version: 66.06
glider: 143
mission: 10
dive: 489
start: 1 2 110 4 38 57
data:
$ID,143
$MISSION,10
$DIVE,489
$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,-46405.676
$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,19
$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
$GPS1,043407,6740.241,-5641.002,26,1.3,27,-38.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-63.7
$GPS2,043838,6740.285,-5640.943,10,1.2,10,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6734.885,-5616.420
$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,13,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,113,0.00,0.00,-94.80,0.000,2,0.000,0.000,131,2803,3201,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.5,-6.0,19,137,11.12,0.00,-5.15,0.000,6,0.289,0.000,2445,2803,3396,0,0,0,0,0,0
$GC,475,-0.73,-146.0,43.8,-10.2,83,481,0.00,2.80,0.00,0.000,4,0.000,0.091,2445,3916,3399,0,0,8,0,0,0
$GC,638,-0.73,-146.0,59.0,-8.6,112,644,0.00,2.67,0.00,0.000,6,0.000,0.063,2446,2796,3399,0,0,6,0,0,0
$GC,983,-0.77,-146.0,90.5,-9.3,173,988,0.00,2.85,0.00,0.000,4,0.000,0.090,2445,3925,3399,0,0,6,0,0,0
$GC,1163,-0.85,-146.0,107.3,-9.4,199,1168,0.00,2.67,0.00,0.000,6,0.000,0.064,2446,2801,3398,0,0,6,0,0,0
$GC,1488,-0.92,-146.0,135.5,-8.1,229,1494,0.15,2.85,0.00,0.000,4,0.117,0.087,2382,3929,3397,0,0,6,0,0,0
$GC,1620,-0.78,-146.0,149.9,-11.5,240,1626,0.22,2.67,0.00,0.000,6,0.209,0.063,2435,2799,3396,0,0,6,0,0,0
$GC,1945,-0.78,-146.0,180.1,-9.3,270,1949,0.00,2.85,0.00,0.000,4,0.000,0.089,2435,3919,3397,0,0,6,0,0,0
$STATE,2049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2049,begin apogee
$GC,2059,-0.16,0.0,190.1,9.0,279,2180,0.70,0.00,116.22,0.870,6,0.188,0.000,2629,2395,2800,0,0,0,0,0,0
$STATE,2180,end apogee,CONTROL_FINISHED_OK
$STATE,2181,begin climb
$GC,2183,0.73,146.0,193.4,0.0,291,2312,0.98,1.98,119.60,0.823,4,0.146,0.086,2923,802,2202,0,0,0,0,0,0
$GC,2414,0.75,162.8,176.7,8.5,312,2435,0.00,1.88,14.80,0.761,6,0.000,0.062,2923,2398,2136,0,0,0,0,0,0
$GC,2754,0.75,162.8,141.7,9.9,344,2763,0.00,3.92,0.00,0.000,4,0.000,0.081,2923,3931,2131,0,0,7,0,0,0
$GC,2859,0.65,162.8,129.1,12.2,353,2866,0.17,3.85,0.00,0.000,6,0.201,0.069,2901,2403,2129,0,0,6,0,0,0
$GC,3185,0.74,162.8,96.9,9.7,386,3191,0.00,3.90,0.00,0.000,4,0.000,0.081,2901,3926,2129,0,0,6,0,0,0
$GC,3304,0.74,162.8,83.2,12.1,407,3310,0.00,3.80,0.00,0.000,6,0.000,0.068,2917,2398,2130,0,0,7,0,0,0
$GC,3648,0.84,187.8,50.9,8.1,468,3680,0.12,3.95,21.45,0.743,4,0.109,0.081,2964,3917,2033,0,0,7,0,0,0
$GC,3782,0.70,187.8,34.5,12.9,492,3789,0.25,3.80,0.00,0.000,6,0.194,0.068,2921,2400,2030,0,0,7,0,0,0
$FREEZE,8.85,0.683,-1.848,0,1,0
$FREEZE,8.32,0.681,-1.847,0,1,0
$FREEZE,7.80,0.679,-1.847,0,1,0
$FREEZE,7.29,0.679,-1.846,0,1,0
$FREEZE,6.85,0.678,-1.846,0,1,0
$FREEZE,6.32,0.678,-1.846,0,1,0
$FREEZE,5.94,0.690,-1.845,0,1,0
$FREEZE,5.64,0.688,-1.845,0,1,0
$FREEZE,5.24,0.685,-1.845,0,1,0
$FREEZE,4.58,0.680,-1.844,0,1,0
$FREEZE,4.13,0.681,-1.844,0,1,0
$FREEZE,3.61,0.682,-1.844,0,1,0
$FREEZE,3.05,0.682,-1.843,0,1,0
$FREEZE,2.46,0.682,-1.843,0,1,0
$FREEZE,1.80,0.681,-1.842,0,1,0
$STATE,4124,end climb,SURFACE_DEPTH_REACHED
$STATE,4124,begin surface coast
$FREEZE,1.29,0.683,-1.842,0,1,0
$FREEZE,0.72,0.684,-1.841,0,1,0
$FREEZE,0.48,0.700,-1.840,0,1,0
$FREEZE,0.48,0.764,-0.917,0,1,0
$FINISH,0.5,1.013554
$STATE,4147,end surface coast,CONTROL_FINISHED_OK
$STATE,4147,begin surface
$SM_CCo,4166,77.18,0.723,0,0,1475,325.02
$SM_GC,1.11,0.00,0.00,77.18,0.000,0.000,0.723,126,2797,1475,-8.01,-0.08,325.02
$RAFOS_CLK,259
$RAFOS,6,1262407745,4.833333,4.818056,57,56,55,0,0,0,113,194,150,0,0,0
$RAFOS,5,1262407262,4.700000,4.683889,65,60,58,0,0,0,208,128,152,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5640.55,290399,030313
$TT8_MAMPS,0.027612
$HUMID,48.89
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.30
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,19.1
$24V_AH,22.9,80.319
$10V_AH,10.0,41.524
$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,21.825,51.350,272.075,77.175,0.000,24.991,32.706,105.595,1.000,0.000,12.400,912.937,1995.601,428.833,904.406,277.023,0.000,927.741,0.000,891.487,720.000,2.618,0.000
$DEVICE_MAMPS,289.159,90.506,869.778,723.281,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,406.233,375.619,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152584
$DATA_FILE_SIZE,19060,557
$CAP_FILE_SIZE,60247,0
$CFSIZE,260165632,215863296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,90,0,0
$SOUNDSPEED,1458.1
$GPS,020110,055037,6740.093,-5639.361,4,1.6,10,-38.3