version: 66.06
glider: 143
mission: 10
dive: 464
start: 12 31 109 20 25 8
data:
$ID,143
$MISSION,10
$DIVE,464
$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,120
$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,-45768.484
$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,14
$R_STBD_OVSHOOT,15
$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
$GPS1,201807,6738.730,-5700.329,33,1.1,34,-38.4
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-59.3
$GPS2,202449,6738.748,-5700.292,8,1.8,13,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.348,-5635.796
$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,158.4,20000,-16.9,-9.167
$D_GRID,193
$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,-100.22,0.000,2,0.000,0.000,129,2806,3190,0,0,0,0,0,0
$GC,123,-0.73,-146.0,3.5,-6.9,20,150,11.52,2.95,-5.38,0.000,4,0.299,0.104,2444,3914,3399,0,0,8,0,0,0
$GC,224,-0.73,-146.0,22.4,-17.9,38,230,0.00,2.80,0.00,0.000,6,0.000,0.066,2445,2788,3400,0,0,6,0,0,0
$GC,569,-0.73,-146.0,65.2,-11.1,99,575,0.00,2.92,0.00,0.000,4,0.000,0.093,2445,3922,3401,0,0,8,0,0,0
$GC,788,-0.79,-146.0,90.3,-11.1,138,794,0.00,2.75,0.00,0.000,6,0.000,0.066,2445,2800,3400,0,0,6,0,0,0
$GC,1124,-0.85,-146.0,125.1,-10.3,177,1129,0.00,2.95,0.00,0.000,4,0.000,0.094,2445,3929,3399,0,0,6,0,0,0
$GC,1272,-0.93,-146.0,139.8,-9.5,189,1278,0.17,2.78,0.00,0.000,6,0.119,0.066,2389,2797,3399,0,0,6,0,0,0
$GC,1597,-0.83,-146.0,178.7,-12.5,220,1602,0.12,2.90,0.00,0.000,4,0.219,0.091,2413,3922,3398,0,0,8,0,0,0
$GC,1704,-0.83,-146.0,190.4,-10.3,229,1708,0.00,2.75,0.00,0.000,6,0.000,0.065,2413,2799,3397,0,0,6,0,0,0
$STATE,1740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1740,begin apogee
$GC,1746,-0.16,0.0,194.0,9.7,232,1867,0.77,0.00,116.65,0.888,6,0.191,0.000,2626,2402,2800,0,0,0,0,0,0
$STATE,1867,end apogee,CONTROL_FINISHED_OK
$STATE,1867,begin climb
$GC,1871,0.73,146.0,198.0,0.0,244,1998,0.98,0.00,120.05,0.841,6,0.146,0.000,2911,2402,2203,0,0,0,0,0,0
$GC,2313,0.73,146.0,161.3,9.4,286,2322,0.00,3.97,0.00,0.000,4,0.000,0.082,2911,3923,2195,0,0,7,0,0,0
$GC,2339,0.73,146.0,158.3,10.5,288,2345,0.00,3.90,0.00,0.000,6,0.000,0.069,2929,2398,2195,0,0,6,0,0,0
$GC,2663,0.73,146.0,125.4,10.2,319,2672,0.00,3.92,0.00,0.000,4,0.000,0.084,2929,3923,2195,0,0,7,0,0,0
$GC,2764,0.60,146.0,113.6,12.0,328,2774,0.25,3.85,0.00,0.000,6,0.197,0.071,2887,2395,2195,0,0,6,0,0,0
$GC,3105,0.79,174.1,85.1,8.0,375,3137,0.17,3.97,23.12,0.767,4,0.111,0.083,2946,3925,2089,0,0,6,0,0,0
$GC,3250,0.69,174.1,67.3,12.2,401,3257,0.20,3.85,0.00,0.000,6,0.197,0.069,2917,2398,2087,0,0,6,0,0,0
$GC,3595,0.82,211.0,40.3,7.6,462,3637,0.12,4.00,31.42,0.754,4,0.125,0.083,2958,3918,1938,0,0,7,0,0,0
$GC,3699,0.72,211.0,28.6,12.5,481,3706,0.20,3.88,0.00,0.000,6,0.198,0.070,2930,2392,1936,0,0,6,0,0,0
$FREEZE,8.61,-0.554,-1.832,0,1,0
$FREEZE,8.01,-0.556,-1.832,0,1,0
$FREEZE,7.23,-0.552,-1.831,0,1,0
$FREEZE,6.59,-0.552,-1.831,0,1,0
$FREEZE,5.86,-0.554,-1.830,0,1,0
$FREEZE,5.40,-0.564,-1.830,0,1,0
$FREEZE,4.77,-0.563,-1.830,0,1,0
$FREEZE,4.22,-0.561,-1.829,0,1,0
$FREEZE,3.80,-0.563,-1.829,0,1,0
$FREEZE,3.40,-0.563,-1.829,0,1,0
$FREEZE,3.06,-0.553,-1.828,0,1,0
$FREEZE,2.43,-0.554,-1.828,0,1,0
$FREEZE,1.84,-0.560,-1.827,0,1,0
$STATE,4025,end climb,SURFACE_DEPTH_REACHED
$STATE,4026,begin surface coast
$FREEZE,1.22,-0.556,-1.827,0,1,0
$FREEZE,0.72,-0.558,-1.827,0,1,0
$FREEZE,0.45,-0.565,-1.826,0,1,0
$FREEZE,0.45,-0.570,-1.826,0,1,0
$FINISH,0.4,1.026773
$STATE,4049,end surface coast,CONTROL_FINISHED_OK
$STATE,4049,begin surface
$SM_CCo,4067,79.30,0.735,0,0,1473,325.02
$SM_GC,1.10,0.00,0.00,79.30,0.000,0.000,0.735,124,2810,1473,-8.02,0.31,325.02
$RAFOS_CLK,261
$RAFOS,6,1262292543,20.833334,20.817499,58,56,54,0,0,0,141,214,171,0,0,0
$RAFOS,5,1262292070,20.700001,20.686111,57,52,51,0,0,0,211,130,146,0,0,0
$RAFOS,4,1262291584,20.566668,20.551111,62,62,59,0,0,0,147,226,209,0,0,0
$RAFOS,3,1262291128,20.433332,20.424444,62,56,54,0,0,0,216,150,109,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5711.82,270399,191953
$TT8_MAMPS,0.027612
$HUMID,47.83
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.5,999.0
$24V_AH,22.8,77.939
$10V_AH,10.1,40.660
$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,22.850,56.250,291.250,79.300,0.000,30.191,48.094,215.454,0.750,0.000,14.670,866.230,1955.843,460.904,860.926,410.928,0.000,944.891,0.000,847.974,1440.000,2.811,0.000
$DEVICE_MAMPS,299.130,103.545,888.186,734.786,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,397.216,364.971,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152528
$DATA_FILE_SIZE,19080,543
$CAP_FILE_SIZE,62038,0
$CFSIZE,260165632,216776704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,105,0,0
$SOUNDSPEED,1455.2
$GPS,311209,213513,6738.466,-5659.682,6,1.8,11,-38.4