version: 66.06
glider: 143
mission: 10
dive: 477
start: 1 1 110 13 14 51
data:
$ID,143
$MISSION,10
$DIVE,477
$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,-46141.398
$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,20
$R_STBD_OVSHOOT,21
$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
$GPS1,130958,6738.776,-5646.624,16,99.0,36,-38.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.4
$GPS2,131432,6738.837,-5646.663,11,1.3,11,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.438,-5622.165
$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,13,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,118,0.00,0.00,-99.55,0.000,2,0.000,0.000,124,2794,3275,0,0,0,0,0,0
$GC,121,-0.73,-146.0,3.7,-7.1,20,142,11.80,2.47,-3.05,0.000,4,0.306,0.095,2449,1192,3398,0,0,0,0,0,0
$GC,363,-0.73,-146.0,35.6,-10.8,63,369,0.00,2.42,0.00,0.000,6,0.000,0.072,2449,2797,3401,0,0,0,0,0,0
$GC,705,-0.73,-146.0,68.6,-10.0,124,711,0.00,2.92,0.00,0.000,4,0.000,0.092,2449,3930,3401,0,0,6,0,0,0
$GC,883,-0.78,-146.0,84.4,-8.8,155,888,0.00,2.75,0.00,0.000,6,0.000,0.064,2449,2795,3400,0,0,7,0,0,0
$GC,1218,-0.86,-146.0,113.3,-7.6,201,1224,0.12,2.90,0.00,0.000,4,0.118,0.089,2400,3923,3399,0,0,8,0,0,0
$GC,1315,-0.78,-146.0,122.6,-9.8,209,1321,0.15,2.75,0.00,0.000,6,0.209,0.064,2433,2798,3398,0,0,6,0,0,0
$GC,1641,-0.78,-146.0,150.1,-8.5,239,1645,0.00,2.90,0.00,0.000,4,0.000,0.089,2433,3922,3398,0,0,6,0,0,0
$GC,1793,-0.78,-146.0,163.5,-9.4,252,1798,0.00,2.75,0.00,0.000,6,0.000,0.062,2433,2793,3398,0,0,6,0,0,0
$STATE,2083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2083,begin apogee
$GC,2089,-0.16,0.0,188.1,8.1,279,2210,0.70,0.00,116.53,0.866,6,0.184,0.000,2631,2403,2800,0,0,0,0,0,0
$STATE,2211,end apogee,CONTROL_FINISHED_OK
$STATE,2211,begin climb
$GC,2213,0.73,146.0,192.3,0.0,291,2348,0.95,4.20,119.57,0.822,4,0.139,0.080,2914,3921,2200,0,0,10,0,0,0
$GC,2353,0.73,146.0,185.0,9.5,304,2359,0.00,4.15,0.00,0.000,6,0.000,0.068,2932,2404,2199,0,0,7,0,0,0
$GC,2678,0.73,146.0,151.3,10.8,335,2687,0.00,4.00,0.00,0.000,4,0.000,0.081,2932,3923,2196,0,0,5,0,0,0
$GC,2917,0.59,146.0,119.1,13.6,356,2924,0.28,3.88,0.00,0.000,6,0.198,0.069,2884,2393,2194,0,0,5,0,0,0
$GC,3249,0.72,146.0,86.6,9.6,399,3255,0.12,3.92,0.00,0.000,4,0.125,0.081,2925,3933,2194,0,0,7,0,0,0
$GC,3352,0.64,146.0,73.5,14.0,417,3359,0.17,3.85,0.00,0.000,6,0.196,0.068,2903,2394,2194,0,0,6,0,0,0
$GC,3698,0.83,200.1,43.8,6.9,478,3751,0.17,4.03,43.80,0.748,4,0.110,0.080,2961,3932,1983,0,0,6,0,0,0
$GC,3893,0.73,200.1,22.2,12.5,513,3899,0.20,3.88,0.00,0.000,6,0.190,0.068,2932,2401,1978,0,0,6,0,0,0
$FREEZE,8.94,-0.080,-1.838,0,1,0
$FREEZE,8.61,-0.088,-1.838,0,1,0
$FREEZE,8.05,-0.080,-1.837,0,1,0
$FREEZE,7.53,-0.092,-1.837,0,1,0
$FREEZE,7.02,-0.084,-1.836,0,1,0
$FREEZE,6.59,-0.079,-1.836,0,1,0
$FREEZE,6.11,-0.078,-1.836,0,1,0
$FREEZE,5.56,-0.083,-1.835,0,1,0
$FREEZE,5.00,-0.079,-1.835,0,1,0
$FREEZE,4.61,-0.098,-1.835,0,1,0
$FREEZE,4.06,-0.093,-1.834,0,1,0
$FREEZE,3.47,-0.094,-1.834,0,1,0
$FREEZE,3.03,-0.095,-1.833,0,1,0
$FREEZE,2.61,-0.107,-1.834,0,1,0
$FREEZE,2.02,-0.122,-1.833,0,1,0
$FREEZE,1.58,-0.100,-1.832,0,1,0
$STATE,4117,end climb,SURFACE_DEPTH_REACHED
$STATE,4117,begin surface coast
$FREEZE,1.01,-0.135,-1.832,0,1,0
$FREEZE,0.47,-0.157,-1.832,0,1,0
$FREEZE,0.52,-0.164,-0.997,0,1,0
$FREEZE,0.53,-0.137,-1.829,0,1,0
$FINISH,0.5,1.026793
$STATE,4142,end surface coast,CONTROL_FINISHED_OK
$STATE,4142,begin surface
$SM_CCo,4160,71.57,0.721,0,0,1474,325.02
$SM_GC,1.26,0.00,0.00,71.57,0.000,0.000,0.721,125,2807,1474,-8.02,0.20,325.02
$RAFOS_CLK,257
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5757.28,280399,121223
$TT8_MAMPS,0.027612
$HUMID,48.11
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,19.1
$24V_AH,22.9,79.210
$10V_AH,10.0,41.116
$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,22.950,55.850,279.900,71.575,0.000,23.309,34.529,108.357,0.750,0.000,12.580,901.216,1996.327,433.818,898.442,281.984,0.000,930.725,0.000,886.877,0.000,2.620,0.000
$DEVICE_MAMPS,306.033,95.108,865.943,720.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,405.950,375.448,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152584
$DATA_FILE_SIZE,22198,557
$CAP_FILE_SIZE,59953,0
$CFSIZE,260165632,216297472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,91,0,0
$SOUNDSPEED,1458.3
$GPS,010110,142619,6739.663,-5646.547,9,1.6,10,-38.3