version: 66.06
glider: 143
mission: 10
dive: 541
start: 1 4 110 13 13 21
data:
$ID,143
$MISSION,10
$DIVE,541
$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,-47494.574
$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
$GPS1,130824,6738.927,-5630.255,38,1.7,39,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-69.3
$GPS2,131302,6738.959,-5630.293,15,1.3,15,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6730.687,-5648.441
$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,160
$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,-94.38,0.000,2,0.000,0.000,130,2802,3174,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.1,-5.1,19,142,11.32,2.85,-6.05,0.000,4,0.293,0.101,2447,3920,3398,0,0,8,0,0,0
$GC,322,-0.73,-146.0,28.1,-9.7,56,328,0.00,2.60,0.00,0.000,6,0.000,0.061,2448,2808,3399,0,0,6,0,0,0
$GC,667,-0.77,-146.0,63.7,-10.8,117,672,0.00,2.75,0.00,0.000,4,0.000,0.089,2448,3917,3400,0,0,7,0,0,0
$GC,811,-0.84,-146.0,78.7,-9.4,142,816,0.00,2.62,0.00,0.000,6,0.000,0.061,2448,2801,3400,0,0,6,0,0,0
$GC,1156,-0.91,-146.0,106.1,-7.8,197,1162,0.17,2.80,0.00,0.000,4,0.112,0.086,2377,3934,3400,0,0,7,0,0,0
$GC,1325,-0.75,-146.0,124.6,-10.3,211,1331,0.28,2.62,0.00,0.000,6,0.203,0.061,2443,2802,3399,0,0,6,0,0,0
$GC,1652,-0.83,-146.0,150.2,-8.1,242,1657,0.00,2.78,0.00,0.000,4,0.000,0.087,2443,3928,3399,0,0,7,0,0,0
$STATE,1768,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1768,begin apogee
$GC,1777,-0.16,0.0,160.1,8.6,252,1898,0.65,0.00,115.97,0.848,6,0.183,0.000,2627,2387,2800,0,0,0,0,0,0
$STATE,1899,end apogee,CONTROL_FINISHED_OK
$STATE,1899,begin climb
$GC,1902,0.73,146.0,163.9,0.0,264,2027,0.98,0.00,118.62,0.802,6,0.144,0.000,2915,2388,2203,0,0,0,0,0,0
$GC,2341,0.73,151.0,128.8,9.0,306,2353,0.00,3.97,4.65,0.586,4,0.000,0.080,2914,3934,2183,0,0,7,0,0,0
$GC,2414,0.66,151.0,120.7,11.9,312,2421,0.12,3.85,0.00,0.000,6,0.205,0.067,2907,2397,2182,0,0,6,0,0,0
$GC,2746,0.72,151.0,87.8,9.9,354,2751,0.00,3.90,0.00,0.000,4,0.000,0.081,2907,3932,2182,0,0,6,0,0,0
$GC,2798,0.72,151.0,82.1,11.4,363,2804,0.00,3.80,0.00,0.000,6,0.000,0.068,2922,2396,2182,0,0,7,0,0,0
$GC,3142,0.74,167.0,48.3,8.5,424,3163,0.00,3.92,14.48,0.724,4,0.000,0.080,2922,3932,2118,0,0,6,0,0,0
$GC,3226,0.69,167.0,40.1,10.1,439,3232,0.00,3.83,0.00,0.000,6,0.000,0.067,2940,2395,2117,0,0,6,0,0,0
$FREEZE,8.54,0.360,-1.847,0,1,0
$GC,3570,0.70,173.8,9.5,8.9,500,3587,0.00,3.90,7.10,0.657,4,0.000,0.081,2940,3916,2091,0,0,8,0,0,0
$FREEZE,7.36,0.309,-1.846,0,1,0
$FREEZE,6.80,0.309,-1.845,0,1,0
$FREEZE,6.11,0.259,-1.845,0,1,0
$FREEZE,5.54,0.258,-1.844,0,1,0
$FREEZE,5.04,0.259,-1.843,0,1,0
$FREEZE,4.35,0.259,-1.843,0,1,0
$FREEZE,3.63,0.259,-1.842,0,1,0
$FREEZE,3.08,0.259,-1.842,0,1,0
$FREEZE,2.46,0.260,-1.841,0,1,0
$FREEZE,1.88,0.260,-1.840,0,1,0
$STATE,3644,end climb,SURFACE_DEPTH_REACHED
$STATE,3644,begin surface coast
$FREEZE,1.23,0.261,-1.840,0,1,0
$FINISH,1.2,1.026919
$STATE,3650,end surface coast,CONTROL_FINISHED_OK
$STATE,3650,begin surface
$SM_CCo,3671,85.12,0.714,0,0,1474,325.02
$SM_GC,1.20,0.00,0.00,85.12,0.000,0.000,0.714,132,2809,1474,-8.00,0.25,325.02
$RAFOS_CLK,229
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5635.83,310399,121247
$TT8_MAMPS,0.027612
$HUMID,47.71
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.5,19.0
$24V_AH,23.0,84.943
$10V_AH,9.9,43.120
$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,21.850,52.725,260.825,85.125,0.000,31.485,29.192,105.756,0.750,0.000,16.522,826.994,1680.214,433.217,818.133,281.560,0.000,886.049,0.000,804.811,0.000,2.623,0.000
$DEVICE_MAMPS,292.994,101.244,847.535,714.077,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,375.070,345.600,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152564
$DATA_FILE_SIZE,19026,514
$CAP_FILE_SIZE,55227,0
$CFSIZE,260165632,214130688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,104,0,0
$SOUNDSPEED,1460.0
$GPS,040110,141706,6739.292,-5631.895,6,1.1,23,-38.2