version: 66.06
glider: 143
mission: 10
dive: 485
start: 1 1 110 23 26 56
data:
$ID,143
$MISSION,10
$DIVE,485
$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,-46328.516
$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,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
$GPS1,232106,6738.074,-5644.840,23,1.1,24,-38.3
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-68.4
$GPS2,232638,6738.120,-5644.934,11,1.5,11,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6732.721,-5620.448
$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,-94.97,0.000,2,0.000,0.000,130,2798,3155,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.3,-5.2,19,137,11.57,0.00,-6.70,0.000,6,0.301,0.000,2448,2798,3397,0,0,0,0,0,0
$GC,474,-0.73,-146.0,45.1,-10.8,83,480,0.00,2.92,0.00,0.000,4,0.000,0.091,2447,3927,3400,0,0,6,0,0,0
$GC,611,-0.77,-146.0,60.0,-11.4,107,616,0.00,2.75,0.00,0.000,6,0.000,0.064,2448,2800,3400,0,0,7,0,0,0
$GC,955,-0.83,-146.0,93.8,-9.0,168,961,0.00,2.92,0.00,0.000,4,0.000,0.090,2448,3926,3400,0,0,6,0,0,0
$GC,1093,-0.91,-146.0,107.2,-9.7,186,1098,0.17,2.75,0.00,0.000,6,0.116,0.064,2391,2799,3399,0,0,7,0,0,0
$GC,1417,-0.81,-146.0,143.2,-10.4,216,1423,0.15,2.90,0.00,0.000,4,0.209,0.091,2424,3916,3398,0,0,8,0,0,0
$GC,1525,-0.81,-146.0,153.4,-9.6,225,1530,0.00,2.75,0.00,0.000,6,0.000,0.064,2424,2800,3398,0,0,6,0,0,0
$GC,1849,-0.81,-146.0,182.9,-9.3,255,1854,0.00,2.90,0.00,0.000,4,0.000,0.088,2424,3919,3397,0,0,6,0,0,0
$STATE,1902,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1902,begin apogee
$GC,1912,-0.16,0.0,188.2,9.9,259,2032,0.75,0.00,116.47,0.874,6,0.189,0.000,2631,2397,2800,0,0,0,0,0,0
$STATE,2033,end apogee,CONTROL_FINISHED_OK
$STATE,2033,begin climb
$GC,2035,0.73,146.0,192.1,0.0,271,2163,0.95,1.95,119.40,0.825,4,0.141,0.087,2921,798,2204,0,0,0,0,0,0
$GC,2219,0.73,146.0,180.6,9.5,288,2225,0.00,1.90,0.00,0.000,6,0.000,0.061,2920,2409,2201,0,0,0,0,0,0
$GC,2544,0.73,146.0,150.5,9.2,319,2553,0.00,3.92,0.00,0.000,4,0.000,0.081,2920,3929,2197,0,0,7,0,0,0
$GC,2660,0.62,146.0,137.7,11.7,329,2666,0.20,3.85,0.00,0.000,6,0.198,0.069,2892,2400,2196,0,0,7,0,0,0
$GC,2985,0.77,187.9,110.6,7.4,360,3027,0.15,4.00,34.50,0.783,4,0.116,0.082,2942,3923,2032,0,0,6,0,0,0
$GC,3129,0.68,187.9,93.9,13.1,377,3139,0.20,3.90,0.00,0.000,6,0.195,0.068,2913,2398,2028,0,0,5,0,0,0
$GC,3479,0.79,187.9,57.2,11.1,439,3485,0.00,3.88,0.00,0.000,4,0.000,0.080,2913,3915,2027,0,0,8,0,0,0
$GC,3583,0.79,187.9,45.1,11.5,457,3588,0.00,3.80,0.00,0.000,6,0.000,0.068,2928,2400,2027,0,0,7,0,0,0
$GC,3927,0.88,192.8,12.6,9.0,518,3940,0.12,3.90,4.72,0.585,4,0.107,0.081,2975,3925,2013,0,0,8,0,0,0
$FREEZE,8.39,-0.111,-1.837,0,1,0
$FREEZE,7.64,-0.112,-1.837,0,1,0
$FREEZE,7.04,-0.112,-1.836,0,1,0
$FREEZE,6.42,-0.112,-1.836,0,1,0
$FREEZE,5.73,-0.111,-1.835,0,1,0
$FREEZE,5.08,-0.112,-1.835,0,1,0
$FREEZE,4.48,-0.111,-1.834,0,1,0
$FREEZE,3.86,-0.110,-1.834,0,1,0
$FREEZE,3.17,-0.110,-1.833,0,1,0
$FREEZE,2.51,-0.111,-1.833,0,1,0
$FREEZE,1.76,-0.111,-1.832,0,1,0
$STATE,4017,end climb,SURFACE_DEPTH_REACHED
$STATE,4017,begin surface coast
$FREEZE,1.00,-0.109,-1.831,0,1,0
$FREEZE,0.53,-0.109,-1.831,0,1,0
$FREEZE,0.40,-0.010,-1.821,0,1,0
$FINISH,0.4,1.026672
$STATE,4035,end surface coast,CONTROL_FINISHED_OK
$STATE,4035,begin surface
$SM_CCo,4055,75.50,0.726,0,0,1474,325.02
$SM_GC,1.17,0.00,0.00,75.50,0.000,0.000,0.726,124,2794,1474,-8.02,-0.17,325.02
$RAFOS_CLK,255
$RAFOS,3,1262391905,0.433333,0.418056,59,58,55,0,0,0,214,175,153,0,0,0
$RAFOS,2,1262391425,0.300000,0.284722,67,56,55,0,0,0,213,193,131,0,0,0
$RAFOS,1,1262390947,0.166667,0.151944,60,59,58,0,0,0,205,150,163,0,0,0
$RAFOS,0,1262390465,0.033333,0.018056,56,54,53,0,0,0,223,131,206,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5646.75,280399,222240
$TT8_MAMPS,0.029913
$HUMID,47.51
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,20.0,19.9
$24V_AH,22.9,79.953
$10V_AH,10.0,41.386
$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,22.700,57.700,275.100,75.500,0.000,26.116,44.625,150.830,0.750,0.000,13.253,871.479,1951.422,432.829,873.681,337.866,0.000,920.578,0.000,859.420,1800.000,2.617,0.000
$DEVICE_MAMPS,300.664,91.273,873.613,725.582,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,392.764,361.940,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152600
$DATA_FILE_SIZE,19028,537
$CAP_FILE_SIZE,61136,0
$CFSIZE,260165632,216010752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,104,0,0
$SOUNDSPEED,1457.9
$GPS,020110,003704,6738.563,-5644.425,9,3.1,29,-38.3