version: 66.06
glider: 143
mission: 10
dive: 476
start: 1 1 110 11 57 3
data:
$ID,143
$MISSION,10
$DIVE,476
$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,-46128.191
$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,16
$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
$GPS1,115155,6738.020,-5647.089,6,1.6,12,-38.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-69.4
$GPS2,115644,6738.065,-5647.158,12,1.0,12,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6732.665,-5622.673
$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,187
$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,-94.85,0.000,2,0.000,0.000,130,2799,3174,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.3,-5.4,19,142,11.75,2.95,-5.97,0.000,4,0.305,0.104,2450,3911,3398,0,0,8,0,0,0
$GC,232,-0.73,-146.0,20.2,-10.5,40,238,0.00,2.75,0.00,0.000,6,0.000,0.063,2449,2791,3400,0,0,7,0,0,0
$GC,575,-0.73,-146.0,54.8,-10.2,101,581,0.00,2.92,0.00,0.000,4,0.000,0.091,2450,3921,3400,0,0,6,0,0,0
$GC,705,-0.73,-146.0,67.7,-9.4,124,710,0.00,2.75,0.00,0.000,6,0.000,0.064,2450,2797,3400,0,0,6,0,0,0
$GC,1048,-0.78,-146.0,99.5,-8.9,185,1054,0.00,2.92,0.00,0.000,4,0.000,0.091,2450,3930,3400,0,0,6,0,0,0
$GC,1151,-0.88,-146.0,109.4,-9.6,195,1156,0.15,2.78,0.00,0.000,6,0.114,0.064,2401,2798,3400,0,0,5,0,0,0
$GC,1476,-0.81,-146.0,141.5,-9.0,225,1481,0.00,2.92,0.00,0.000,4,0.000,0.091,2401,3930,3399,0,0,7,0,0,0
$GC,1633,-0.76,-146.0,156.3,-9.9,238,1640,0.15,2.72,0.00,0.000,6,0.195,0.064,2441,2804,3398,0,0,6,0,0,0
$GC,1958,-0.82,-146.0,179.7,-6.8,269,1963,0.00,2.88,0.00,0.000,4,0.000,0.089,2441,3917,3398,0,0,6,0,0,0
$STATE,2056,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2056,begin apogee
$GC,2066,-0.16,0.0,187.3,8.1,277,2187,0.65,0.00,116.47,0.869,6,0.178,0.000,2627,2404,2800,0,0,0,0,0,0
$STATE,2187,end apogee,CONTROL_FINISHED_OK
$STATE,2187,begin climb
$GC,2190,0.73,146.0,191.1,0.0,289,2319,0.95,1.98,119.57,0.825,4,0.135,0.086,2920,800,2202,0,0,0,0,0,0
$GC,2399,0.73,146.0,175.9,11.1,308,2403,0.00,1.85,0.00,0.000,6,0.000,0.062,2920,2409,2198,0,0,0,0,0,0
$GC,2728,0.73,146.0,142.6,9.7,339,2738,0.00,3.90,0.00,0.000,4,0.000,0.081,2920,3917,2195,0,0,7,0,0,0
$GC,2869,0.63,146.0,127.0,11.6,351,2875,0.17,3.85,0.00,0.000,6,0.202,0.069,2899,2399,2194,0,0,6,0,0,0
$GC,3195,0.75,173.6,98.9,8.0,383,3226,0.10,3.95,22.45,0.771,4,0.136,0.082,2931,3921,2091,0,0,7,0,0,0
$GC,3300,0.67,173.6,87.0,12.2,402,3307,0.17,3.88,0.00,0.000,6,0.199,0.069,2909,2392,2089,0,0,6,0,0,0
$GC,3646,0.82,202.0,56.6,8.0,463,3678,0.15,3.95,24.42,0.750,4,0.117,0.081,2960,3924,1975,0,0,8,0,0,0
$GC,3762,0.71,202.0,42.7,13.2,484,3769,0.22,3.88,0.00,0.000,6,0.192,0.068,2924,2394,1973,0,0,6,0,0,0
$GC,4108,0.83,202.0,10.3,9.3,545,4114,0.00,3.92,0.00,0.000,4,0.000,0.081,2923,3929,1973,0,0,7,0,0,0
$FREEZE,8.89,0.124,-1.840,0,1,0
$FREEZE,8.32,0.126,-1.840,0,1,0
$FREEZE,7.74,0.106,-1.839,0,1,0
$FREEZE,7.21,0.101,-1.839,0,1,0
$FREEZE,6.69,0.086,-1.838,0,1,0
$FREEZE,5.95,0.092,-1.837,0,1,0
$FREEZE,5.47,0.060,-1.838,0,1,0
$FREEZE,4.89,0.078,-1.837,0,1,0
$FREEZE,4.23,0.071,-1.836,0,1,0
$FREEZE,3.55,0.026,-1.836,0,1,0
$FREEZE,3.14,0.020,-1.836,0,1,0
$FREEZE,2.45,-0.007,-1.835,0,1,0
$FREEZE,1.80,-0.028,-1.835,0,1,0
$STATE,4187,end climb,SURFACE_DEPTH_REACHED
$STATE,4187,begin surface coast
$FREEZE,1.20,-0.059,-1.835,0,1,0
$FREEZE,0.67,-0.107,-1.834,0,1,0
$FINISH,0.7,1.026860
$STATE,4198,end surface coast,CONTROL_FINISHED_OK
$STATE,4198,begin surface
$SM_CCo,4219,71.10,0.726,0,0,1475,325.02
$SM_GC,1.23,0.00,0.00,71.10,0.000,0.000,0.726,124,2793,1475,-8.02,-0.17,325.02
$RAFOS_CLK,262
$RAFOS,6,1262350150,12.833333,12.819445,63,61,59,0,0,0,202,149,118,0,0,0
$RAFOS,5,1262349664,12.700000,12.684444,64,60,58,0,0,0,843,189,834,0,0,0
$RAFOS,4,1262349182,12.566667,12.550555,59,57,57,0,0,0,171,136,210,0,0,0
$RAFOS,3,1262348702,12.433333,12.417222,71,57,57,0,0,0,175,155,198,0,0,0
$RAFOS,2,1262348230,12.300000,12.286111,63,63,60,0,0,0,180,191,209,0,0,0
$RAFOS,1,1262347743,12.166667,12.150833,61,57,55,0,0,0,190,170,134,0,0,0
$RAFOS,0,1262347264,12.033333,12.017777,63,59,58,0,0,0,207,117,190,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5643.65,280399,101026
$TT8_MAMPS,0.027612
$HUMID,48.07
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,20.0,19.8
$24V_AH,22.9,79.120
$10V_AH,10.0,41.082
$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,22.625,63.400,282.925,71.100,0.000,25.571,40.436,115.455,0.750,0.000,13.700,916.283,2008.713,440.109,916.802,302.872,0.000,949.421,0.000,901.902,2520.000,2.618,0.000
$DEVICE_MAMPS,305.266,104.312,869.011,726.349,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,409.950,377.720,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152568
$DATA_FILE_SIZE,22219,561
$CAP_FILE_SIZE,63843,0
$CFSIZE,260165632,216326144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,116,0,0
$SOUNDSPEED,1457.3
$GPS,010110,130958,6738.776,-5646.624,16,99.0,36,-38.3