version: 66.06
glider: 143
mission: 10
dive: 443
start: 12 30 109 14 41 13
data:
$ID,143
$MISSION,10
$DIVE,443
$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,-45283.363
$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,20
$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
$GPS1,143407,6734.655,-5710.386,94,1.0,94,-38.3
$_CALLS,1
$_XMS_NAKs,23
$_XMS_TOUTs,1
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-65.4
$GPS2,144055,6734.684,-5710.537,8,1.0,13,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6734.684,-5642.224
$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,128.3,20000,-16.9,-9.167
$D_GRID,203
$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,-100.28,0.000,2,0.000,0.000,125,2791,3157,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.3,-7.3,20,149,11.52,2.95,-6.38,0.000,4,0.300,0.103,2450,3908,3398,0,0,8,0,0,0
$GC,262,-0.73,-146.0,25.4,-11.8,45,267,0.00,2.75,0.00,0.000,6,0.000,0.066,2450,2796,3400,0,0,6,0,0,0
$GC,605,-0.73,-146.0,67.7,-12.6,106,611,0.00,2.90,0.00,0.000,4,0.000,0.092,2450,3916,3401,0,0,6,0,0,0
$GC,776,-0.73,-146.0,86.8,-10.4,136,781,0.00,2.72,0.00,0.000,6,0.000,0.065,2450,2794,3401,0,0,6,0,0,0
$GC,1109,-0.81,-146.0,118.5,-8.7,178,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2796,3400,0,0,0,0,0,0
$GC,1430,-0.90,-146.0,142.5,-6.6,208,1435,0.15,2.88,0.00,0.000,4,0.114,0.090,2388,3914,3399,0,0,7,0,0,0
$GC,1605,-0.79,-146.0,160.0,-9.4,223,1610,0.17,2.72,0.00,0.000,6,0.214,0.064,2427,2798,3399,0,0,5,0,0,0
$GC,1930,-0.79,-146.0,186.0,-8.6,253,1935,0.00,2.88,0.00,0.000,4,0.000,0.090,2427,3923,3398,0,0,6,0,0,0
$GC,2120,-0.79,-146.0,201.7,-7.8,269,2125,0.00,2.75,0.00,0.000,6,0.000,0.064,2427,2797,3398,0,0,6,0,0,0
$STATE,2145,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2145,begin apogee
$GC,2151,-0.16,0.0,203.8,8.0,272,2272,0.73,0.00,116.57,0.890,6,0.194,0.000,2627,2402,2800,0,0,0,0,0,0
$STATE,2273,end apogee,CONTROL_FINISHED_OK
$STATE,2273,begin climb
$GC,2275,0.73,146.0,206.1,0.0,284,2404,0.98,2.05,119.68,0.842,4,0.140,0.087,2924,803,2202,0,0,0,0,0,0
$GC,2438,0.73,146.0,192.5,11.8,299,2442,0.00,1.92,0.00,0.000,6,0.000,0.062,2923,2401,2200,0,0,0,0,0,0
$GC,2769,0.73,146.0,155.1,11.4,330,2778,0.00,3.85,0.00,0.000,4,0.000,0.082,2923,3914,2195,0,0,7,0,0,0
$GC,2857,0.60,146.0,143.7,13.1,338,2868,0.22,3.80,0.00,0.000,6,0.196,0.070,2888,2394,2194,0,0,6,0,0,0
$GC,3187,0.74,157.0,113.6,8.7,369,3204,0.12,3.90,9.18,0.732,4,0.127,0.083,2929,3921,2159,0,0,5,0,0,0
$GC,3243,0.62,157.0,107.2,11.7,373,3249,0.22,3.78,0.00,0.000,6,0.195,0.070,2892,2400,2157,0,0,5,0,0,0
$GC,3581,0.82,197.7,78.9,7.5,427,3628,0.20,3.88,34.78,0.775,4,0.105,0.081,2960,3918,1993,0,0,7,0,0,0
$GC,3690,0.67,197.7,67.2,11.6,447,3696,0.28,3.80,0.00,0.000,6,0.189,0.069,2910,2397,1990,0,0,6,0,0,0
$GC,4035,0.81,197.7,37.5,9.3,508,4041,0.12,3.88,0.00,0.000,4,0.124,0.082,2950,3925,1988,0,0,6,0,0,0
$GC,4115,0.72,197.7,27.3,13.5,522,4121,0.17,3.78,0.00,0.000,6,0.191,0.070,2927,2395,1989,0,0,6,0,0,0
$FREEZE,8.92,-0.472,-1.834,0,1,0
$FREEZE,8.48,-0.470,-1.834,0,1,0
$FREEZE,7.81,-0.474,-1.833,0,1,0
$FREEZE,7.43,-0.472,-1.833,0,1,0
$FREEZE,7.02,-0.471,-1.833,0,1,0
$FREEZE,6.57,-0.473,-1.832,0,1,0
$FREEZE,5.87,-0.474,-1.832,0,1,0
$FREEZE,5.47,-0.471,-1.832,0,1,0
$FREEZE,4.85,-0.473,-1.831,0,1,0
$FREEZE,4.25,-0.473,-1.831,0,1,0
$FREEZE,4.06,-0.471,-1.830,0,1,0
$FREEZE,3.83,-0.466,-1.830,0,1,0
$FREEZE,3.74,-0.466,-1.830,0,1,0
$FREEZE,3.24,-0.468,-1.830,0,1,0
$FREEZE,2.99,-0.466,-1.830,0,1,0
$FREEZE,2.57,-0.466,-1.829,0,1,0
$FREEZE,2.17,-0.468,-1.829,0,1,0
$FREEZE,1.45,-0.467,-1.829,0,1,0
$STATE,4407,end climb,SURFACE_DEPTH_REACHED
$STATE,4407,begin surface coast
$FREEZE,0.82,-0.466,-1.828,0,1,0
$FREEZE,0.39,-0.463,-1.828,0,1,0
$FREEZE,0.21,-0.452,-0.465,0,1,0
$FREEZE,0.18,-0.461,-1.827,0,1,0
$FINISH,0.2,1.026784
$STATE,4431,end surface coast,CONTROL_FINISHED_OK
$STATE,4431,begin surface
$SM_CCo,4449,66.43,0.736,0,0,1475,325.02
$SM_GC,1.16,0.00,0.00,66.43,0.000,0.000,0.736,123,2805,1475,-8.02,0.14,325.02
$RAFOS_CLK,285
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6703.95,-5714.87,260399,131325
$TT8_MAMPS,0.027612
$HUMID,48.34
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,16.90
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.9,18.2
$24V_AH,22.8,75.698
$10V_AH,10.1,39.864
$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,23.150,59.150,280.200,66.425,0.000,24.813,33.768,232.490,1.250,0.000,16.277,942.701,2188.589,437.554,939.125,418.945,0.000,958.664,0.000,924.936,0.000,2.615,0.000
$DEVICE_MAMPS,299.897,102.778,890.487,735.553,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,423.088,389.881,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152620
$DATA_FILE_SIZE,22203,578
$CAP_FILE_SIZE,67102,0
$CFSIZE,260165632,217563136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,98,0,0
$SOUNDSPEED,1455.4
$GPS,301209,155743,6734.373,-5710.488,11,1.8,28,-38.3