version: 66.06
glider: 143
mission: 10
dive: 402
start: 12 28 109 1 43 13
data:
$ID,143
$MISSION,10
$DIVE,402
$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,-44224.199
$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,16
$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
$GPS1,013754,6730.848,-5755.742,27,1.3,45,-38.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-65.9
$GPS2,014255,6730.861,-5755.735,9,1.8,14,-38.5
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6730.861,-5727.499
$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,128.5,20000,-16.9,-9.167
$D_GRID,235
$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,-100.10,0.000,2,0.000,0.000,121,2794,3154,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.6,-7.4,20,148,11.60,2.92,-6.28,0.000,4,0.300,0.104,2453,3913,3399,0,0,6,0,0,0
$GC,218,-0.73,-146.0,18.6,-10.8,37,223,0.00,2.72,0.00,0.000,6,0.000,0.065,2453,2789,3401,0,0,6,0,0,0
$GC,563,-0.77,-146.0,54.9,-10.2,98,569,0.00,2.88,0.00,0.000,4,0.000,0.091,2453,3919,3401,0,0,6,0,0,0
$GC,717,-0.84,-146.0,70.5,-9.6,125,723,0.00,2.70,0.00,0.000,6,0.000,0.065,2453,2802,3400,0,0,5,0,0,0
$GC,1059,-0.92,-146.0,104.2,-9.6,182,1065,0.20,2.85,0.00,0.000,4,0.109,0.088,2373,3925,3400,0,0,6,0,0,0
$GC,1245,-0.74,-146.0,128.6,-12.8,198,1251,0.30,2.70,0.00,0.000,6,0.207,0.065,2446,2798,3399,0,0,6,0,0,0
$GC,1571,-0.82,-146.0,158.2,-8.1,228,1575,0.00,2.88,0.00,0.000,4,0.000,0.092,2445,3931,3399,0,0,6,0,0,0
$GC,1790,-0.92,-146.0,175.5,-8.3,247,1795,0.15,2.70,0.00,0.000,6,0.120,0.065,2397,2800,3397,0,0,6,0,0,0
$GC,2114,-0.85,-146.0,207.5,-10.4,277,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2801,3397,0,0,0,0,0,0
$STATE,2399,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2399,begin apogee
$GC,2405,-0.16,0.0,235.4,9.7,304,2526,0.85,0.00,116.57,0.911,6,0.189,0.000,2628,2388,2800,0,0,0,0,0,0
$STATE,2527,end apogee,CONTROL_FINISHED_OK
$STATE,2527,begin climb
$GC,2529,0.73,146.0,238.9,0.0,316,2658,0.98,2.15,120.07,0.864,4,0.141,0.087,2924,796,2202,0,0,0,0,0,0
$GC,2783,0.73,146.0,216.5,11.3,339,2787,0.00,1.95,0.00,0.000,6,0.000,0.064,2923,2406,2198,0,0,0,0,0,0
$GC,3113,0.73,146.0,178.1,11.7,370,3122,0.00,3.75,0.00,0.000,4,0.000,0.081,2923,3915,2196,0,0,6,0,0,0
$GC,3195,0.60,146.0,167.8,12.3,377,3202,0.22,3.70,0.00,0.000,6,0.201,0.067,2888,2393,2194,0,0,5,0,0,0
$GC,3520,0.72,166.3,138.9,8.3,408,3544,0.00,3.83,16.80,0.775,4,0.000,0.080,2881,3917,2121,0,0,5,0,0,0
$GC,3601,0.76,166.3,131.6,9.5,415,3607,0.12,3.65,0.00,0.000,6,0.121,0.066,2937,2401,2119,0,0,6,0,0,0
$GC,3925,0.76,166.3,99.8,10.1,446,3931,0.00,3.72,0.00,0.000,4,0.000,0.080,2937,3916,2119,0,0,6,0,0,0
$GC,3999,0.66,166.3,91.0,12.5,459,4006,0.20,3.65,0.00,0.000,6,0.199,0.067,2907,2398,2119,0,0,4,0,0,0
$GC,4346,0.84,213.1,61.2,7.2,520,4394,0.17,3.78,39.55,0.765,4,0.110,0.081,2966,3915,1930,0,0,6,0,0,0
$GC,4450,0.70,213.1,49.9,12.6,539,4457,0.28,3.67,0.00,0.000,6,0.197,0.068,2917,2399,1928,0,0,6,0,0,0
$GC,4795,0.89,251.0,23.3,7.6,600,4837,0.17,3.85,32.28,0.747,4,0.113,0.081,2974,3916,1776,0,0,5,0,0,0
$FREEZE,8.82,-1.301,-1.827,0,1,0
$FREEZE,8.18,-1.300,-1.827,0,1,0
$FREEZE,7.42,-1.301,-1.826,0,1,0
$FREEZE,6.71,-1.305,-1.825,0,1,0
$GC,4917,0.81,251.0,6.7,13.5,622,4924,0.17,3.67,0.00,0.000,6,0.195,0.070,2952,2403,1773,0,0,6,0,0,0
$FREEZE,4.93,-1.303,-1.824,0,1,0
$FREEZE,4.48,-1.312,-1.824,0,1,0
$FREEZE,4.09,-1.309,-1.823,0,1,0
$FREEZE,3.45,-1.310,-1.823,0,1,0
$FREEZE,2.88,-1.311,-1.823,0,1,0
$FREEZE,2.22,-1.313,-1.822,0,1,0
$FREEZE,1.62,-1.314,-1.822,0,1,0
$STATE,4962,end climb,SURFACE_DEPTH_REACHED
$STATE,4962,begin surface coast
$FREEZE,0.94,-1.312,-1.821,0,1,0
$FREEZE,0.37,-1.321,-1.821,0,1,0
$FREEZE,0.44,-1.262,-1.808,0,1,0
$FINISH,0.4,1.026536
$STATE,4983,end surface coast,CONTROL_FINISHED_OK
$STATE,4983,begin surface
$SM_CCo,5001,52.90,0.733,0,0,1474,325.02
$SM_GC,1.12,0.00,0.00,52.90,0.000,0.000,0.733,129,2803,1474,-8.00,0.08,325.02
$RAFOS_CLK,313
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6658.43,-5753.72,240399,000055
$TT8_MAMPS,0.027612
$HUMID,47.48
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.5,19.1
$24V_AH,22.8,71.452
$10V_AH,10.0,38.256
$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,23.725,65.625,325.275,52.900,0.000,30.790,31.107,124.174,0.750,0.000,15.771,1039.717,2502.048,457.891,1040.392,316.940,0.000,1032.563,0.000,1020.138,0.000,2.625,0.000
$DEVICE_MAMPS,299.897,104.312,911.196,733.252,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,459.520,427.871,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152508
$DATA_FILE_SIZE,25394,633
$CAP_FILE_SIZE,71221,0
$CFSIZE,260165632,219217920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,102,0,0
$SOUNDSPEED,1455.0
$GPS,281209,030836,6730.692,-5754.129,8,1.6,24,-38.5