version: 66.06
glider: 143
mission: 10
dive: 540
start: 1 4 110 12 6 27
data:
$ID,143
$MISSION,10
$DIVE,540
$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,-47477.422
$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,16
$R_STBD_OVSHOOT,16
$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
$GPS1,120119,6738.924,-5629.000,5,1.1,11,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-69.9
$GPS2,120608,6738.922,-5628.990,15,1.6,15,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6730.649,-5647.137
$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,154
$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,-146.0,0.0,0.0,0,113,0.00,0.00,-94.35,0.000,2,0.000,0.000,129,2800,3177,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.1,-5.3,19,142,11.68,2.85,-5.97,0.000,4,0.301,0.101,2448,3922,3398,0,0,9,0,0,0
$GC,344,-0.73,-146.0,31.3,-11.0,60,350,0.00,2.62,0.00,0.000,6,0.000,0.061,2448,2808,3400,0,0,6,0,0,0
$GC,687,-0.77,-146.0,62.0,-7.9,121,693,0.00,2.78,0.00,0.000,4,0.000,0.089,2448,3926,3400,0,0,7,0,0,0
$GC,818,-0.83,-146.0,73.7,-9.6,144,824,0.00,2.65,0.00,0.000,6,0.000,0.062,2448,2797,3400,0,0,6,0,0,0
$GC,1160,-0.91,-146.0,105.0,-8.7,200,1166,0.15,2.80,0.00,0.000,4,0.117,0.087,2386,3920,3400,0,0,7,0,0,0
$GC,1297,-0.76,-146.0,120.8,-11.3,211,1303,0.22,2.62,0.00,0.000,6,0.204,0.060,2439,2801,3399,0,0,6,0,0,0
$GC,1622,-0.81,-146.0,148.6,-8.7,242,1626,0.00,2.80,0.00,0.000,4,0.000,0.087,2439,3919,3399,0,0,6,0,0,0
$STATE,1685,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1686,begin apogee
$GC,1695,-0.16,0.0,154.2,8.4,247,1815,0.68,0.00,115.88,0.844,6,0.183,0.000,2629,2389,2800,0,0,0,0,0,0
$STATE,1816,end apogee,CONTROL_FINISHED_OK
$STATE,1816,begin climb
$GC,1819,0.73,146.0,157.9,0.0,259,1944,0.95,0.00,118.90,0.801,6,0.143,0.000,2910,2389,2203,0,0,0,0,0,0
$GC,2261,0.79,156.0,124.1,8.7,301,2277,0.10,4.00,8.52,0.703,4,0.136,0.081,2945,3935,2163,0,0,7,0,0,0
$GC,2346,0.63,156.0,114.2,12.5,308,2357,0.28,3.83,0.00,0.000,6,0.202,0.067,2898,2401,2162,0,0,7,0,0,0
$GC,2685,0.78,208.7,88.1,6.9,354,2737,0.12,3.95,44.20,0.766,4,0.127,0.081,2938,3918,1948,0,0,7,0,0,0
$GC,2827,0.71,208.7,73.7,10.6,380,2834,0.15,3.83,0.00,0.000,6,0.198,0.067,2923,2399,1945,0,0,6,0,0,0
$GC,3173,0.80,208.7,39.0,10.8,441,3179,0.00,3.85,0.00,0.000,4,0.000,0.080,2922,3922,1942,0,0,7,0,0,0
$GC,3275,0.80,208.7,26.9,11.6,459,3281,0.00,3.75,0.00,0.000,6,0.000,0.067,2938,2395,1942,0,0,8,0,0,0
$FREEZE,8.78,0.261,-1.846,0,1,0
$FREEZE,8.15,0.258,-1.845,0,1,0
$FREEZE,7.74,0.260,-1.845,0,1,0
$FREEZE,7.14,0.259,-1.844,0,1,0
$FREEZE,6.56,0.260,-1.844,0,1,0
$FREEZE,6.06,0.257,-1.844,0,1,0
$FREEZE,5.49,0.257,-1.843,0,1,0
$FREEZE,4.98,0.255,-1.843,0,1,0
$FREEZE,4.48,0.255,-1.842,0,1,0
$FREEZE,3.88,0.255,-1.842,0,1,0
$FREEZE,3.29,0.255,-1.841,0,1,0
$FREEZE,2.74,0.254,-1.841,0,1,0
$FREEZE,2.25,0.250,-1.841,0,1,0
$FREEZE,1.70,0.254,-1.840,0,1,0
$STATE,3521,end climb,SURFACE_DEPTH_REACHED
$STATE,3522,begin surface coast
$FREEZE,1.20,0.252,-1.840,0,1,0
$FREEZE,0.57,0.253,-1.839,0,1,0
$FREEZE,0.37,0.309,-1.835,0,1,0
$FREEZE,0.39,0.131,-1.544,0,1,0
$FINISH,0.4,1.022718
$STATE,3545,end surface coast,CONTROL_FINISHED_OK
$STATE,3545,begin surface
$SM_CCo,3563,66.25,0.720,0,0,1474,325.02
$SM_GC,1.27,0.00,0.00,66.25,0.000,0.000,0.720,130,2801,1474,-8.00,0.03,325.02
$RAFOS_CLK,217
$RAFOS,6,1262609345,12.833333,12.818055,59,59,58,0,0,0,194,226,208,0,0,0
$RAFOS,5,1262608862,12.700000,12.683888,57,57,55,0,0,0,855,870,181,0,0,0
$RAFOS,4,1262608384,12.566667,12.551111,54,53,51,0,0,0,218,122,190,0,0,0
$RAFOS,3,1262607901,12.433333,12.416945,58,54,52,0,0,0,222,171,194,0,0,0
$RAFOS,2,1262607421,12.300000,12.283611,73,65,63,0,0,0,195,204,219,0,0,0
$RAFOS,1,1262606944,12.166667,12.151111,62,61,52,0,0,0,206,190,130,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5632.72,310399,111134
$TT8_MAMPS,0.027612
$HUMID,48.62
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.40
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.6,19.1
$24V_AH,23.0,84.857
$10V_AH,9.9,43.089
$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,22.550,47.250,287.500,66.250,0.000,28.577,33.443,110.892,1.250,0.000,17.468,818.987,1587.847,432.811,793.807,292.886,0.000,873.968,0.000,781.583,2160.000,2.620,0.000
$DEVICE_MAMPS,301.431,101.244,843.700,720.213,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,371.578,340.470,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152544
$DATA_FILE_SIZE,19012,507
$CAP_FILE_SIZE,55630,0
$CFSIZE,260165632,214163456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,94,0,0
$SOUNDSPEED,1459.4
$GPS,040110,130824,6738.927,-5630.255,38,1.7,39,-38.2