version: 66.06
glider: 143
mission: 10
dive: 529
start: 1 4 110 0 31 54
data:
$ID,143
$MISSION,10
$DIVE,529
$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,220
$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,-47221.426
$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,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
$GPS1,002558,6739.053,-5626.100,7,3.1,27,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-69.2
$GPS2,003136,6739.063,-5626.039,11,2.0,27,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6730.791,-5644.188
$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,258.2,20000,-16.9,-9.167
$D_GRID,141
$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,-100.18,0.000,2,0.000,0.000,125,2799,3311,0,0,0,0,0,0
$GC,123,-0.73,-146.0,3.9,-7.5,20,144,11.48,2.60,-2.00,0.000,4,0.296,0.095,2447,1195,3399,0,0,1,0,0,0
$GC,392,-0.73,-146.0,42.2,-11.6,68,397,0.00,2.47,0.00,0.000,6,0.000,0.072,2447,2800,3402,0,0,1,0,0,0
$GC,735,-0.73,-146.0,77.5,-10.3,129,741,0.00,2.83,0.00,0.000,4,0.000,0.091,2447,3922,3402,0,0,8,0,0,0
$GC,950,-0.79,-146.0,99.3,-9.7,167,956,0.00,2.62,0.00,0.000,6,0.000,0.062,2447,2809,3401,0,0,6,0,0,0
$GC,1283,-0.86,-146.0,128.0,-8.6,199,1289,0.12,2.83,0.00,0.000,4,0.124,0.089,2400,3932,3400,0,0,7,0,0,0
$GC,1329,-0.77,-146.0,132.9,-10.7,202,1335,0.17,2.67,0.00,0.000,6,0.205,0.062,2440,2794,3400,0,0,6,0,0,0
$STATE,1417,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1417,begin apogee
$GC,1424,-0.16,0.0,141.1,8.5,211,1544,0.68,0.00,116.22,0.836,6,0.187,0.000,2628,2398,2799,0,0,0,0,0,0
$STATE,1545,end apogee,CONTROL_FINISHED_OK
$STATE,1545,begin climb
$GC,1548,0.73,146.0,144.4,0.0,223,1676,0.98,2.00,118.78,0.792,4,0.146,0.086,2922,795,2201,0,0,0,0,0,0
$GC,1738,0.73,146.0,131.5,10.3,240,1744,0.00,1.90,0.00,0.000,6,0.000,0.062,2922,2408,2199,0,0,0,0,0,0
$GC,2063,0.73,146.0,98.3,10.1,272,2069,0.00,3.88,0.00,0.000,4,0.000,0.081,2922,3930,2195,0,0,8,0,0,0
$GC,2099,0.66,146.0,94.5,11.0,278,2105,0.15,3.88,0.00,0.000,6,0.207,0.068,2907,2399,2194,0,0,5,0,0,0
$GC,2446,0.79,193.6,66.9,7.2,339,2493,0.12,4.00,38.53,0.760,4,0.130,0.082,2948,3928,2008,0,0,6,0,0,0
$GC,2619,0.69,193.6,45.8,14.2,370,2626,0.20,3.88,0.00,0.000,6,0.193,0.069,2918,2400,2005,0,0,5,0,0,0
$GC,2967,0.78,193.6,13.3,9.4,431,2972,0.00,3.88,0.00,0.000,4,0.000,0.082,2918,3916,2004,0,0,7,0,0,0
$FREEZE,8.90,1.191,-1.856,0,1,0
$FREEZE,8.39,1.203,-1.855,0,1,0
$FREEZE,7.68,1.210,-1.855,0,1,0
$FREEZE,7.04,1.197,-1.854,0,1,0
$FREEZE,6.45,1.208,-1.854,0,1,0
$FREEZE,5.80,1.210,-1.853,0,1,0
$FREEZE,5.19,1.215,-1.853,0,1,0
$FREEZE,4.67,1.212,-1.852,0,1,0
$FREEZE,4.06,1.209,-1.852,0,1,0
$FREEZE,3.34,1.211,-1.851,0,1,0
$GC,3059,0.78,193.6,3.3,10.8,447,3065,0.00,3.75,0.00,0.000,6,0.000,0.069,2934,2399,2004,0,0,9,0,0,0
$FREEZE,2.03,1.199,-1.851,0,1,0
$FREEZE,1.52,1.190,-1.850,0,1,0
$STATE,3075,end climb,SURFACE_DEPTH_REACHED
$STATE,3075,begin surface coast
$FREEZE,0.98,1.189,-1.850,0,1,0
$FREEZE,0.52,1.188,-1.849,0,1,0
$FREEZE,0.59,1.153,-1.026,0,1,0
$FINISH,0.6,1.015157
$STATE,3093,end surface coast,CONTROL_FINISHED_OK
$STATE,3093,begin surface
$SM_CCo,3112,73.97,0.724,0,0,1475,325.02
$SM_GC,1.37,0.00,0.00,73.97,0.000,0.000,0.724,125,2797,1475,-8.02,-0.08,325.02
$RAFOS_CLK,191
$RAFOS,6,1262566149,0.833333,0.819167,64,61,59,0,0,0,175,190,207,0,0,0
$RAFOS,5,1262565661,0.700000,0.683611,74,62,59,0,0,0,884,177,155,0,0,0
$RAFOS,4,1262565184,0.566667,0.551111,63,59,56,0,0,0,218,194,132,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5623.29,300399,232310
$TT8_MAMPS,0.027612
$HUMID,50.00
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,17.20
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.7,19.6
$24V_AH,23.0,83.894
$10V_AH,9.9,42.756
$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,22.125,45.300,273.525,73.975,0.000,29.597,42.903,137.171,1.250,0.000,28.472,731.363,1339.301,421.304,714.864,324.079,0.000,825.378,0.000,687.580,1080.000,2.619,0.000
$DEVICE_MAMPS,296.062,95.108,836.030,724.048,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,328.037,303.208,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152564
$DATA_FILE_SIZE,15918,453
$CAP_FILE_SIZE,50442,0
$CFSIZE,260165632,214536192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,69,0,0
$SOUNDSPEED,1457.6
$GPS,040110,012615,6739.246,-5626.208,7,99.0,27,-38.2