version: 66.06
glider: 143
mission: 10
dive: 537
start: 1 4 110 8 53 34
data:
$ID,143
$MISSION,10
$DIVE,537
$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,-47426.062
$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,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
$GPS1,084816,6740.356,-5626.888,8,99.0,28,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-69.5
$GPS2,085316,6740.341,-5626.860,13,2.1,32,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6732.069,-5645.025
$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,148
$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,-99.75,0.000,2,0.000,0.000,126,2794,3312,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.6,-6.3,20,144,11.45,2.60,-2.05,0.000,4,0.295,0.093,2448,1193,3399,0,0,1,0,0,0
$GC,184,-0.73,-146.0,15.9,-10.7,31,190,0.00,2.53,0.00,0.000,6,0.000,0.071,2448,2797,3401,0,0,0,0,0,0
$GC,528,-0.77,-146.0,46.5,-9.7,92,534,0.00,2.78,0.00,0.000,4,0.000,0.091,2448,3925,3402,0,0,7,0,0,0
$GC,688,-0.83,-146.0,60.9,-9.1,120,694,0.00,2.62,0.00,0.000,6,0.000,0.061,2448,2806,3401,0,0,2,0,0,0
$GC,1032,-0.90,-146.0,88.2,-7.5,181,1039,0.15,2.75,0.00,0.000,4,0.117,0.087,2386,3940,3401,0,0,6,0,0,0
$GC,1148,-0.75,-146.0,100.5,-11.1,201,1154,0.22,2.65,0.00,0.000,6,0.204,0.061,2439,2801,3400,0,0,3,0,0,0
$GC,1473,-0.75,-146.0,128.6,-8.2,231,1478,0.00,2.78,0.00,0.000,4,0.000,0.087,2439,3935,3400,0,0,5,0,0,0
$GC,1642,-0.80,-146.0,144.6,-9.6,245,1648,0.00,2.67,0.00,0.000,6,0.000,0.060,2439,2801,3400,0,0,3,0,0,0
$STATE,1677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1677,begin apogee
$GC,1684,-0.16,0.0,148.3,9.6,249,1804,0.68,0.00,116.20,0.836,6,0.184,0.000,2629,2388,2800,0,0,0,0,0,0
$STATE,1805,end apogee,CONTROL_FINISHED_OK
$STATE,1805,begin climb
$GC,1808,0.73,146.0,153.1,0.0,261,1936,0.95,2.03,118.75,0.793,4,0.140,0.085,2920,789,2202,0,0,0,0,0,0
$GC,1971,0.73,146.0,142.9,9.4,276,1975,0.00,1.98,0.00,0.000,6,0.000,0.061,2921,2422,2200,0,0,0,0,0,0
$GC,2301,0.73,148.1,111.9,9.1,307,2310,0.00,3.83,0.00,0.000,4,0.000,0.081,2921,3911,2195,0,0,5,0,0,0
$GC,2413,0.64,148.1,99.7,11.3,317,2420,0.17,3.72,0.00,0.000,6,0.201,0.067,2898,2400,2194,0,0,5,0,0,0
$GC,2761,0.79,183.6,70.2,7.7,378,2802,0.15,3.88,30.38,0.755,4,0.117,0.081,2949,3920,2050,0,0,7,0,0,0
$GC,2882,0.68,183.6,56.2,12.8,400,2888,0.22,3.83,0.00,0.000,6,0.195,0.067,2913,2396,2048,0,0,4,0,0,0
$GC,3228,0.78,188.0,25.0,9.0,461,3240,0.00,3.90,4.57,0.570,4,0.000,0.081,2913,3923,2032,0,0,4,0,0,0
$GC,3307,0.78,188.0,16.7,10.5,475,3313,0.00,3.80,0.00,0.000,6,0.000,0.067,2928,2397,2032,0,0,4,0,0,0
$FREEZE,8.56,0.936,-1.853,0,1,0
$FREEZE,8.03,0.886,-1.852,0,1,0
$FREEZE,7.52,0.810,-1.852,0,1,0
$FREEZE,6.99,0.737,-1.851,0,1,0
$FREEZE,6.56,0.715,-1.850,0,1,0
$FREEZE,6.06,0.710,-1.849,0,1,0
$FREEZE,5.58,0.691,-1.849,0,1,0
$FREEZE,5.10,0.677,-1.848,0,1,0
$FREEZE,4.60,0.651,-1.847,0,1,0
$FREEZE,4.20,0.563,-1.847,0,1,0
$FREEZE,3.52,0.554,-1.846,0,1,0
$FREEZE,3.15,0.552,-1.846,0,1,0
$FREEZE,2.67,0.550,-1.845,0,1,0
$FREEZE,2.13,0.547,-1.844,0,1,0
$FREEZE,1.63,0.542,-1.843,0,1,0
$STATE,3471,end climb,SURFACE_DEPTH_REACHED
$STATE,3471,begin surface coast
$FREEZE,1.13,0.441,-1.844,0,1,0
$FREEZE,0.68,0.391,-1.843,0,1,0
$FREEZE,0.52,0.359,-1.580,0,1,0
$FREEZE,0.48,0.120,-0.964,0,1,0
$FINISH,0.5,1.014253
$STATE,3493,end surface coast,CONTROL_FINISHED_OK
$STATE,3493,begin surface
$SM_CCo,3512,77.72,0.719,0,0,1475,325.02
$SM_GC,1.34,0.00,0.00,77.72,0.000,0.000,0.719,130,2792,1475,-8.00,-0.23,325.02
$RAFOS_CLK,221
$RAFOS,5,1262594465,8.700000,8.684722,67,63,59,0,0,0,146,132,210,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5632.72,310399,070737
$TT8_MAMPS,0.027612
$HUMID,48.66
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,17.30
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,19.5
$24V_AH,23.0,84.592
$10V_AH,10.1,42.998
$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,22.250,50.475,269.900,77.725,0.000,27.742,32.639,106.920,1.000,0.000,35.278,827.947,1523.017,428.729,825.400,289.879,0.000,883.951,0.000,793.226,0.000,2.620,0.000
$DEVICE_MAMPS,295.295,92.807,836.030,718.679,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,370.115,341.193,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152568
$DATA_FILE_SIZE,19025,508
$CAP_FILE_SIZE,56748,0
$CFSIZE,260165632,214261760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,56,0,0
$SOUNDSPEED,1460.0
$GPS,040110,095436,6739.712,-5627.347,8,2.0,25,-38.2