version: 66.06
glider: 143
mission: 10
dive: 434
start: 12 30 109 2 3 34
data:
$ID,143
$MISSION,10
$DIVE,434
$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,-44967.145
$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,22
$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
$GPS1,015821,6734.902,-5719.844,9,1.8,11,-38.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-61.4
$GPS2,020316,6734.931,-5719.719,9,99.0,28,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6734.931,-5651.401
$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,202
$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,-100.38,0.000,2,0.000,0.000,127,2803,3177,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.2,-5.7,20,148,11.25,2.95,-6.30,0.000,4,0.292,0.104,2446,3913,3398,0,0,6,0,0,0
$GC,211,-0.73,-146.0,14.4,-9.8,36,217,0.00,2.72,0.00,0.000,6,0.000,0.063,2446,2797,3399,0,0,6,0,0,0
$GC,557,-0.73,-146.0,49.3,-10.3,97,562,0.00,2.88,0.00,0.000,4,0.000,0.091,2446,3910,3401,0,0,6,0,0,0
$GC,759,-0.73,-146.0,71.6,-10.1,133,765,0.00,2.70,0.00,0.000,6,0.000,0.065,2446,2800,3400,0,0,6,0,0,0
$GC,1105,-0.79,-146.0,100.2,-7.0,194,1109,0.00,2.88,0.00,0.000,4,0.000,0.093,2446,3913,3399,0,0,7,0,0,0
$GC,1236,-0.85,-146.0,110.1,-7.7,205,1241,0.00,2.75,0.00,0.000,6,0.000,0.065,2446,2799,3399,0,0,5,0,0,0
$GC,1561,-0.93,-146.0,136.9,-9.0,235,1566,0.17,2.85,0.00,0.000,4,0.110,0.088,2374,3916,3397,0,0,7,0,0,0
$GC,1781,-0.76,-146.0,163.4,-11.9,254,1786,0.28,2.70,0.00,0.000,6,0.212,0.064,2439,2795,3398,0,0,6,0,0,0
$GC,2106,-0.83,-146.0,192.5,-7.9,284,2110,0.00,2.85,0.00,0.000,4,0.000,0.090,2439,3913,3398,0,0,6,0,0,0
$GC,2213,-0.91,-146.0,201.9,-8.9,293,2217,0.00,2.12,0.00,0.000,3,0.000,0.061,2440,2981,3397,0,0,4,0,0,0
$STATE,2217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2218,begin apogee
$GC,2225,-0.16,0.0,202.4,8.9,293,2345,0.68,0.00,116.57,0.888,6,0.187,0.000,2628,2402,2799,0,0,0,0,0,0
$STATE,2346,end apogee,CONTROL_FINISHED_OK
$STATE,2346,begin climb
$GC,2348,0.73,146.0,205.9,0.0,305,2475,0.98,0.00,119.97,0.841,6,0.141,0.000,2916,2402,2203,0,0,0,0,0,0
$GC,2789,0.73,146.0,170.4,9.2,347,2799,0.00,3.88,0.00,0.000,4,0.000,0.081,2916,3911,2196,0,0,6,0,0,0
$GC,2849,0.64,146.0,164.2,11.2,352,2856,0.15,3.75,0.00,0.000,6,0.203,0.067,2901,2398,2194,0,0,6,0,0,0
$GC,3174,0.74,174.6,137.5,8.0,383,3206,0.00,3.88,23.45,0.795,4,0.000,0.082,2901,3921,2087,0,0,7,0,0,0
$GC,3280,0.74,174.6,127.2,10.6,392,3286,0.00,3.75,0.00,0.000,6,0.000,0.069,2915,2401,2086,0,0,6,0,0,0
$GC,3608,0.80,181.0,94.6,8.9,428,3624,0.00,3.85,6.75,0.686,4,0.000,0.081,2915,3910,2060,0,0,6,0,0,0
$GC,3698,0.80,181.0,86.7,9.7,444,3704,0.00,3.70,0.00,0.000,6,0.000,0.068,2932,2401,2060,0,0,6,0,0,0
$GC,4041,0.80,181.5,61.4,9.1,505,4047,0.00,3.78,0.00,0.000,4,0.000,0.082,2932,3915,2059,0,0,7,0,0,0
$GC,4092,0.80,181.5,55.5,11.5,514,4098,0.00,3.70,0.00,0.000,6,0.000,0.068,2949,2395,2059,0,0,6,0,0,0
$GC,4435,0.87,236.7,26.0,6.8,575,4492,0.00,3.90,47.50,0.759,4,0.000,0.083,2950,3925,1833,0,0,7,0,0,0
$GC,4548,0.81,236.7,14.8,13.9,596,4554,0.00,3.83,0.00,0.000,6,0.000,0.071,2967,2395,1829,0,0,5,0,0,0
$FREEZE,8.47,-0.509,-1.832,0,1,0
$FREEZE,7.76,-0.510,-1.832,0,1,0
$FREEZE,6.81,-0.508,-1.831,0,1,0
$FREEZE,6.10,-0.509,-1.830,0,1,0
$FREEZE,5.28,-0.510,-1.830,0,1,0
$FREEZE,4.48,-0.511,-1.829,0,1,0
$FREEZE,3.86,-0.512,-1.829,0,1,0
$FREEZE,3.18,-0.513,-1.828,0,1,0
$FREEZE,2.35,-0.512,-1.828,0,1,0
$FREEZE,1.74,-0.512,-1.827,0,1,0
$STATE,4637,end climb,SURFACE_DEPTH_REACHED
$STATE,4637,begin surface coast
$FREEZE,1.18,-0.512,-1.827,0,1,0
$FREEZE,0.38,-0.511,-1.826,0,1,0
$FREEZE,0.24,-0.442,-0.199,0,1,0
$FINISH,0.2,1.002760
$STATE,4656,end surface coast,CONTROL_FINISHED_OK
$STATE,4656,begin surface
$SM_CCo,4675,56.50,0.731,0,0,1474,325.02
$SM_GC,0.94,0.00,0.00,56.50,0.000,0.000,0.731,127,2797,1474,-8.01,-0.08,325.02
$RAFOS_CLK,298
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6703.95,-5714.87,260399,000026
$TT8_MAMPS,0.027612
$HUMID,47.83
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,16.90
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.7,19.1
$24V_AH,22.8,74.770
$10V_AH,10.0,39.523
$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,22.075,67.925,314.250,56.500,0.000,23.318,32.793,116.552,1.250,0.000,32.308,1003.022,2255.858,457.634,1021.632,292.038,0.000,1014.371,0.000,984.522,0.000,2.616,0.000
$DEVICE_MAMPS,292.227,103.545,888.186,730.951,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,444.041,414.504,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152560
$DATA_FILE_SIZE,22185,615
$CAP_FILE_SIZE,67565,0
$CFSIZE,260165632,217903104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,122,0,0
$SOUNDSPEED,1455.6
$GPS,301209,032434,6734.586,-5717.400,63,99.0,82,-38.4