version: 66.06
glider: 143
mission: 10
dive: 488
start: 1 2 110 3 19 1
data:
$ID,143
$MISSION,10
$DIVE,488
$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,-46392.645
$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,14
$R_STBD_OVSHOOT,14
$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
$GPS1,031340,6739.938,-5642.472,7,2.2,27,-38.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-65.3
$GPS2,031843,6740.013,-5642.457,12,1.2,29,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6734.613,-5617.939
$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,190
$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,-94.93,0.000,2,0.000,0.000,128,2802,3209,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.7,-6.8,19,137,11.23,0.00,-4.88,0.000,6,0.291,0.000,2447,2802,3396,0,0,0,0,0,0
$GC,474,-0.73,-146.0,43.8,-9.0,83,480,0.00,2.80,0.00,0.000,4,0.000,0.092,2447,3926,3399,0,0,7,0,0,0
$GC,671,-0.73,-146.0,64.1,-10.0,118,677,0.00,2.62,0.00,0.000,6,0.000,0.063,2448,2807,3399,0,0,6,0,0,0
$GC,1016,-0.80,-146.0,93.5,-8.5,179,1022,0.00,2.78,0.00,0.000,4,0.000,0.091,2448,3931,3399,0,0,7,0,0,0
$GC,1080,-0.86,-146.0,98.9,-8.2,190,1085,0.00,2.65,0.00,0.000,6,0.000,0.063,2447,2801,3398,0,0,6,0,0,0
$GC,1406,-0.94,-146.0,125.4,-8.2,222,1411,0.17,2.80,0.00,0.000,4,0.111,0.087,2375,3924,3397,0,0,7,0,0,0
$GC,1495,-0.77,-146.0,135.7,-11.8,229,1502,0.25,2.65,0.00,0.000,6,0.209,0.062,2435,2797,3397,0,0,6,0,0,0
$GC,1820,-0.82,-146.0,163.6,-8.3,260,1825,0.00,2.80,0.00,0.000,4,0.000,0.088,2435,3929,3397,0,0,7,0,0,0
$GC,2078,-0.87,-146.0,186.5,-9.5,282,2083,0.00,2.62,0.00,0.000,6,0.000,0.061,2435,2803,3396,0,0,6,0,0,0
$STATE,2124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2124,begin apogee
$GC,2130,-0.16,0.0,190.6,8.7,287,2250,0.70,0.00,116.38,0.867,6,0.186,0.000,2631,2396,2799,0,0,0,0,0,0
$STATE,2251,end apogee,CONTROL_FINISHED_OK
$STATE,2251,begin climb
$GC,2254,0.73,146.0,194.0,0.0,299,2383,0.95,2.00,119.62,0.821,4,0.140,0.085,2921,798,2202,0,0,0,0,0,0
$GC,2556,0.73,146.0,170.2,10.6,326,2562,0.00,1.88,0.00,0.000,6,0.000,0.061,2921,2403,2197,0,0,0,0,0,0
$GC,2881,0.73,146.0,140.5,9.4,357,2891,0.00,3.90,0.00,0.000,4,0.000,0.081,2921,3929,2195,0,0,5,0,0,0
$GC,2987,0.63,146.0,128.3,11.8,366,2994,0.17,3.83,0.00,0.000,6,0.200,0.068,2899,2400,2193,0,0,6,0,0,0
$GC,3313,0.72,161.4,99.2,8.5,397,3334,0.00,3.95,12.32,0.740,4,0.000,0.081,2899,3911,2142,0,0,5,0,0,0
$GC,3435,0.72,161.4,87.6,9.2,419,3440,0.00,3.78,0.00,0.000,6,0.000,0.068,2914,2400,2141,0,0,7,0,0,0
$GC,3777,0.86,210.9,59.5,7.1,480,3829,0.15,3.95,42.00,0.757,4,0.101,0.081,2969,3924,1939,0,0,7,0,0,0
$GC,3932,0.73,210.9,41.8,12.9,508,3938,0.25,3.83,0.00,0.000,6,0.191,0.067,2927,2401,1936,0,0,7,0,0,0
$FREEZE,8.53,0.588,-1.846,0,1,0
$FREEZE,7.68,0.590,-1.845,0,1,0
$GC,4278,0.86,236.5,11.1,8.1,569,4311,0.12,3.97,22.38,0.725,4,0.125,0.081,2967,3918,1834,0,0,7,0,0,0
$FREEZE,5.76,0.587,-1.843,0,1,0
$FREEZE,4.81,0.587,-1.843,0,1,0
$FREEZE,3.88,0.589,-1.842,0,1,0
$FREEZE,3.07,0.590,-1.841,0,1,0
$FREEZE,2.29,0.588,-1.841,0,1,0
$FREEZE,1.56,0.589,-1.840,0,1,0
$STATE,4346,end climb,SURFACE_DEPTH_REACHED
$STATE,4346,begin surface coast
$FREEZE,0.76,0.589,-1.840,0,1,0
$FREEZE,0.38,0.599,-1.839,0,1,0
$FINISH,0.4,1.026890
$STATE,4358,end surface coast,CONTROL_FINISHED_OK
$STATE,4358,begin surface
$SM_CCo,4378,54.58,0.717,0,0,1475,325.02
$SM_GC,1.29,0.00,0.00,54.58,0.000,0.000,0.717,130,2806,1475,-8.00,0.14,325.02
$RAFOS_CLK,269
$RAFOS,3,1262406306,4.433333,4.418334,62,59,58,0,0,0,139,214,152,0,0,0
$RAFOS,2,1262405824,4.300000,4.284444,58,54,51,0,0,0,204,178,189,0,0,0
$RAFOS,1,1262405342,4.166667,4.150556,63,59,58,0,0,0,198,207,145,0,0,0
$RAFOS,0,1262404863,4.033333,4.017500,60,59,58,0,0,0,151,190,174,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5645.28,290399,020234
$TT8_MAMPS,0.027612
$HUMID,48.46
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,17.30
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,20.0
$24V_AH,22.9,80.230
$10V_AH,9.9,41.490
$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,22.325,56.625,312.700,54.575,0.000,26.118,42.069,110.104,1.000,0.000,31.404,937.713,2084.675,447.701,971.807,298.882,0.000,975.847,0.000,938.590,1440.000,2.622,0.000
$DEVICE_MAMPS,290.693,92.040,866.710,717.145,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,423.415,391.920,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152568
$DATA_FILE_SIZE,22224,583
$CAP_FILE_SIZE,64520,0
$CFSIZE,260165632,215891968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,101,0,0
$SOUNDSPEED,1459.1
$GPS,020110,043407,6740.241,-5641.002,26,1.3,27,-38.3