 8 45 20
data:
$ID,143
$MISSION,10
$DIVE,422
$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,-44721.547
$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,17
$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
$GPS1,083155,6732.727,-5730.863,72,1.0,73,-38.4
$_CALLS,3
$_XMS_NAKs,13
$_XMS_TOUTs,2
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-64.7
$GPS2,084502,6732.903,-5730.849,14,1.1,14,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6732.903,-5702.572
$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,-146.0,0.0,0.0,0,113,0.00,0.00,-95.18,0.000,2,0.000,0.000,128,2802,3012,0,0,0,0,0,0
$GC,117,-0.73,-146.0,3.2,-6.5,19,148,11.43,2.90,-10.57,0.000,4,0.297,0.102,2445,3922,3399,0,0,8,0,0,0
$GC,206,-0.77,-146.0,15.4,-9.6,35,212,0.00,2.72,0.00,0.000,6,0.000,0.065,2445,2800,3401,0,0,6,0,0,0
$GC,549,-0.77,-146.0,56.2,-10.7,96,555,0.00,2.88,0.00,0.000,4,0.000,0.091,2445,3916,3401,0,0,7,0,0,0
$GC,687,-0.83,-146.0,70.7,-10.9,120,693,0.00,2.70,0.00,0.000,6,0.000,0.064,2445,2799,3402,0,0,6,0,0,0
$GC,1035,-0.83,-146.0,101.9,-8.1,180,1040,0.00,2.88,0.00,0.000,4,0.000,0.093,2445,3914,3401,0,0,7,0,0,0
$GC,1136,-0.89,-146.0,111.0,-8.6,188,1143,0.15,2.70,0.00,0.000,6,0.124,0.064,2397,2798,3401,0,0,6,0,0,0
$GC,1461,-0.82,-146.0,145.0,-11.1,219,1466,0.12,2.88,0.00,0.000,4,0.213,0.091,2424,3923,3400,0,0,7,0,0,0
$GC,1714,-0.82,-146.0,169.6,-9.0,241,1719,0.00,2.70,0.00,0.000,6,0.000,0.064,2424,2798,3399,0,0,6,0,0,0
$GC,2039,-0.82,-146.0,198.4,-8.4,271,2043,0.00,2.85,0.00,0.000,4,0.000,0.089,2425,3918,3399,0,0,6,0,0,0
$STATE,2120,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2121,begin apogee
$GC,2130,-0.16,0.0,205.4,8.8,278,2250,0.75,0.00,116.93,0.890,6,0.191,0.000,2629,2394,2799,0,0,0,0,0,0
$STATE,2251,end apogee,CONTROL_FINISHED_OK
$STATE,2251,begin climb
$GC,2254,0.73,146.0,208.5,0.0,290,2383,0.95,2.12,120.00,0.840,4,0.140,0.087,2919,799,2203,0,0,0,0,0,0
$GC,2422,0.73,146.0,196.4,11.0,305,2428,0.00,1.98,0.00,0.000,6,0.000,0.064,2919,2412,2200,0,0,0,0,0,0
$GC,2746,0.73,146.0,161.6,10.7,336,2756,0.00,3.80,0.00,0.000,4,0.000,0.082,2919,3918,2196,0,0,7,0,0,0
$GC,2847,0.63,146.0,150.2,11.7,345,2857,0.17,3.75,0.00,0.000,6,0.202,0.069,2898,2396,2195,0,0,6,0,0,0
$GC,3176,0.74,172.1,121.8,8.1,376,3207,0.00,3.85,21.42,0.782,4,0.000,0.081,2897,3907,2096,0,0,7,0,0,0
$GC,3268,0.74,172.1,112.9,11.0,384,3274,0.00,3.72,0.00,0.000,6,0.000,0.068,2912,2393,2095,0,0,6,0,0,0
$GC,3605,0.87,213.5,86.0,7.4,431,3652,0.17,3.88,35.30,0.772,4,0.098,0.081,2973,3914,1927,0,0,5,0,0,0
$GC,3784,0.74,213.5,61.2,14.1,463,3792,0.25,3.70,0.00,0.000,6,0.192,0.068,2930,2388,1923,0,0,6,0,0,0
$GC,4131,0.79,213.5,28.7,11.3,524,4137,0.00,3.83,0.00,0.000,4,0.000,0.082,2929,3913,1923,0,0,5,0,0,0
$GC,4216,0.79,213.5,19.0,10.5,539,4222,0.00,3.70,0.00,0.000,6,0.000,0.068,2945,2395,1923,0,0,6,0,0,0
$FREEZE,8.72,-0.669,-1.831,0,1,0
$FREEZE,8.26,-0.666,-1.831,0,1,0
$FREEZE,7.43,-0.669,-1.831,0,1,0
$FREEZE,6.84,-0.671,-1.830,0,1,0
$FREEZE,6.19,-0.672,-1.830,0,1,0
$FREEZE,5.56,-0.671,-1.829,0,1,0
$FREEZE,5.01,-0.672,-1.829,0,1,0
$FREEZE,4.28,-0.676,-1.828,0,1,0
$FREEZE,3.58,-0.676,-1.828,0,1,0
$FREEZE,2.91,-0.671,-1.827,0,1,0
$FREEZE,2.02,-0.671,-1.826,0,1,0
$FREEZE,1.64,-0.669,-1.826,0,1,0
$STATE,4406,end climb,SURFACE_DEPTH_REACHED
$STATE,4406,begin surface coast
$FREEZE,0.86,-0.669,-1.826,0,1,0
$FREEZE,0.24,-0.669,-1.825,0,1,0
$FREEZE,0.22,-0.657,-0.095,0,1,0
$FINISH,0.2,1.001192
$STATE,4424,end surface coast,CONTROL_FINISHED_OK
$STATE,4424,begin surface
$SM_CCo,4442,62.38,0.733,0,0,1474,325.02
$SM_GC,0.91,0.00,0.00,62.38,0.000,0.000,0.733,130,2799,1474,-8.00,-0.06,325.02
$RAFOS_CLK,304
$RAFOS,6,1262076541,8.833333,8.816944,59,55,55,0,0,0,210,195,115,0,0,0
$RAFOS,3,1262075106,8.433333,8.418333,67,61,58,0,0,0,210,194,183,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6703.95,-5722.66,250399,080815
$TT8_MAMPS,0.027612
$HUMID,47.51
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.00
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.7,18.7
$24V_AH,22.8,73.517
$10V_AH,10.1,39.059
$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,22.300,64.225,293.650,62.375,0.000,82.133,157.748,296.958,1.250,0.000,16.068,941.112,2279.812,450.801,953.564,671.591,0.000,980.858,0.000,937.751,360.000,2.617,0.000
$DEVICE_MAMPS,296.829,102.011,890.487,733.252,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,418.893,388.183,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152588
$DATA_FILE_SIZE,22197,576
$CAP_FILE_SIZE,68984,0
$CFSIZE,260165632,218370048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,113,0,0
$SOUNDSPEED,1456.2
$GPS,291209,100140,6733.352,-5729.792,28,1.4,29,-38.4