version: 66.06
glider: 143
mission: 10
dive: 471
start: 1 1 110 5 35 44
data:
$ID,143
$MISSION,10
$DIVE,471
$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,-46057.832
$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,15
$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
$GPS1,053028,6739.630,-5652.451,7,3.2,27,-38.3
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-67.1
$GPS2,053526,6739.597,-5652.353,11,1.5,11,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6734.197,-5627.842
$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,189
$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,-146.0,0.0,0.0,0,108,0.00,0.00,-90.12,0.000,2,0.000,0.000,128,2806,3062,0,0,0,0,0,0
$GC,111,-0.73,-146.0,3.0,-5.5,18,142,11.55,2.97,-9.98,0.000,4,0.300,0.102,2450,3925,3398,0,0,8,0,0,0
$GC,212,-0.77,-146.0,16.3,-12.9,36,218,0.00,2.80,0.00,0.000,6,0.000,0.063,2450,2792,3399,0,0,6,0,0,0
$GC,558,-0.77,-146.0,49.5,-9.4,97,563,0.00,2.90,0.00,0.000,4,0.000,0.091,2451,3926,3400,0,0,9,0,0,0
$GC,766,-0.83,-146.0,70.9,-11.5,134,772,0.00,2.78,0.00,0.000,6,0.000,0.065,2450,2794,3400,0,0,6,0,0,0
$GC,1114,-0.90,-146.0,104.0,-8.9,192,1119,0.15,2.92,0.00,0.000,4,0.112,0.091,2399,3932,3400,0,0,8,0,0,0
$GC,1327,-0.81,-146.0,127.1,-10.6,210,1333,0.00,2.78,0.00,0.000,6,0.000,0.066,2400,2799,3397,0,0,6,0,0,0
$GC,1652,-0.75,-146.0,161.0,-10.5,241,1658,0.17,2.90,0.00,0.000,4,0.214,0.089,2428,3922,3398,0,0,7,0,0,0
$GC,1911,-0.81,-146.0,185.9,-9.6,263,1916,0.00,2.75,0.00,0.000,6,0.000,0.063,2428,2792,3397,0,0,6,0,0,0
$STATE,1946,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1946,begin apogee
$GC,1952,-0.16,0.0,189.4,9.4,267,2073,0.73,0.00,116.47,0.879,6,0.189,0.000,2627,2401,2799,0,0,0,0,0,0
$STATE,2074,end apogee,CONTROL_FINISHED_OK
$STATE,2074,begin climb
$GC,2076,0.73,146.0,193.0,0.0,279,2206,0.98,2.05,119.88,0.828,4,0.143,0.088,2922,801,2202,0,0,0,0,0,0
$GC,2240,0.73,146.0,182.1,10.5,294,2244,0.00,1.88,0.00,0.000,6,0.000,0.063,2922,2404,2199,0,0,0,0,0,0
$GC,2570,0.73,146.0,150.3,9.7,325,2579,0.00,3.92,0.00,0.000,4,0.000,0.082,2922,3916,2196,0,0,7,0,0,0
$GC,2674,0.62,146.0,138.6,11.1,334,2681,0.20,3.85,0.00,0.000,6,0.199,0.070,2893,2402,2194,0,0,6,0,0,0
$GC,2999,0.75,162.1,109.7,8.5,365,3021,0.12,3.92,13.07,0.749,4,0.124,0.082,2935,3919,2138,0,0,7,0,0,0
$GC,3123,0.64,162.1,94.9,12.5,379,3129,0.22,3.83,0.00,0.000,6,0.197,0.070,2899,2397,2138,0,0,6,0,0,0
$GC,3469,0.85,209.8,67.5,7.2,440,3521,0.20,3.92,40.90,0.761,4,0.105,0.081,2967,3916,1942,0,0,7,0,0,0
$GC,3606,0.73,209.8,51.3,13.1,465,3613,0.22,3.83,0.00,0.000,6,0.191,0.069,2931,2399,1939,0,0,6,0,0,0
$GC,3953,0.83,211.3,18.0,9.1,526,3959,0.00,3.88,0.00,0.000,4,0.000,0.082,2931,3919,1937,0,0,6,0,0,0
$GC,4016,0.83,211.3,10.8,11.5,537,4022,0.00,3.80,0.00,0.000,6,0.000,0.071,2947,2401,1937,0,0,6,0,0,0
$FREEZE,8.89,-0.281,-1.835,0,1,0
$FREEZE,8.33,-0.282,-1.834,0,1,0
$FREEZE,7.80,-0.282,-1.834,0,1,0
$FREEZE,7.16,-0.279,-1.833,0,1,0
$FREEZE,6.56,-0.256,-1.833,0,1,0
$FREEZE,6.01,-0.278,-1.833,0,1,0
$FREEZE,5.36,-0.282,-1.832,0,1,0
$FREEZE,4.75,-0.281,-1.832,0,1,0
$FREEZE,4.14,-0.281,-1.831,0,1,0
$FREEZE,3.44,-0.250,-1.830,0,1,0
$FREEZE,2.92,-0.237,-1.830,0,1,0
$FREEZE,2.27,-0.245,-1.830,0,1,0
$FREEZE,1.59,-0.268,-1.829,0,1,0
$STATE,4101,end climb,SURFACE_DEPTH_REACHED
$STATE,4101,begin surface coast
$FREEZE,1.11,-0.271,-1.829,0,1,0
$FREEZE,0.43,-0.278,-1.829,0,1,0
$FREEZE,0.66,-0.266,-1.828,0,1,0
$FINISH,0.7,1.026779
$STATE,4118,end surface coast,CONTROL_FINISHED_OK
$STATE,4118,begin surface
$SM_CCo,4137,67.55,0.727,0,0,1475,325.02
$SM_GC,1.37,0.00,0.00,67.55,0.000,0.000,0.727,128,2804,1475,-8.01,0.11,325.02
$RAFOS_CLK,260
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5656.20,280399,040428
$TT8_MAMPS,0.027612
$HUMID,47.79
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.5,19.2
$24V_AH,22.8,78.650
$10V_AH,10.0,40.911
$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,22.825,59.750,290.325,67.550,0.000,27.660,31.795,131.819,0.750,0.000,12.787,918.447,1910.729,441.872,926.379,309.026,0.000,955.123,0.000,909.443,0.000,2.618,0.000
$DEVICE_MAMPS,299.897,102.011,878.982,727.116,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,400.342,373.128,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152560
$DATA_FILE_SIZE,22157,555
$CAP_FILE_SIZE,63378,0
$CFSIZE,260165632,216514560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,107,0,0
$SOUNDSPEED,1455.5
$GPS,010110,064704,6738.846,-5651.018,9,99.0,29,-38.3