version: 66.06
glider: 143
mission: 10
dive: 470
start: 1 1 110 4 22 26
data:
$ID,143
$MISSION,10
$DIVE,470
$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,-46044.418
$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,19
$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
$GPS1,041707,6740.119,-5654.065,30,1.0,31,-38.4
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-66.6
$GPS2,042208,6740.118,-5653.948,10,1.6,10,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6734.718,-5629.428
$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,192
$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,-100.12,0.000,2,0.000,0.000,129,2795,3240,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.7,-7.5,20,144,11.57,2.97,-3.95,0.000,4,0.301,0.102,2450,3928,3398,0,0,7,0,0,0
$GC,307,-0.73,-146.0,28.7,-10.3,53,312,0.00,2.78,0.00,0.000,6,0.000,0.064,2450,2801,3400,0,0,6,0,0,0
$GC,649,-0.73,-146.0,64.7,-10.8,114,655,0.00,2.92,0.00,0.000,4,0.000,0.091,2450,3924,3400,0,0,6,0,0,0
$GC,785,-0.73,-146.0,80.8,-12.5,138,791,0.00,2.78,0.00,0.000,6,0.000,0.064,2450,2791,3400,0,0,6,0,0,0
$GC,1126,-0.81,-146.0,117.9,-10.4,184,1131,0.00,2.90,0.00,0.000,4,0.000,0.093,2450,3919,3399,0,0,8,0,0,0
$GC,1273,-0.89,-146.0,132.6,-9.4,196,1279,0.15,2.75,0.00,0.000,6,0.118,0.065,2402,2799,3398,0,0,6,0,0,0
$GC,1600,-0.84,-146.0,168.7,-10.4,227,1605,0.00,2.92,0.00,0.000,4,0.000,0.091,2403,3926,3398,0,0,7,0,0,0
$STATE,1821,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1821,begin apogee
$GC,1831,-0.16,0.0,192.2,10.1,246,1952,0.82,0.00,116.38,0.879,6,0.193,0.000,2627,2402,2800,0,0,0,0,0,0
$STATE,1952,end apogee,CONTROL_FINISHED_OK
$STATE,1953,begin climb
$GC,1955,0.73,146.0,195.9,0.0,258,2082,0.98,2.00,119.90,0.831,4,0.143,0.087,2921,787,2202,0,0,0,0,0,0
$GC,2098,0.73,146.0,186.1,10.1,271,2104,0.00,1.92,0.00,0.000,6,0.000,0.061,2921,2398,2201,0,0,0,0,0,0
$GC,2424,0.73,146.0,148.1,12.0,302,2434,0.00,3.95,0.00,0.000,4,0.000,0.081,2922,3923,2196,0,0,7,0,0,0
$GC,2540,0.64,146.0,131.7,15.2,312,2547,0.17,3.88,0.00,0.000,6,0.197,0.070,2900,2396,2194,0,0,6,0,0,0
$GC,2868,0.74,146.0,98.4,10.3,344,2874,0.00,3.92,0.00,0.000,4,0.000,0.081,2899,3934,2194,0,0,7,0,0,0
$GC,2936,0.74,146.0,90.8,11.1,356,2942,0.00,3.85,0.00,0.000,6,0.000,0.069,2915,2393,2194,0,0,6,0,0,0
$GC,3281,0.83,154.2,60.4,8.8,417,3297,0.12,3.97,7.15,0.672,4,0.107,0.081,2963,3929,2170,0,0,7,0,0,0
$GC,3405,0.66,154.2,45.4,12.8,439,3412,0.30,3.83,0.00,0.000,6,0.194,0.068,2906,2398,2169,0,0,6,0,0,0
$GC,3752,0.87,218.3,19.4,6.5,500,3814,0.20,4.03,53.60,0.742,4,0.104,0.083,2975,3929,1909,0,0,7,0,0,0
$FREEZE,8.67,-0.283,-1.835,0,1,0
$FREEZE,8.06,-0.281,-1.834,0,1,0
$FREEZE,7.39,-0.286,-1.834,0,1,0
$FREEZE,6.71,-0.292,-1.833,0,1,0
$FREEZE,6.11,-0.286,-1.833,0,1,0
$FREEZE,5.33,-0.285,-1.832,0,1,0
$FREEZE,4.68,-0.286,-1.831,0,1,0
$FREEZE,3.92,-0.285,-1.831,0,1,0
$FREEZE,2.73,-0.284,-1.830,0,1,0
$GC,3895,0.72,218.3,3.9,12.0,526,3907,0.28,3.90,0.00,0.000,6,0.190,0.069,2925,2398,1904,0,0,6,0,0,0
$FREEZE,1.01,-0.291,-1.829,0,1,0
$STATE,3912,end climb,SURFACE_DEPTH_REACHED
$STATE,3912,begin surface coast
$FREEZE,0.44,-0.294,-1.828,0,1,0
$FREEZE,0.42,-0.578,-1.825,0,1,0
$FINISH,0.4,1.026759
$STATE,3924,end surface coast,CONTROL_FINISHED_OK
$STATE,3924,begin surface
$SM_CCo,3943,64.85,0.719,0,0,1475,325.02
$SM_GC,1.27,0.00,0.00,64.85,0.000,0.000,0.719,129,2804,1475,-8.00,0.11,325.02
$RAFOS_CLK,249
$RAFOS,6,1262321341,4.833333,4.816945,63,60,59,0,0,0,184,115,207,0,0,0
$RAFOS,5,1262320868,4.700000,4.685555,63,54,51,0,0,0,203,119,147,0,0,0
$RAFOS,4,1262320382,4.566667,4.550556,68,63,55,0,0,0,205,189,217,0,0,0
$RAFOS,3,1262319905,4.433333,4.418056,59,56,52,0,0,0,168,215,196,0,0,0
$RAFOS,1,1262318946,4.166667,4.151667,61,59,58,0,0,0,133,207,117,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5700.94,280399,030310
$TT8_MAMPS,0.027612
$HUMID,47.08
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,20.1
$24V_AH,22.8,78.556
$10V_AH,10.0,40.877
$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,22.950,60.200,297.025,64.850,0.000,23.193,31.460,141.131,0.750,0.000,12.040,861.340,1833.934,447.080,863.205,308.544,0.000,934.812,0.000,850.836,1440.000,2.620,0.000
$DEVICE_MAMPS,300.664,102.011,878.982,718.679,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,385.149,356.288,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152580
$DATA_FILE_SIZE,19032,531
$CAP_FILE_SIZE,60893,0
$CFSIZE,260165632,216559616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,104,0,0
$SOUNDSPEED,1456.0
$GPS,010110,053028,6739.630,-5652.451,7,3.2,27,-38.3