version: 66.06
glider: 143
mission: 10
dive: 498
start: 1 2 110 15 42 2
data:
$ID,143
$MISSION,10
$DIVE,498
$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,-46570.875
$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,12
$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
$GPS1,153643,6740.923,-5633.163,8,1.3,9,-38.3
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-67.7
$GPS2,154144,6740.996,-5633.241,11,2.0,11,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6735.596,-5608.706
$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,168
$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,-95.05,0.000,2,0.000,0.000,128,2792,3203,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.3,-5.7,19,142,11.43,2.97,-5.20,0.000,4,0.295,0.103,2447,3926,3399,0,0,8,0,0,0
$GC,177,-0.73,-146.0,13.7,-10.3,30,183,0.00,2.72,0.00,0.000,6,0.000,0.061,2448,2802,3399,0,0,7,0,0,0
$GC,521,-0.73,-146.0,46.0,-9.0,91,526,0.00,2.85,0.00,0.000,4,0.000,0.088,2448,3923,3401,0,0,7,0,0,0
$GC,667,-0.73,-146.0,60.0,-9.3,117,673,0.00,2.72,0.00,0.000,6,0.000,0.063,2448,2792,3400,0,0,7,0,0,0
$GC,1011,-0.78,-146.0,91.5,-8.6,178,1017,0.00,2.85,0.00,0.000,4,0.000,0.089,2447,3923,3400,0,0,8,0,0,0
$GC,1146,-0.86,-146.0,103.3,-9.0,198,1152,0.12,2.70,0.00,0.000,6,0.128,0.062,2408,2798,3400,0,0,6,0,0,0
$GC,1470,-0.81,-146.0,137.7,-9.7,229,1475,0.00,2.85,0.00,0.000,4,0.000,0.089,2408,3925,3400,0,0,7,0,0,0
$GC,1704,-0.75,-146.0,161.4,-9.5,249,1711,0.15,2.70,0.00,0.000,6,0.209,0.061,2441,2800,3399,0,0,6,0,0,0
$STATE,1782,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1783,begin apogee
$GC,1789,-0.16,0.0,168.2,8.9,257,1910,0.65,0.00,116.40,0.852,6,0.178,0.000,2628,2395,2800,0,0,0,0,0,0
$STATE,1911,end apogee,CONTROL_FINISHED_OK
$STATE,1911,begin climb
$GC,1913,0.73,146.0,171.8,0.0,269,2040,0.95,2.00,119.05,0.807,4,0.134,0.087,2921,792,2203,0,0,0,0,0,0
$GC,2084,0.73,146.0,159.7,10.0,285,2090,0.00,1.90,0.00,0.000,6,0.000,0.061,2921,2408,2200,0,0,0,0,0,0
$GC,2409,0.73,151.3,128.0,8.9,316,2421,0.00,3.92,4.70,0.592,4,0.000,0.081,2921,3917,2183,0,0,8,0,0,0
$GC,2505,0.63,151.3,118.3,10.6,324,2512,0.17,3.88,0.00,0.000,6,0.202,0.069,2900,2403,2182,0,0,6,0,0,0
$GC,2835,0.75,187.3,91.5,7.7,364,2876,0.00,3.92,30.88,0.769,4,0.000,0.080,2900,3914,2034,0,0,8,0,0,0
$GC,2996,0.80,187.3,75.7,10.4,393,3001,0.00,3.88,0.00,0.000,6,0.000,0.069,2915,2391,2031,0,0,7,0,0,0
$GC,3339,0.91,200.0,45.7,8.6,454,3361,0.20,3.92,11.55,0.715,4,0.093,0.081,2986,3912,1983,0,0,10,0,0,0
$GC,3440,0.70,200.0,31.9,14.8,472,3451,0.32,3.85,0.00,0.000,6,0.197,0.070,2924,2395,1981,0,0,7,0,0,0
$FREEZE,8.53,1.073,-1.852,0,1,0
$FREEZE,7.96,1.073,-1.852,0,1,0
$FREEZE,7.42,1.072,-1.851,0,1,0
$FREEZE,7.01,1.072,-1.851,0,1,0
$FREEZE,6.47,1.072,-1.851,0,1,0
$FREEZE,6.05,1.072,-1.850,0,1,0
$FREEZE,5.51,1.072,-1.850,0,1,0
$FREEZE,5.00,1.072,-1.850,0,1,0
$FREEZE,4.59,1.072,-1.849,0,1,0
$FREEZE,4.07,1.072,-1.849,0,1,0
$FREEZE,3.60,1.072,-1.849,0,1,0
$FREEZE,3.11,1.072,-1.848,0,1,0
$FREEZE,2.72,1.072,-1.848,0,1,0
$FREEZE,2.08,1.072,-1.847,0,1,0
$FREEZE,1.53,1.072,-1.847,0,1,0
$STATE,3759,end climb,SURFACE_DEPTH_REACHED
$STATE,3759,begin surface coast
$FREEZE,1.16,1.072,-1.847,0,1,0
$FREEZE,0.60,1.072,-1.846,0,1,0
$FREEZE,0.47,1.096,-0.271,0,1,0
$FREEZE,0.54,1.092,-1.845,0,1,0
$FINISH,0.5,1.026953
$STATE,3784,end surface coast,CONTROL_FINISHED_OK
$STATE,3784,begin surface
$SM_CCo,3803,71.32,0.724,0,0,1474,325.02
$SM_GC,1.31,0.00,0.00,71.32,0.000,0.000,0.724,124,2799,1474,-8.02,-0.03,325.02
$RAFOS_CLK,237
$RAFOS,4,1262449983,16.566668,16.550833,64,60,54,0,0,0,210,153,120,0,0,0
$RAFOS,3,1262449505,16.433332,16.418056,64,60,57,0,0,0,146,232,200,0,0,0
$RAFOS,2,1262449021,16.299999,16.283611,65,62,59,0,0,0,220,203,119,0,0,0
$RAFOS,1,1262448546,16.166666,16.151667,67,59,58,0,0,0,204,216,167,0,0,0
$RAFOS,0,1262448061,16.033333,16.016945,68,65,56,0,0,0,190,199,174,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5632.72,290399,141454
$TT8_MAMPS,0.029913
$HUMID,49.05
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.50
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,21.8
$24V_AH,23.0,81.150
$10V_AH,10.0,41.823
$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,22.200,51.800,282.575,71.325,0.000,30.822,33.441,129.397,1.000,0.000,13.056,861.181,1726.984,435.085,850.206,307.383,0.000,912.720,0.000,838.819,2160.000,2.624,0.000
$DEVICE_MAMPS,295.295,102.778,852.137,724.048,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,388.033,358.200,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152548
$DATA_FILE_SIZE,19056,533
$CAP_FILE_SIZE,60032,0
$CFSIZE,260165632,215547904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,104,0,0
$SOUNDSPEED,1459.6
$GPS,020110,164801,6741.291,-5633.071,36,1.6,37,-38.3