version: 66.06
glider: 143
mission: 10
dive: 466
start: 12 31 109 23 6 54
data:
$ID,143
$MISSION,10
$DIVE,466
$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,-45901.551
$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,17
$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
$GPS1,225207,6738.521,-5659.026,35,1.3,43,-38.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-60.3
$GPS2,230637,6738.692,-5658.997,78,2.0,78,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.292,-5634.501
$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,191
$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,-146.0,0.0,0.0,0,113,0.00,0.00,-95.25,0.000,2,0.000,0.000,126,2813,3088,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.2,-5.2,19,143,11.45,2.53,-8.50,0.000,4,0.298,0.097,2445,1194,3399,0,0,0,0,0,0
$GC,397,-0.73,-146.0,39.2,-11.4,69,403,0.00,2.42,0.00,0.000,6,0.000,0.076,2446,2794,3401,0,0,0,0,0,0
$GC,741,-0.73,-146.0,76.5,-10.6,130,746,0.00,2.92,0.00,0.000,4,0.000,0.096,2445,3931,3401,0,0,8,0,0,0
$GC,842,-0.73,-146.0,87.0,-9.6,148,848,0.00,2.80,0.00,0.000,6,0.000,0.067,2446,2791,3401,0,0,6,0,0,0
$GC,1180,-0.78,-146.0,119.4,-9.3,191,1185,0.00,2.92,0.00,0.000,4,0.000,0.094,2446,3928,3400,0,0,8,0,0,0
$GC,1377,-0.87,-146.0,136.6,-9.3,208,1382,0.12,2.78,0.00,0.000,6,0.128,0.067,2405,2800,3400,0,0,6,0,0,0
$GC,1701,-0.87,-146.0,169.4,-9.9,238,1706,0.00,2.92,0.00,0.000,4,0.000,0.091,2406,3931,3399,0,0,6,0,0,0
$GC,1786,-0.82,-146.0,177.9,-10.1,245,1791,0.00,2.78,0.00,0.000,6,0.000,0.065,2405,2798,3398,0,0,6,0,0,0
$STATE,1927,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1927,begin apogee
$GC,1933,-0.16,0.0,191.6,9.2,258,2054,0.80,0.00,116.78,0.885,6,0.192,0.000,2626,2400,2800,0,0,0,0,0,0
$STATE,2055,end apogee,CONTROL_FINISHED_OK
$STATE,2055,begin climb
$GC,2058,0.73,146.0,195.4,0.0,270,2187,0.98,2.08,119.93,0.836,4,0.143,0.089,2921,786,2203,0,0,0,0,0,0
$GC,2232,0.73,146.0,184.0,10.1,286,2236,0.00,1.90,0.00,0.000,6,0.000,0.062,2921,2405,2200,0,0,0,0,0,0
$GC,2562,0.73,146.0,150.4,9.4,317,2571,0.00,3.92,0.00,0.000,4,0.000,0.082,2921,3924,2196,0,0,7,0,0,0
$GC,2702,0.62,146.0,135.2,11.4,329,2709,0.20,3.85,0.00,0.000,6,0.198,0.070,2892,2403,2195,0,0,6,0,0,0
$GC,3027,0.76,177.5,109.2,7.8,360,3062,0.15,3.92,26.02,0.782,4,0.117,0.082,2942,3922,2075,0,0,7,0,0,0
$GC,3152,0.66,177.5,93.7,13.1,375,3158,0.22,3.88,0.00,0.000,6,0.194,0.070,2906,2390,2072,0,0,6,0,0,0
$GC,3499,0.80,178.4,63.1,9.1,436,3505,0.12,3.92,0.00,0.000,4,0.123,0.081,2948,3924,2070,0,0,7,0,0,0
$GC,3585,0.71,178.4,52.3,13.6,451,3591,0.17,3.83,0.00,0.000,6,0.195,0.070,2925,2397,2071,0,0,6,0,0,0
$GC,3930,0.80,191.3,20.6,8.6,512,3951,0.00,3.92,12.73,0.726,4,0.000,0.082,2925,3931,2018,0,0,7,0,0,0
$FREEZE,8.68,-0.504,-1.833,0,2,0
$FREEZE,8.21,-0.501,-1.832,0,2,0
$GC,4053,0.80,193.7,8.2,9.1,534,4059,0.00,3.85,0.00,0.000,6,0.000,0.071,2941,2399,2017,0,0,6,0,0,0
$FREEZE,6.88,-0.502,-1.831,0,2,0
$FREEZE,6.31,-0.508,-1.831,0,2,0
$FREEZE,5.83,-0.510,-1.831,0,2,0
$FREEZE,5.28,-0.507,-1.830,0,2,0
$FREEZE,4.78,-0.506,-1.830,0,2,0
$FREEZE,4.15,-0.506,-1.829,0,2,0
$FREEZE,3.33,-0.505,-1.829,0,2,0
$FREEZE,2.80,-0.513,-1.828,0,2,0
$FREEZE,2.52,-0.514,-1.828,0,2,0
$FREEZE,1.97,-0.507,-1.828,0,2,0
$STATE,4114,end climb,SURFACE_DEPTH_REACHED
$STATE,4114,begin surface coast
$FREEZE,1.25,-0.502,-1.827,0,2,0
$FREEZE,0.48,-0.503,-1.826,0,2,0
$FREEZE,0.25,-0.605,-1.521,0,2,0
$FINISH,0.3,1.022415
$STATE,4132,end surface coast,CONTROL_FINISHED_OK
$STATE,4132,begin surface
$SM_CCo,4150,76.18,0.730,0,0,1474,325.02
$SM_GC,1.18,0.00,0.00,76.18,0.000,0.000,0.730,123,2808,1474,-8.02,0.23,325.02
$RAFOS_CLK,294
$RAFOS,1,1262304543,0.166667,0.150833,60,58,58,0,0,0,191,158,117,0,0,0
$RAFOS,0,1262304066,0.033333,0.018333,59,55,55,0,0,0,204,172,155,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5653.11,270399,232337
$TT8_MAMPS,0.029913
$HUMID,47.51
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,19.8
$24V_AH,22.8,78.145
$10V_AH,10.0,40.734
$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,22.500,59.250,275.450,76.175,0.000,82.624,157.604,327.573,1.000,0.000,79.590,887.281,2124.664,435.198,960.218,694.231,0.000,933.221,0.000,881.777,720.000,2.631,0.000
$DEVICE_MAMPS,297.596,96.642,885.118,730.184,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,401.433,369.183,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152568
$DATA_FILE_SIZE,22177,548
$CAP_FILE_SIZE,68490,0
$CFSIZE,260165632,216686592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,92,0,0
$SOUNDSPEED,1455.8
$GPS,010110,001837,6739.162,-5657.952,29,1.1,30,-38.4