version: 66.06
glider: 143
mission: 10
dive: 487
start: 1 2 110 2 2 14
data:
$ID,143
$MISSION,10
$DIVE,487
$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,-46360.613
$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,10
$R_STBD_OVSHOOT,22
$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
$GPS1,015704,6739.239,-5643.590,7,2.4,27,-38.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-63.9
$GPS2,020155,6739.334,-5643.612,8,1.2,13,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.935,-5619.105
$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,189
$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,14,-0.73,-146.0,0.0,0.0,0,118,0.00,0.00,-100.40,0.000,2,0.000,0.000,125,2806,3291,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.8,-7.2,20,144,11.25,2.65,-2.53,0.000,4,0.290,0.092,2447,1190,3399,0,0,1,0,0,0
$GC,189,-0.73,-146.0,17.8,-11.7,32,195,0.00,2.53,0.00,0.000,6,0.000,0.071,2447,2794,3402,0,0,0,0,0,0
$GC,533,-0.73,-146.0,54.4,-10.4,93,539,0.00,2.78,0.00,0.000,4,0.000,0.091,2447,3923,3402,0,0,7,0,0,0
$GC,711,-0.77,-146.0,73.7,-11.3,124,717,0.00,2.60,0.00,0.000,6,0.000,0.063,2448,2803,3401,0,0,6,0,0,0
$GC,1049,-0.84,-146.0,110.2,-9.9,175,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2804,3401,0,0,0,0,0,0
$GC,1371,-0.92,-146.0,136.6,-7.8,205,1377,0.17,2.75,0.00,0.000,4,0.107,0.087,2375,3921,3399,0,0,7,0,0,0
$GC,1438,-0.75,-146.0,144.0,-11.6,210,1445,0.28,2.60,0.00,0.000,6,0.206,0.062,2441,2800,3399,0,0,6,0,0,0
$GC,1764,-0.81,-146.0,170.1,-7.8,241,1768,0.00,2.78,0.00,0.000,4,0.000,0.089,2441,3936,3399,0,0,7,0,0,0
$STATE,1992,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1992,begin apogee
$GC,2002,-0.16,0.0,189.2,8.0,261,2122,0.65,0.00,116.68,0.871,6,0.181,0.000,2627,2394,2800,0,0,0,0,0,0
$STATE,2123,end apogee,CONTROL_FINISHED_OK
$STATE,2123,begin climb
$GC,2125,0.73,146.0,193.4,0.0,273,2255,0.95,2.03,119.60,0.824,4,0.139,0.086,2919,801,2202,0,0,0,0,0,0
$GC,2350,0.73,146.0,175.0,10.3,293,2356,0.00,1.92,0.00,0.000,6,0.000,0.061,2919,2398,2199,0,0,0,0,0,0
$GC,2675,0.73,146.0,141.4,10.9,324,2684,0.00,3.88,0.00,0.000,4,0.000,0.081,2919,3928,2196,0,0,6,0,0,0
$GC,2779,0.63,146.0,127.7,14.0,333,2786,0.17,3.78,0.00,0.000,6,0.202,0.069,2897,2401,2194,0,0,7,0,0,0
$GC,3107,0.72,146.0,92.8,9.9,370,3113,0.00,3.85,0.00,0.000,4,0.000,0.081,2897,3922,2194,0,0,6,0,0,0
$GC,3199,0.72,146.0,82.8,10.9,386,3205,0.00,3.75,0.00,0.000,6,0.000,0.068,2912,2400,2194,0,0,7,0,0,0
$GC,3543,0.85,185.7,55.3,7.5,447,3585,0.15,3.90,32.40,0.752,4,0.100,0.081,2967,3917,2041,0,0,7,0,0,0
$GC,3754,0.67,185.7,29.0,12.9,485,3760,0.30,3.78,0.00,0.000,6,0.192,0.068,2911,2400,2038,0,0,7,0,0,0
$FREEZE,8.70,0.363,-1.843,0,1,0
$FREEZE,8.28,0.374,-1.843,0,1,0
$FREEZE,7.77,0.375,-1.842,0,1,0
$FREEZE,7.31,0.373,-1.842,0,1,0
$FREEZE,6.88,0.370,-1.842,0,1,0
$FREEZE,6.36,0.373,-1.841,0,1,0
$FREEZE,5.79,0.372,-1.841,0,1,0
$FREEZE,5.44,0.374,-1.841,0,1,0
$FREEZE,4.98,0.387,-1.840,0,1,0
$FREEZE,4.69,0.389,-1.840,0,1,0
$FREEZE,4.27,0.389,-1.840,0,1,0
$FREEZE,3.79,0.389,-1.839,0,1,0
$FREEZE,3.37,0.385,-1.839,0,1,0
$FREEZE,2.85,0.385,-1.839,0,1,0
$FREEZE,2.55,0.392,-1.838,0,1,0
$FREEZE,2.11,0.388,-1.838,0,1,0
$FREEZE,1.51,0.387,-1.838,0,1,0
$STATE,4085,end climb,SURFACE_DEPTH_REACHED
$STATE,4085,begin surface coast
$FREEZE,1.13,0.381,-1.838,0,1,0
$FREEZE,0.69,0.381,-1.837,0,1,0
$FREEZE,0.45,0.410,-1.835,0,1,0
$FREEZE,0.48,0.429,-1.221,0,1,0
$FREEZE,0.49,0.490,-1.830,0,1,0
$FINISH,0.5,1.026773
$STATE,4113,end surface coast,CONTROL_FINISHED_OK
$STATE,4114,begin surface
$SM_CCo,4132,78.45,0.724,0,0,1474,325.02
$SM_GC,1.08,0.00,0.00,78.45,0.000,0.000,0.724,128,2801,1474,-8.01,0.03,325.02
$RAFOS_CLK,260
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5643.65,290399,000034
$TT8_MAMPS,0.029146
$HUMID,48.30
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,19.4
$24V_AH,22.9,80.136
$10V_AH,10.1,41.454
$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,22.125,50.475,268.675,78.450,0.000,29.672,33.003,116.174,0.500,0.000,16.796,909.619,1977.949,432.834,890.294,296.625,0.000,919.940,0.000,873.630,0.000,2.619,0.000
$DEVICE_MAMPS,289.926,92.040,871.312,724.048,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,396.397,369.787,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152560
$DATA_FILE_SIZE,19007,549
$CAP_FILE_SIZE,59324,0
$CFSIZE,260165632,215937024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,79,0,0
$SOUNDSPEED,1458.4
$GPS,020110,031340,6739.938,-5642.472,7,2.2,27,-38.3