version: 66.06
glider: 143
mission: 10
dive: 533
start: 1 4 110 4 39 26
data:
$ID,143
$MISSION,10
$DIVE,533
$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,-47326.664
$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,8
$R_STBD_OVSHOOT,18
$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
$GPS1,043425,6740.739,-5626.253,6,1.4,7,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-69.3
$GPS2,043907,6740.761,-5626.232,10,1.4,15,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6732.488,-5644.403
$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,147
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,118,0.00,0.00,-99.95,0.000,2,0.000,0.000,127,2810,3301,0,0,0,0,0,0
$GC,123,-0.73,-146.0,3.8,-6.7,20,144,11.85,2.85,-2.35,0.000,4,0.307,0.098,2439,3921,3399,0,0,7,0,0,0
$GC,397,-0.73,-146.0,37.7,-10.1,69,403,0.00,2.70,0.00,0.000,6,0.000,0.061,2439,2795,3401,0,0,6,0,0,0
$GC,739,-0.73,-146.0,71.1,-10.1,130,745,0.00,2.83,0.00,0.000,4,0.000,0.088,2439,3923,3402,0,0,8,0,0,0
$GC,998,-0.73,-146.0,99.1,-10.4,176,1004,0.00,2.67,0.00,0.000,6,0.000,0.062,2439,2798,3401,0,0,6,0,0,0
$GC,1330,-0.77,-146.0,131.1,-9.2,208,1335,0.00,2.80,0.00,0.000,4,0.000,0.088,2439,3918,3400,0,0,8,0,0,0
$GC,1492,-0.77,-146.0,146.5,-10.0,222,1496,0.00,2.10,0.00,0.000,3,0.000,0.060,2439,2957,3400,0,0,4,0,0,0
$STATE,1496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1497,begin apogee
$GC,1503,-0.16,0.0,147.1,10.9,222,1624,0.68,0.00,116.30,0.841,6,0.186,0.000,2627,2399,2799,0,0,0,0,0,0
$STATE,1625,end apogee,CONTROL_FINISHED_OK
$STATE,1625,begin climb
$GC,1628,0.73,146.0,150.8,0.0,234,1753,0.98,0.00,119.07,0.793,6,0.144,0.000,2913,2399,2203,0,0,0,0,0,0
$GC,2068,0.74,157.3,115.0,8.7,276,2084,0.00,3.95,9.62,0.714,4,0.000,0.081,2913,3922,2157,0,0,8,0,0,0
$GC,2189,0.68,157.3,102.8,10.6,286,2199,0.00,3.85,0.00,0.000,6,0.000,0.068,2931,2396,2156,0,0,6,0,0,0
$GC,2536,0.68,157.3,67.4,10.8,345,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2398,2156,0,0,0,0,0,0
$GC,2878,0.68,157.3,33.3,9.6,406,2884,0.00,3.85,0.00,0.000,4,0.000,0.082,2931,3918,2155,0,0,8,0,0,0
$GC,3000,0.60,157.3,20.0,11.6,427,3006,0.25,3.75,0.00,0.000,6,0.193,0.068,2887,2400,2155,0,0,7,0,0,0
$FREEZE,8.96,1.028,-1.858,0,1,0
$FREEZE,8.48,1.040,-1.856,0,1,0
$FREEZE,8.12,1.048,-1.855,0,1,0
$FREEZE,7.81,1.014,-1.855,0,1,0
$FREEZE,7.51,0.981,-1.854,0,1,0
$FREEZE,7.18,0.970,-1.854,0,1,0
$FREEZE,6.90,0.978,-1.853,0,1,0
$FREEZE,6.46,0.959,-1.853,0,1,0
$FREEZE,6.13,0.914,-1.852,0,1,0
$FREEZE,5.76,0.898,-1.852,0,1,0
$FREEZE,5.46,0.885,-1.851,0,1,0
$FREEZE,4.93,0.888,-1.850,0,1,0
$FREEZE,4.59,0.883,-1.850,0,1,0
$FREEZE,4.24,0.875,-1.850,0,1,0
$FREEZE,3.91,0.867,-1.849,0,1,0
$FREEZE,3.53,0.739,-1.851,0,1,0
$FREEZE,3.18,0.837,-1.844,0,1,0
$FREEZE,2.80,0.725,-1.848,0,1,0
$FREEZE,2.46,0.724,-1.847,0,1,0
$FREEZE,2.05,0.717,-1.847,0,1,0
$FREEZE,1.68,0.718,-1.846,0,1,0
$STATE,3252,end climb,SURFACE_DEPTH_REACHED
$STATE,3255,begin surface coast
$FREEZE,1.26,0.718,-1.846,0,1,0
$FREEZE,0.81,0.715,-1.845,0,1,0
$FREEZE,0.52,0.718,-1.845,0,1,0
$FREEZE,0.49,0.622,-1.711,0,1,0
$FREEZE,0.48,0.776,-1.842,0,1,0
$FINISH,0.5,1.026923
$STATE,3284,end surface coast,CONTROL_FINISHED_OK
$STATE,3284,begin surface
$SM_CCo,3302,86.05,0.722,0,0,1474,325.02
$SM_GC,1.29,0.00,0.00,86.05,0.000,0.000,0.722,123,2796,1474,-8.02,-0.11,325.02
$RAFOS_CLK,204
$RAFOS,6,1262580546,4.833333,4.818333,51,49,49,0,0,0,203,150,138,0,0,0
$RAFOS,5,1262580061,4.700000,4.683611,57,57,54,0,0,0,197,227,123,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5620.16,310399,030318
$TT8_MAMPS,0.027612
$HUMID,49.05
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.30
$XPDR_PINGS,3
$ALTIM_TOP_PING,20.0,19.6
$24V_AH,23.0,84.244
$10V_AH,10.1,42.875
$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,21.900,34.025,245.000,86.050,0.000,28.178,32.799,103.960,1.000,0.000,16.683,784.197,1451.689,411.901,751.125,277.857,0.000,823.940,0.000,738.069,720.000,2.618,0.000
$DEVICE_MAMPS,306.800,98.176,841.399,721.747,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,346.578,321.102,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152552
$DATA_FILE_SIZE,19073,477
$CAP_FILE_SIZE,48875,0
$CFSIZE,260165632,214401024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,70,0,0
$SOUNDSPEED,1458.4
$GPS,040110,053707,6741.091,-5626.324,25,1.4,26,-38.2