version: 66.06
glider: 143
mission: 10
dive: 505
start: 1 2 110 23 56 27
data:
$ID,143
$MISSION,10
$DIVE,505
$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,-46748.461
$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,13
$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
$GPS1,235124,6739.129,-5631.717,31,1.7,36,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-68.4
$GPS2,235609,6739.110,-5631.703,9,99.0,28,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.710,-5607.200
$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,163
$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,-95.05,0.000,2,0.000,0.000,125,2801,3193,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.0,-4.1,19,142,11.75,2.95,-5.70,0.000,4,0.304,0.101,2447,3921,3399,0,0,9,0,0,0
$GC,395,-0.78,-146.0,33.6,-9.6,69,401,0.00,2.72,0.00,0.000,6,0.000,0.061,2448,2799,3401,0,0,7,0,0,0
$GC,738,-0.84,-146.0,63.1,-9.2,130,744,0.00,2.90,0.00,0.000,4,0.000,0.088,2448,3923,3401,0,0,7,0,0,0
$GC,910,-0.90,-146.0,78.7,-9.4,160,917,0.12,2.70,0.00,0.000,6,0.089,0.062,2399,2806,3401,0,0,6,0,0,0
$GC,1250,-0.81,-146.0,116.5,-10.6,207,1254,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2807,3400,0,0,0,0,0,0
$GC,1576,-0.72,-146.0,151.0,-11.0,238,1581,0.22,2.85,0.00,0.000,4,0.201,0.087,2453,3926,3400,0,0,8,0,0,0
$STATE,1707,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1708,begin apogee
$GC,1717,-0.16,0.0,163.4,8.7,249,1838,0.62,0.00,116.28,0.848,6,0.179,0.000,2629,2398,2799,0,0,0,0,0,0
$STATE,1838,end apogee,CONTROL_FINISHED_OK
$STATE,1838,begin climb
$GC,1841,0.73,146.0,167.5,0.0,261,1969,0.95,1.95,118.97,0.805,4,0.140,0.087,2919,794,2201,0,0,0,0,0,0
$GC,1997,0.75,162.5,158.4,8.5,275,2017,0.00,1.90,15.00,0.740,6,0.000,0.061,2919,2412,2136,0,0,0,0,0,0
$GC,2342,0.75,162.5,123.5,10.2,308,2351,0.00,3.92,0.00,0.000,4,0.000,0.081,2919,3915,2131,0,0,8,0,0,0
$GC,2500,0.67,162.5,104.8,12.0,322,2510,0.12,3.88,0.00,0.000,6,0.208,0.070,2912,2397,2129,0,0,7,0,0,0
$GC,2848,0.75,178.7,72.8,8.5,379,2869,0.00,3.95,13.50,0.738,4,0.000,0.082,2912,3918,2070,0,0,8,0,0,0
$GC,2892,0.75,178.7,68.4,10.1,387,2897,0.00,3.88,0.00,0.000,6,0.000,0.068,2927,2396,2070,0,0,7,0,0,0
$GC,3236,0.80,178.7,34.3,9.9,448,3242,0.00,3.92,0.00,0.000,4,0.000,0.081,2927,3920,2070,0,0,8,0,0,0
$GC,3304,0.74,178.7,26.5,11.7,460,3310,0.00,3.80,0.00,0.000,6,0.000,0.069,2945,2400,2069,0,0,9,0,0,0
$FREEZE,8.77,1.521,-1.858,0,1,0
$FREEZE,8.21,1.477,-1.858,0,1,0
$FREEZE,7.53,1.491,-1.857,0,1,0
$FREEZE,6.95,1.481,-1.857,0,1,0
$FREEZE,6.35,1.475,-1.856,0,1,0
$FREEZE,5.74,1.456,-1.855,0,1,0
$FREEZE,5.06,1.492,-1.855,0,1,0
$FREEZE,4.40,1.505,-1.855,0,1,0
$FREEZE,3.87,1.446,-1.854,0,1,0
$FREEZE,3.26,1.404,-1.853,0,1,0
$FREEZE,2.60,1.392,-1.853,0,1,0
$FREEZE,2.02,1.393,-1.852,0,1,0
$FREEZE,1.58,1.364,-1.852,0,1,0
$STATE,3538,end climb,SURFACE_DEPTH_REACHED
$STATE,3539,begin surface coast
$FREEZE,1.03,1.372,-1.851,0,1,0
$FREEZE,0.55,1.375,-1.851,0,1,0
$FREEZE,0.55,1.350,-1.847,0,1,0
$FINISH,0.6,1.026961
$STATE,3557,end surface coast,CONTROL_FINISHED_OK
$STATE,3558,begin surface
$SM_CCo,3576,82.47,0.725,0,0,1474,325.02
$SM_GC,1.30,0.00,0.00,82.47,0.000,0.000,0.725,123,2806,1474,-8.02,0.17,325.02
$RAFOS_CLK,220
$RAFOS,6,1262479741,0.833333,0.816944,59,59,59,0,0,0,134,189,214,0,0,0
$RAFOS,5,1262479261,0.700000,0.683611,61,59,56,0,0,0,190,203,154,0,0,0
$RAFOS,4,1262478789,0.566667,0.552500,67,58,57,0,0,0,192,203,218,0,0,0
$RAFOS,3,1262478308,0.433333,0.418889,66,60,59,0,0,0,211,169,182,0,0,0
$RAFOS,2,1262477831,0.300000,0.286389,60,56,54,0,0,0,206,188,162,0,0,0
$RAFOS,1,1262477346,0.166667,0.151667,58,58,55,0,0,0,196,208,164,0,0,0
$RAFOS,0,1262476862,0.033333,0.017222,58,56,53,0,0,0,207,195,160,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5632.72,290399,222208
$TT8_MAMPS,0.027612
$HUMID,48.93
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,17.40
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.5,19.3
$24V_AH,23.0,81.792
$10V_AH,9.9,42.049
$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,22.050,46.300,263.750,82.475,0.000,24.539,30.929,104.488,1.250,0.000,30.866,819.221,1610.856,427.153,821.211,271.423,0.000,878.672,0.000,792.718,2520.000,2.617,0.000
$DEVICE_MAMPS,303.732,101.244,847.535,724.815,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,369.045,339.410,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152540
$DATA_FILE_SIZE,19059,505
$CAP_FILE_SIZE,54970,0
$CFSIZE,260165632,215310336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,90,0,0
$SOUNDSPEED,1459.2
$GPS,030110,005836,6739.288,-5631.247,11,1.6,22,-38.2