version: 66.06
glider: 143
mission: 10
dive: 410
start: 12 28 109 14 19 58
data:
$ID,143
$MISSION,10
$DIVE,410
$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,-44397.969
$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,21
$R_STBD_OVSHOOT,17
$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
$GPS1,141030,6731.618,-5745.381,38,1.5,38,-38.4
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-61.0
$GPS2,141938,6731.654,-5745.450,12,1.7,12,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6731.654,-5717.198
$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,128.4,20000,-16.9,-9.167
$D_GRID,233
$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,-146.0,0.0,0.0,0,118,0.00,0.00,-100.38,0.000,2,0.000,0.000,122,2795,3140,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.0,-5.8,20,148,10.90,2.95,-7.12,0.000,4,0.282,0.106,2445,3917,3398,0,0,6,0,0,0
$GC,294,-0.73,-146.0,22.6,-10.1,51,300,0.00,2.65,0.00,0.000,6,0.000,0.062,2445,2802,3401,0,0,6,0,0,0
$GC,638,-0.73,-146.0,57.4,-8.7,112,643,0.00,2.83,0.00,0.000,4,0.000,0.091,2445,3922,3401,0,0,7,0,0,0
$GC,869,-0.73,-146.0,80.5,-10.2,153,874,0.00,2.70,0.00,0.000,6,0.000,0.064,2445,2800,3400,0,0,5,0,0,0
$GC,1205,-0.81,-146.0,112.6,-9.6,202,1210,0.00,2.83,0.00,0.000,4,0.000,0.092,2445,3915,3399,0,0,6,0,0,0
$GC,1418,-0.89,-146.0,131.0,-8.3,220,1424,0.12,2.65,0.00,0.000,6,0.131,0.064,2406,2800,3397,0,0,6,0,0,0
$GC,1742,-0.89,-146.0,162.0,-9.9,251,1747,0.00,2.83,0.00,0.000,4,0.000,0.091,2406,3920,3397,0,0,6,0,0,0
$GC,1826,-0.84,-146.0,170.1,-9.8,258,1831,0.00,2.67,0.00,0.000,6,0.000,0.064,2406,2801,3397,0,0,5,0,0,0
$GC,2150,-0.84,-146.0,201.2,-9.6,288,2155,0.00,2.83,0.00,0.000,4,0.000,0.088,2406,3917,3397,0,0,5,0,0,0
$GC,2317,-0.84,-146.0,217.5,-10.2,302,2323,0.00,2.67,0.00,0.000,6,0.000,0.061,2406,2797,3397,0,0,5,0,0,0
$STATE,2480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2481,begin apogee
$GC,2487,-0.16,0.0,233.1,9.3,318,2608,0.82,0.00,116.68,0.894,6,0.192,0.000,2631,2393,2800,0,0,0,0,0,0
$STATE,2609,end apogee,CONTROL_FINISHED_OK
$STATE,2609,begin climb
$GC,2611,0.73,146.0,236.0,0.0,330,2740,0.95,2.08,119.82,0.848,4,0.140,0.084,2922,804,2202,0,0,0,0,0,0
$GC,2819,0.73,146.0,219.3,10.6,349,2823,0.00,1.98,0.00,0.000,6,0.000,0.062,2922,2413,2199,0,0,0,0,0,0
$GC,3149,0.73,146.0,184.4,10.7,380,3158,0.00,3.72,0.00,0.000,4,0.000,0.081,2922,3919,2196,0,0,6,0,0,0
$GC,3186,0.62,146.0,179.8,12.5,383,3193,0.20,3.67,0.00,0.000,6,0.201,0.067,2893,2403,2194,0,0,5,0,0,0
$GC,3511,0.70,150.8,150.5,9.0,414,3522,0.00,3.72,3.97,0.555,4,0.000,0.080,2893,3916,2185,0,0,6,0,0,0
$GC,3572,0.70,150.8,144.3,10.2,419,3578,0.00,3.65,0.00,0.000,6,0.000,0.066,2908,2394,2184,0,0,5,0,0,0
$GC,3897,0.76,162.0,113.2,8.7,450,3918,0.00,3.70,11.30,0.743,4,0.000,0.079,2908,3915,2137,0,0,6,0,0,0
$GC,4003,0.71,162.0,102.6,10.7,459,4009,0.00,3.62,0.00,0.000,6,0.000,0.066,2924,2405,2137,0,0,5,0,0,0
$GC,4344,0.75,194.1,73.6,7.8,518,4380,0.00,3.75,27.60,0.764,4,0.000,0.079,2924,3921,2006,0,0,6,0,0,0
$GC,4432,0.75,194.1,65.9,9.6,534,4438,0.00,3.67,0.00,0.000,6,0.000,0.065,2941,2396,2005,0,0,5,0,0,0
$GC,4776,0.79,222.1,32.6,8.0,595,4808,0.00,3.75,23.95,0.739,4,0.000,0.078,2941,3914,1893,0,0,6,0,0,0
$GC,4825,0.79,222.1,26.8,12.6,604,4830,0.00,3.67,0.00,0.000,6,0.000,0.065,2957,2393,1892,0,0,5,0,0,0
$FREEZE,8.57,-0.905,-1.829,0,1,0
$FREEZE,7.92,-0.909,-1.829,0,1,0
$FREEZE,7.50,-0.910,-1.829,0,1,0
$FREEZE,7.15,-0.909,-1.828,0,1,0
$FREEZE,6.43,-0.910,-1.828,0,1,0
$FREEZE,5.73,-0.910,-1.827,0,1,0
$FREEZE,4.91,-0.910,-1.827,0,1,0
$FREEZE,3.97,-0.909,-1.826,0,1,0
$FREEZE,3.12,-0.909,-1.825,0,1,0
$FREEZE,2.32,-0.907,-1.825,0,1,0
$FREEZE,1.62,-0.908,-1.824,0,1,0
$STATE,5009,end climb,SURFACE_DEPTH_REACHED
$STATE,5009,begin surface coast
$FREEZE,0.87,-0.908,-1.824,0,1,0
$FREEZE,0.29,-0.907,-1.823,0,1,0
$FINISH,0.3,1.026742
$STATE,5021,end surface coast,CONTROL_FINISHED_OK
$STATE,5021,begin surface
$SM_CCo,5039,60.12,0.721,0,0,1475,325.02
$SM_GC,1.03,0.00,0.00,60.12,0.000,0.000,0.721,127,2792,1475,-8.01,-0.23,325.02
$RAFOS_CLK,329
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5711.82,240399,141402
$TT8_MAMPS,0.027612
$HUMID,46.10
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.20
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.4,19.7
$24V_AH,22.9,72.265
$10V_AH,10.0,38.578
$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,21.375,70.475,303.325,60.125,0.000,50.501,77.212,240.708,1.250,0.000,13.482,1030.233,2610.047,458.731,1051.657,503.047,0.000,1039.128,0.000,1038.062,0.000,2.624,0.000
$DEVICE_MAMPS,282.256,105.846,894.322,720.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,466.384,431.405,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152552
$DATA_FILE_SIZE,25331,639
$CAP_FILE_SIZE,74058,0
$CFSIZE,260165632,218861568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,112,0,0
$SOUNDSPEED,1458.5
$GPS,281209,154630,6731.186,-5745.089,28,1.9,44,-38.4