version: 66.06
glider: 143
mission: 10
dive: 495
start: 1 2 110 12 12 2
data:
$ID,143
$MISSION,10
$DIVE,495
$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,-46525.723
$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,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
$GPS1,120700,6738.837,-5633.347,38,1.4,39,-38.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-65.9
$GPS2,121144,6738.886,-5633.398,10,1.4,10,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.486,-5608.899
$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,158.2,20000,-16.9,-9.167
$D_GRID,170
$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,-146.0,0.0,0.0,0,118,0.00,0.00,-99.85,0.000,2,0.000,0.000,123,2796,3289,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.6,-6.3,20,144,11.20,2.92,-2.65,0.000,4,0.289,0.101,2435,3928,3400,0,0,7,0,0,0
$GC,212,-0.73,-146.0,19.1,-11.1,36,218,0.00,2.72,0.00,0.000,6,0.000,0.062,2435,2803,3402,0,0,7,0,0,0
$GC,555,-0.73,-146.0,55.2,-10.5,97,561,0.00,2.85,0.00,0.000,4,0.000,0.090,2435,3923,3402,0,0,8,0,0,0
$GC,697,-0.73,-146.0,69.8,-10.7,122,703,0.00,2.72,0.00,0.000,6,0.000,0.064,2435,2795,3402,0,0,7,0,0,0
$GC,1039,-0.73,-146.0,102.3,-9.4,181,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2796,3402,0,0,0,0,0,0
$GC,1358,-0.73,-146.0,130.5,-8.3,211,1362,0.00,2.85,0.00,0.000,4,0.000,0.090,2435,3920,3400,0,0,8,0,0,0
$GC,1525,-0.73,-146.0,145.2,-8.8,225,1531,0.00,2.72,0.00,0.000,6,0.000,0.063,2435,2796,3400,0,0,6,0,0,0
$STATE,1816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1816,begin apogee
$GC,1822,-0.16,0.0,170.6,8.5,253,1943,0.70,0.00,116.62,0.856,6,0.190,0.000,2627,2397,2800,0,0,0,0,0,0
$STATE,1943,end apogee,CONTROL_FINISHED_OK
$STATE,1944,begin climb
$GC,1946,0.73,146.0,174.1,0.0,265,2074,0.95,1.95,119.32,0.814,4,0.140,0.087,2918,802,2202,0,0,0,0,0,0
$GC,2194,0.73,146.0,155.4,9.5,287,2199,0.00,1.83,0.00,0.000,6,0.000,0.062,2918,2411,2198,0,0,0,0,0,0
$GC,2518,0.74,159.4,125.5,8.6,318,2539,0.00,3.90,11.12,0.739,4,0.000,0.081,2918,3910,2149,0,0,7,0,0,0
$GC,2646,0.67,159.4,112.2,10.6,329,2652,0.00,3.88,0.00,0.000,6,0.000,0.069,2936,2401,2148,0,0,5,0,0,0
$GC,2982,0.67,159.4,77.4,10.5,379,2988,0.00,3.92,0.00,0.000,4,0.000,0.081,2936,3927,2147,0,0,7,0,0,0
$GC,3084,0.56,159.4,65.6,11.7,397,3095,0.32,3.85,0.00,0.000,6,0.196,0.069,2873,2401,2147,0,0,6,0,0,0
$GC,3435,0.86,226.1,41.4,6.4,459,3502,0.25,3.97,55.50,0.749,4,0.097,0.080,2966,3913,1878,0,0,7,0,0,0
$GC,3610,0.75,226.1,19.9,13.6,491,3617,0.22,3.92,0.00,0.000,6,0.194,0.070,2931,2395,1873,0,0,5,0,0,0
$FREEZE,8.43,0.826,-1.849,0,1,0
$FREEZE,7.77,0.826,-1.849,0,1,0
$FREEZE,7.23,0.826,-1.848,0,1,0
$FREEZE,6.62,0.826,-1.848,0,1,0
$FREEZE,6.10,0.825,-1.847,0,1,0
$FREEZE,5.55,0.825,-1.847,0,1,0
$FREEZE,4.95,0.826,-1.847,0,1,0
$FREEZE,4.46,0.826,-1.846,0,1,0
$FREEZE,3.83,0.825,-1.846,0,1,0
$FREEZE,3.19,0.826,-1.845,0,1,0
$FREEZE,2.57,0.826,-1.845,0,1,0
$FREEZE,2.17,0.826,-1.845,0,1,0
$FREEZE,1.49,0.826,-1.844,0,1,0
$STATE,3778,end climb,SURFACE_DEPTH_REACHED
$STATE,3778,begin surface coast
$FREEZE,0.82,0.826,-1.844,0,1,0
$FREEZE,0.64,0.828,-1.843,0,1,0
$FREEZE,0.47,0.883,-1.753,0,1,0
$FINISH,0.5,1.025659
$STATE,3796,end surface coast,CONTROL_FINISHED_OK
$STATE,3796,begin surface
$SM_CCo,3815,58.92,0.719,0,0,1473,325.02
$SM_GC,1.44,0.00,0.00,58.92,0.000,0.000,0.719,126,2793,1473,-8.01,-0.20,325.02
$RAFOS_CLK,235
$RAFOS,6,1262436551,12.833333,12.819722,65,64,63,0,0,0,196,158,141,0,0,0
$RAFOS,5,1262436063,12.700000,12.684167,63,57,56,0,0,0,204,175,165,0,0,0
$RAFOS,4,1262435582,12.566667,12.550555,70,65,61,0,0,0,195,182,207,0,0,0
$RAFOS,3,1262435102,12.433333,12.417222,60,55,54,0,0,0,145,222,205,0,0,0
$RAFOS,2,1262434622,12.300000,12.283889,68,58,56,0,0,0,188,203,228,0,0,0
$RAFOS,0,1262433664,12.033333,12.017777,67,53,51,0,0,0,208,217,187,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5635.83,290399,111104
$TT8_MAMPS,0.027612
$HUMID,48.58
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,17.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,19.1
$24V_AH,22.9,80.880
$10V_AH,10.1,41.727
$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,21.925,46.175,302.575,58.925,0.000,29.269,34.416,115.736,1.000,0.000,11.483,836.059,1762.752,432.983,837.155,295.901,0.000,905.959,0.000,828.105,1800.000,2.618,0.000
$DEVICE_MAMPS,289.159,101.244,855.972,719.446,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,381.339,351.647,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152536
$DATA_FILE_SIZE,19036,524
$CAP_FILE_SIZE,56684,0
$CFSIZE,260165632,215650304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,81,0,0
$SOUNDSPEED,1458.2
$GPS,020110,131806,6739.493,-5633.041,35,1.1,42,-38.2