version: 66.06
glider: 143
mission: 10
dive: 481
start: 1 1 110 18 19 40
data:
$ID,143
$MISSION,10
$DIVE,481
$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,-46236.461
$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,17
$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
$GPS1,181414,6739.883,-5645.950,9,1.7,10,-38.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-66.2
$GPS2,181922,6739.870,-5645.945,15,2.1,34,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6734.470,-5621.429
$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,-95.07,0.000,2,0.000,0.000,124,2804,3159,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.2,-5.3,19,142,11.45,2.55,-6.45,0.000,4,0.296,0.097,2446,1189,3399,0,0,1,0,0,0
$GC,323,-0.73,-146.0,31.0,-11.7,56,329,0.00,2.42,0.00,0.000,6,0.000,0.073,2446,2798,3401,0,0,0,0,0,0
$GC,667,-0.73,-146.0,70.5,-12.0,117,673,0.00,2.92,0.00,0.000,4,0.000,0.093,2446,3920,3401,0,0,6,0,0,0
$GC,926,-0.78,-146.0,98.7,-10.0,163,931,0.00,2.75,0.00,0.000,6,0.000,0.065,2446,2796,3400,0,0,7,0,0,0
$GC,1252,-0.86,-146.0,127.6,-8.2,195,1257,0.00,2.92,0.00,0.000,4,0.000,0.091,2446,3925,3399,0,0,6,0,0,0
$GC,1483,-0.94,-146.0,147.5,-8.7,215,1489,0.20,2.75,0.00,0.000,6,0.108,0.064,2378,2799,3398,0,0,6,0,0,0
$GC,1808,-0.81,-146.0,185.7,-11.4,245,1813,0.20,2.90,0.00,0.000,4,0.205,0.087,2425,3926,3398,0,0,7,0,0,0
$STATE,1828,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1828,begin apogee
$GC,1837,-0.16,0.0,188.1,10.5,246,1958,0.73,0.00,116.53,0.874,6,0.189,0.000,2625,2395,2800,0,0,0,0,0,0
$STATE,1958,end apogee,CONTROL_FINISHED_OK
$STATE,1958,begin climb
$GC,1961,0.73,146.0,192.5,0.0,258,2090,0.95,1.98,119.75,0.828,4,0.135,0.087,2918,792,2201,0,0,0,0,0,0
$GC,2210,0.73,146.0,171.4,10.1,280,2215,0.00,1.85,0.00,0.000,6,0.000,0.061,2918,2412,2198,0,0,0,0,0,0
$GC,2535,0.73,153.9,141.0,8.8,311,2550,0.00,3.95,6.72,0.690,4,0.000,0.081,2918,3912,2171,0,0,6,0,0,0
$GC,2653,0.66,153.9,128.5,10.9,321,2660,0.15,3.83,0.00,0.000,6,0.202,0.068,2903,2403,2171,0,0,6,0,0,0
$GC,2979,0.77,189.3,100.8,7.7,352,3020,0.10,3.95,30.38,0.779,4,0.138,0.081,2935,3924,2026,0,0,7,0,0,0
$GC,3111,0.67,189.3,86.5,11.8,375,3117,0.17,3.88,0.00,0.000,6,0.195,0.068,2913,2394,2024,0,0,6,0,0,0
$GC,3456,0.83,224.8,58.9,7.7,436,3497,0.15,3.95,30.10,0.754,4,0.117,0.081,2964,3914,1882,0,0,7,0,0,0
$GC,3599,0.73,224.8,42.0,12.6,462,3605,0.22,3.85,0.00,0.000,6,0.189,0.069,2928,2398,1880,0,0,6,0,0,0
$GC,3946,0.84,224.8,9.8,9.6,523,3953,0.10,3.92,0.00,0.000,4,0.135,0.081,2960,3915,1879,0,0,6,0,0,0
$FREEZE,8.13,-0.322,-1.835,0,1,0
$FREEZE,7.45,-0.321,-1.834,0,1,0
$FREEZE,6.57,-0.324,-1.833,0,1,0
$FREEZE,5.85,-0.308,-1.833,0,1,0
$FREEZE,4.94,-0.331,-1.832,0,1,0
$FREEZE,4.19,-0.330,-1.832,0,1,0
$FREEZE,3.51,-0.333,-1.831,0,1,0
$FREEZE,2.70,-0.330,-1.831,0,1,0
$FREEZE,2.06,-0.336,-1.830,0,1,0
$FREEZE,1.40,-0.341,-1.830,0,1,0
$STATE,4008,end climb,SURFACE_DEPTH_REACHED
$STATE,4010,begin surface coast
$FREEZE,0.57,-0.337,-1.829,0,1,0
$FREEZE,0.39,-0.422,-1.171,0,1,0
$FREEZE,0.51,-0.328,-1.828,0,1,0
$FINISH,0.5,1.026779
$STATE,4026,end surface coast,CONTROL_FINISHED_OK
$STATE,4026,begin surface
$SM_CCo,4047,59.92,0.727,0,0,1474,325.02
$SM_GC,1.35,0.00,0.00,59.92,0.000,0.000,0.727,127,2795,1474,-8.01,-0.17,325.02
$RAFOS_CLK,253
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5653.11,280399,171711
$TT8_MAMPS,0.027612
$HUMID,47.51
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.10
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.5,18.8
$24V_AH,22.9,79.581
$10V_AH,9.9,41.249
$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,22.600,57.050,303.475,59.925,0.000,27.871,36.869,111.333,1.250,0.000,36.582,857.435,1930.626,442.832,893.347,294.922,0.000,931.674,0.000,858.885,0.000,2.617,0.000
$DEVICE_MAMPS,296.062,96.642,874.380,727.116,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,392.314,361.185,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152560
$DATA_FILE_SIZE,19095,537
$CAP_FILE_SIZE,59661,0
$CFSIZE,260165632,216158208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,89,0,0
$SOUNDSPEED,1457.7
$GPS,010110,192922,6739.232,-5645.984,8,2.6,28,-38.3