version: 66.06
glider: 143
mission: 10
dive: 445
start: 12 30 109 17 31 57
data:
$ID,143
$MISSION,10
$DIVE,445
$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,-45355.848
$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,16
$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
$GPS1,172208,6733.811,-5710.908,36,1.3,37,-38.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-64.7
$GPS2,173138,6733.824,-5711.108,34,1.5,34,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.824,-5642.813
$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,201
$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,-146.0,0.0,0.0,0,123,0.00,0.00,-105.18,0.000,2,0.000,0.000,127,2800,3214,0,0,0,0,0,0
$GC,127,-0.73,-146.0,3.4,-6.6,21,149,11.65,2.50,-4.65,0.000,4,0.304,0.097,2449,1179,3397,0,0,0,0,0,0
$GC,402,-0.73,-146.0,42.9,-11.8,70,408,0.00,2.42,0.00,0.000,6,0.000,0.075,2448,2803,3400,0,0,0,0,0,0
$GC,745,-0.73,-146.0,77.6,-13.4,131,750,0.00,2.90,0.00,0.000,4,0.000,0.095,2448,3918,3400,0,0,6,0,0,0
$GC,986,-0.77,-146.0,101.2,-9.3,173,992,0.00,2.78,0.00,0.000,6,0.000,0.065,2448,2796,3399,0,0,5,0,0,0
$GC,1311,-0.86,-146.0,132.8,-9.3,204,1316,0.12,2.92,0.00,0.000,4,0.126,0.091,2400,3930,3398,0,0,7,0,0,0
$GC,1443,-0.79,-146.0,147.4,-10.9,215,1448,0.15,2.75,0.00,0.000,6,0.213,0.066,2432,2799,3398,0,0,6,0,0,0
$GC,1767,-0.79,-146.0,176.5,-9.2,245,1772,0.00,2.92,0.00,0.000,4,0.000,0.091,2432,3919,3398,0,0,7,0,0,0
$GC,1878,-0.85,-146.0,186.6,-9.7,254,1884,0.00,2.75,0.00,0.000,6,0.000,0.064,2433,2796,3398,0,0,5,0,0,0
$STATE,2052,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2052,begin apogee
$GC,2059,-0.16,0.0,201.3,8.6,271,2179,0.70,0.00,116.32,0.895,6,0.188,0.000,2628,2396,2800,0,0,0,0,0,0
$STATE,2180,end apogee,CONTROL_FINISHED_OK
$STATE,2180,begin climb
$GC,2182,0.73,146.0,204.9,0.0,283,2312,0.98,2.05,119.50,0.848,4,0.148,0.088,2920,799,2203,0,0,0,0,0,0
$GC,2350,0.73,146.0,193.1,9.9,298,2356,0.00,1.98,0.00,0.000,6,0.000,0.063,2920,2399,2200,0,0,0,0,0,0
$GC,2675,0.73,146.0,159.9,10.3,329,2684,0.00,3.88,0.00,0.000,4,0.000,0.083,2920,3925,2197,0,0,7,0,0,0
$GC,2746,0.64,146.0,151.1,12.3,335,2753,0.17,3.83,0.00,0.000,6,0.199,0.070,2898,2394,2195,0,0,5,0,0,0
$GC,3070,0.72,146.0,119.3,9.4,366,3080,0.00,3.85,0.00,0.000,4,0.000,0.082,2898,3927,2195,0,0,7,0,0,0
$GC,3159,0.72,146.0,110.2,10.4,374,3168,0.00,3.78,0.00,0.000,6,0.000,0.068,2913,2392,2195,0,0,6,0,0,0
$GC,3500,0.84,192.0,81.4,7.2,425,3546,0.15,3.92,37.53,0.777,4,0.103,0.081,2966,3925,2016,0,0,7,0,0,0
$GC,3625,0.70,192.0,67.9,11.6,448,3632,0.28,3.80,0.00,0.000,6,0.195,0.069,2917,2399,2014,0,0,6,0,0,0
$GC,3972,0.85,206.2,40.5,8.6,509,3994,0.15,3.88,12.90,0.731,4,0.116,0.083,2968,3922,1957,0,0,7,0,0,0
$GC,4084,0.77,206.2,24.2,15.4,529,4091,0.20,3.80,0.00,0.000,6,0.193,0.071,2938,2397,1957,0,0,6,0,0,0
$FREEZE,8.45,-0.605,-1.833,0,1,0
$FREEZE,7.87,-0.626,-1.833,0,1,0
$FREEZE,7.07,-0.628,-1.832,0,1,0
$FREEZE,6.47,-0.628,-1.831,0,1,0
$FREEZE,5.72,-0.628,-1.831,0,1,0
$FREEZE,4.82,-0.629,-1.830,0,1,0
$FREEZE,4.39,-0.629,-1.830,0,1,0
$FREEZE,3.65,-0.629,-1.829,0,1,0
$FREEZE,3.24,-0.630,-1.829,0,1,0
$FREEZE,2.83,-0.629,-1.829,0,1,0
$FREEZE,2.70,-0.629,-1.828,0,1,0
$FREEZE,2.39,-0.628,-1.828,0,1,0
$FREEZE,1.88,-0.627,-1.828,0,1,0
$STATE,4325,end climb,SURFACE_DEPTH_REACHED
$STATE,4325,begin surface coast
$FREEZE,1.64,-0.627,-1.828,0,1,0
$FREEZE,1.35,-0.628,-1.827,0,1,0
$FREEZE,1.13,-0.628,-1.827,0,1,0
$FREEZE,0.75,-0.628,-1.827,0,1,0
$FREEZE,0.21,-0.627,-1.827,0,1,0
$FREEZE,0.26,-0.577,-1.409,0,1,0
$FINISH,0.3,1.020781
$STATE,4359,end surface coast,CONTROL_FINISHED_OK
$STATE,4359,begin surface
$SM_CCo,4378,68.78,0.736,0,0,1474,325.02
$SM_GC,0.96,0.00,0.00,68.78,0.000,0.000,0.736,132,2798,1474,-7.99,-0.06,325.02
$RAFOS_CLK,289
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6703.95,-5705.41,260399,171728
$TT8_MAMPS,0.027612
$HUMID,47.91
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,20.3
$24V_AH,22.8,75.899
$10V_AH,10.0,39.940
$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,22.850,58.675,286.250,68.775,0.000,53.796,72.100,250.297,1.000,0.000,37.701,917.880,2208.887,449.032,946.388,499.152,0.000,963.676,0.000,910.759,0.000,2.621,0.000
$DEVICE_MAMPS,303.732,97.409,895.089,736.320,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,422.508,389.449,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152564
$DATA_FILE_SIZE,22227,578
$CAP_FILE_SIZE,67290,0
$CFSIZE,260165632,217489408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,87,0,0
$SOUNDSPEED,1455.3
$GPS,301209,184656,6733.375,-5711.384,6,1.7,7,-38.3