version: 66.06
glider: 143
mission: 10
dive: 479
start: 1 1 110 15 43 24
data:
$ID,143
$MISSION,10
$DIVE,479
$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,-46184.035
$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,15
$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
$GPS1,153822,6740.257,-5646.266,9,99.0,29,-38.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-69.6
$GPS2,154306,6740.325,-5646.282,9,2.0,25,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6734.925,-5621.758
$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,158.3,20000,-16.9,-9.167
$D_GRID,188
$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,-146.0,0.0,0.0,0,113,0.00,0.00,-94.82,0.000,2,0.000,0.000,128,2806,3165,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.2,-5.5,19,142,11.55,2.53,-6.40,0.000,4,0.300,0.097,2456,1203,3399,0,0,1,0,0,0
$GC,339,-0.73,-146.0,30.2,-9.8,59,344,0.00,2.40,0.00,0.000,6,0.000,0.073,2456,2797,3400,0,0,0,0,0,0
$GC,683,-0.78,-146.0,61.3,-7.7,120,689,0.00,2.92,0.00,0.000,4,0.000,0.094,2456,3923,3401,0,0,6,0,0,0
$GC,899,-0.85,-146.0,78.5,-7.6,158,905,0.12,2.78,0.00,0.000,6,0.123,0.064,2416,2792,3400,0,0,6,0,0,0
$GC,1242,-0.85,-146.0,111.9,-9.8,209,1247,0.00,2.92,0.00,0.000,4,0.000,0.091,2416,3920,3399,0,0,7,0,0,0
$GC,1371,-0.85,-146.0,124.5,-9.5,220,1376,0.00,2.75,0.00,0.000,6,0.000,0.064,2416,2801,3398,0,0,6,0,0,0
$GC,1695,-0.85,-146.0,153.9,-9.2,250,1700,0.00,2.92,0.00,0.000,4,0.000,0.090,2416,3933,3398,0,0,6,0,0,0
$GC,1829,-0.85,-146.0,167.0,-10.1,261,1835,0.00,2.78,0.00,0.000,6,0.000,0.063,2416,2796,3397,0,0,6,0,0,0
$STATE,2056,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2058,begin apogee
$GC,2064,-0.16,0.0,188.4,7.9,283,2184,0.77,0.00,116.22,0.873,6,0.189,0.000,2628,2399,2799,0,0,0,0,0,0
$STATE,2185,end apogee,CONTROL_FINISHED_OK
$STATE,2185,begin climb
$GC,2187,0.73,146.0,192.2,0.0,295,2317,0.95,1.98,119.50,0.825,4,0.138,0.087,2920,800,2202,0,0,0,0,0,0
$GC,2436,0.73,146.0,173.7,9.6,317,2441,0.00,1.83,0.00,0.000,6,0.000,0.062,2920,2407,2199,0,0,0,0,0,0
$GC,2760,0.73,146.0,142.0,9.2,348,2769,0.00,3.90,0.00,0.000,4,0.000,0.082,2920,3925,2196,0,0,7,0,0,0
$GC,2888,0.63,146.0,128.3,11.5,359,2895,0.17,3.85,0.00,0.000,6,0.199,0.069,2898,2397,2194,0,0,6,0,0,0
$GC,3213,0.73,163.9,101.9,8.4,390,3234,0.00,3.92,14.60,0.753,4,0.000,0.081,2898,3920,2131,0,0,7,0,0,0
$GC,3332,0.73,163.9,90.4,10.9,408,3338,0.00,3.83,0.00,0.000,6,0.000,0.068,2913,2398,2129,0,0,6,0,0,0
$GC,3678,0.85,184.0,59.7,8.3,469,3706,0.15,3.88,17.95,0.748,4,0.100,0.081,2968,3909,2049,0,0,8,0,0,0
$GC,3808,0.70,184.0,44.1,12.7,492,3818,0.28,3.83,0.00,0.000,6,0.196,0.068,2919,2398,2048,0,0,6,0,0,0
$GC,4156,0.86,221.7,15.4,7.6,554,4198,0.15,3.97,32.33,0.739,4,0.117,0.082,2969,3930,1895,0,0,7,0,0,0
$FREEZE,8.41,-0.277,-1.836,0,1,0
$FREEZE,7.65,-0.278,-1.835,0,1,0
$FREEZE,6.88,-0.290,-1.834,0,1,0
$FREEZE,6.26,-0.289,-1.834,0,1,0
$FREEZE,5.64,-0.281,-1.833,0,1,0
$FREEZE,4.88,-0.283,-1.833,0,1,0
$FREEZE,4.18,-0.287,-1.832,0,1,0
$FREEZE,3.39,-0.285,-1.832,0,1,0
$FREEZE,2.54,-0.273,-1.831,0,1,0
$FREEZE,1.78,-0.268,-1.830,0,1,0
$STATE,4269,end climb,SURFACE_DEPTH_REACHED
$STATE,4270,begin surface coast
$FREEZE,1.17,-0.272,-1.830,0,1,0
$FREEZE,0.37,-0.279,-1.829,0,1,0
$FINISH,0.4,1.026804
$STATE,4281,end surface coast,CONTROL_FINISHED_OK
$STATE,4281,begin surface
$SM_CCo,4302,62.92,0.719,0,0,1475,325.02
$SM_GC,1.34,0.00,0.00,62.92,0.000,0.000,0.719,130,2796,1475,-8.00,-0.14,325.02
$RAFOS_CLK,263
$RAFOS,5,1262364064,16.700001,16.684444,63,58,56,0,0,0,194,182,210,0,0,0
$RAFOS,4,1262363591,16.566668,16.553055,64,59,57,0,0,0,215,206,138,0,0,0
$RAFOS,3,1262363107,16.433332,16.418612,67,61,59,0,0,0,195,224,204,0,0,0
$RAFOS,2,1262362628,16.299999,16.285555,60,57,55,0,0,0,197,225,212,0,0,0
$RAFOS,1,1262362148,16.166666,16.152222,61,58,55,0,0,0,209,197,144,0,0,0
$RAFOS,0,1262361665,16.033333,16.018055,65,64,62,0,0,0,154,192,204,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5640.55,280399,141439
$TT8_MAMPS,0.029146
$HUMID,47.91
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,20.4
$24V_AH,22.9,79.397
$10V_AH,9.9,41.183
$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,22.575,56.875,300.600,62.925,0.000,29.758,32.373,102.300,0.750,0.000,27.379,922.191,2054.845,443.791,948.022,286.099,0.000,964.694,0.000,920.421,2520.000,2.621,0.000
$DEVICE_MAMPS,299.897,96.642,872.846,718.679,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,420.624,388.596,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152600
$DATA_FILE_SIZE,22227,577
$CAP_FILE_SIZE,62667,0
$CFSIZE,260165632,216223744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,91,0,0
$SOUNDSPEED,1457.4
$GPS,010110,165741,6740.338,-5646.066,40,1.5,45,-38.3