version: 66.06
glider: 143
mission: 10
dive: 484
start: 1 1 110 22 7 38
data:
$ID,143
$MISSION,10
$DIVE,484
$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,-46314.637
$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,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
$GPS1,220214,6738.076,-5645.242,13,1.9,14,-38.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-69.6
$GPS2,220720,6738.066,-5645.328,15,1.9,15,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6732.666,-5620.844
$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,-95.00,0.000,2,0.000,0.000,125,2805,3154,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.1,-4.8,19,142,11.43,2.55,-6.70,0.000,4,0.297,0.097,2444,1196,3398,0,0,1,0,0,0
$GC,237,-0.73,-146.0,20.3,-9.9,41,243,0.00,2.42,0.00,0.000,6,0.000,0.073,2444,2797,3400,0,0,0,0,0,0
$GC,581,-0.73,-146.0,57.6,-10.9,102,587,0.00,2.92,0.00,0.000,4,0.000,0.093,2444,3924,3400,0,0,6,0,0,0
$GC,735,-0.73,-146.0,73.6,-10.2,129,740,0.00,2.78,0.00,0.000,6,0.000,0.064,2444,2792,3400,0,0,6,0,0,0
$GC,1076,-0.78,-146.0,104.7,-8.5,185,1081,0.00,2.95,0.00,0.000,4,0.000,0.091,2444,3930,3399,0,0,6,0,0,0
$GC,1166,-0.86,-146.0,112.6,-8.4,192,1172,0.00,2.78,0.00,0.000,6,0.000,0.064,2444,2795,3399,0,0,6,0,0,0
$GC,1491,-0.94,-146.0,138.0,-7.7,223,1497,0.17,2.90,0.00,0.000,4,0.109,0.087,2371,3923,3397,0,0,7,0,0,0
$GC,1628,-0.77,-146.0,153.0,-11.2,234,1634,0.28,2.72,0.00,0.000,6,0.207,0.063,2437,2800,3397,0,0,6,0,0,0
$GC,1953,-0.83,-146.0,182.5,-8.8,265,1958,0.00,2.90,0.00,0.000,4,0.000,0.088,2437,3929,3397,0,0,6,0,0,0
$STATE,2017,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2017,begin apogee
$GC,2027,-0.16,0.0,188.5,8.9,270,2147,0.68,0.00,116.35,0.874,6,0.185,0.000,2627,2404,2799,0,0,0,0,0,0
$STATE,2148,end apogee,CONTROL_FINISHED_OK
$STATE,2148,begin climb
$GC,2151,0.73,146.0,192.8,0.0,282,2280,0.98,2.00,119.80,0.827,4,0.140,0.085,2924,786,2201,0,0,0,0,0,0
$GC,2331,0.73,146.0,180.4,10.6,298,2336,0.00,1.90,0.00,0.000,6,0.000,0.061,2924,2416,2199,0,0,0,0,0,0
$GC,2655,0.73,146.0,147.9,10.5,329,2664,0.00,3.90,0.00,0.000,4,0.000,0.081,2924,3923,2196,0,0,7,0,0,0
$GC,2744,0.62,146.0,137.5,12.5,337,2754,0.20,3.88,0.00,0.000,6,0.199,0.068,2896,2395,2194,0,0,6,0,0,0
$GC,3073,0.72,158.9,108.7,8.6,368,3094,0.00,3.92,10.20,0.732,4,0.000,0.080,2896,3922,2152,0,0,7,0,0,0
$GC,3152,0.72,158.9,101.3,9.6,375,3161,0.00,3.85,0.00,0.000,6,0.000,0.068,2911,2395,2152,0,0,6,0,0,0
$GC,3499,0.83,171.5,71.5,8.6,435,3521,0.12,3.95,12.40,0.735,4,0.105,0.081,2959,3924,2100,0,0,6,0,0,0
$GC,3585,0.67,171.5,61.3,12.9,450,3595,0.28,3.85,0.00,0.000,6,0.194,0.068,2910,2396,2099,0,0,6,0,0,0
$GC,3935,0.84,208.5,32.5,7.6,512,3977,0.15,4.00,32.00,0.746,4,0.117,0.081,2961,3927,1948,0,0,6,0,0,0
$GC,4057,0.73,208.5,18.2,13.3,534,4064,0.20,3.90,0.00,0.000,6,0.190,0.067,2931,2395,1946,0,0,5,0,0,0
$FREEZE,8.99,-0.225,-1.837,0,1,0
$FREEZE,8.49,-0.225,-1.836,0,1,0
$FREEZE,8.03,-0.226,-1.836,0,1,0
$FREEZE,7.44,-0.226,-1.835,0,1,0
$FREEZE,6.91,-0.222,-1.835,0,1,0
$FREEZE,6.48,-0.226,-1.835,0,1,0
$FREEZE,5.79,-0.222,-1.834,0,1,0
$FREEZE,5.38,-0.219,-1.834,0,1,0
$FREEZE,4.91,-0.219,-1.833,0,1,0
$FREEZE,4.21,-0.218,-1.833,0,1,0
$FREEZE,3.68,-0.218,-1.833,0,1,0
$FREEZE,3.27,-0.218,-1.832,0,1,0
$FREEZE,2.76,-0.212,-1.832,0,1,0
$FREEZE,2.18,-0.212,-1.831,0,1,0
$FREEZE,1.64,-0.214,-1.831,0,1,0
$STATE,4226,end climb,SURFACE_DEPTH_REACHED
$STATE,4226,begin surface coast
$FREEZE,1.11,-0.212,-1.831,0,1,0
$FREEZE,0.50,-0.213,-1.830,0,1,0
$FREEZE,0.53,-0.189,-1.829,0,1,0
$FREEZE,0.48,-0.149,-1.805,0,1,0
$FINISH,0.5,1.026448
$STATE,4249,end surface coast,CONTROL_FINISHED_OK
$STATE,4250,begin surface
$SM_CCo,4268,68.47,0.724,0,0,1475,325.02
$SM_GC,1.27,0.00,0.00,68.47,0.000,0.000,0.724,130,2798,1475,-8.00,-0.06,325.02
$RAFOS_CLK,269
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5648.38,280399,202039
$TT8_MAMPS,0.027612
$HUMID,47.79
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,19.4
$24V_AH,22.9,79.859
$10V_AH,10.0,41.352
$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,22.650,64.975,290.750,68.475,0.000,28.529,32.707,130.406,1.000,0.000,16.889,909.810,2043.364,457.682,921.127,316.779,0.000,974.821,0.000,907.012,0.000,2.620,0.000
$DEVICE_MAMPS,296.829,96.642,874.380,724.048,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,416.322,382.058,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152528
$DATA_FILE_SIZE,22184,568
$CAP_FILE_SIZE,64877,0
$CFSIZE,260165632,216039424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,98,0,0
$SOUNDSPEED,1457.3
$GPS,010110,232106,6738.074,-5644.840,23,1.1,24,-38.3