version: 66.06
glider: 143
mission: 10
dive: 542
start: 1 4 110 14 22 3
data:
$ID,143
$MISSION,10
$DIVE,542
$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,-47509.711
$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,7
$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
$GPS1,141706,6739.292,-5631.895,6,1.1,23,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.0
$GPS2,142144,6739.343,-5631.941,13,2.0,13,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6731.070,-5650.094
$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,165
$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,-94.53,0.000,2,0.000,0.000,132,2809,3190,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.1,-4.9,19,142,11.52,2.65,-5.62,0.000,4,0.298,0.092,2445,1181,3399,0,0,0,0,0,0
$GC,166,-0.61,-146.0,12.2,-11.6,28,173,0.17,2.47,0.00,0.000,6,0.207,0.069,2488,2797,3401,0,0,1,0,0,0
$GC,512,-0.78,-146.0,39.6,-7.8,89,518,0.15,2.80,0.00,0.000,4,0.112,0.087,2428,3920,3401,0,0,8,0,0,0
$GC,676,-0.78,-146.0,56.2,-9.9,118,682,0.00,2.67,0.00,0.000,6,0.000,0.061,2428,2792,3401,0,0,6,0,0,0
$GC,1020,-0.78,-146.0,91.0,-11.1,179,1025,0.00,2.83,0.00,0.000,4,0.000,0.088,2428,3936,3400,0,0,8,0,0,0
$GC,1217,-0.78,-146.0,112.2,-10.2,204,1223,0.00,2.65,0.00,0.000,6,0.000,0.061,2428,2805,3400,0,0,6,0,0,0
$GC,1541,-0.78,-146.0,144.9,-9.5,235,1546,0.00,2.80,0.00,0.000,4,0.000,0.087,2428,3921,3400,0,0,6,0,0,0
$GC,1648,-0.78,-146.0,155.8,-10.3,244,1653,0.00,2.65,0.00,0.000,6,0.000,0.059,2428,2794,3399,0,0,6,0,0,0
$STATE,1747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1748,begin apogee
$GC,1754,-0.16,0.0,165.8,9.2,253,1875,0.73,0.00,116.20,0.848,6,0.186,0.000,2629,2398,2799,0,0,0,0,0,0
$STATE,1875,end apogee,CONTROL_FINISHED_OK
$STATE,1875,begin climb
$GC,1878,0.73,146.0,170.0,0.0,265,2007,0.95,1.98,118.72,0.805,4,0.142,0.085,2919,806,2202,0,0,0,0,0,0
$GC,2019,0.77,183.1,162.7,7.6,278,2060,0.00,1.90,32.38,0.762,6,0.000,0.061,2919,2406,2052,0,0,0,0,0,0
$GC,2379,0.77,183.1,126.2,10.7,312,2389,0.00,3.90,0.00,0.000,4,0.000,0.080,2919,3924,2046,0,0,7,0,0,0
$GC,2462,0.77,183.1,115.7,12.6,319,2468,0.00,3.80,0.00,0.000,6,0.000,0.068,2937,2404,2045,0,0,7,0,0,0
$GC,2797,0.77,183.1,80.6,9.7,367,2803,0.00,3.88,0.00,0.000,4,0.000,0.081,2937,3915,2044,0,0,6,0,0,0
$GC,2849,0.65,183.1,74.5,12.2,376,2856,0.20,3.75,0.00,0.000,6,0.200,0.068,2908,2398,2044,0,0,9,0,0,0
$GC,3196,0.80,192.2,42.7,8.8,437,3213,0.12,3.90,7.78,0.676,4,0.126,0.080,2949,3923,2015,0,0,7,0,0,0
$GC,3307,0.71,192.2,29.7,12.6,456,3314,0.20,3.78,0.00,0.000,6,0.193,0.067,2920,2397,2015,0,0,8,0,0,0
$FREEZE,8.75,0.409,-1.848,0,1,0
$FREEZE,8.23,0.400,-1.847,0,1,0
$FREEZE,7.58,0.398,-1.846,0,1,0
$FREEZE,7.16,0.394,-1.846,0,1,0
$FREEZE,6.61,0.398,-1.846,0,1,0
$FREEZE,6.18,0.401,-1.845,0,1,0
$FREEZE,5.71,0.396,-1.844,0,1,0
$FREEZE,5.14,0.361,-1.844,0,1,0
$FREEZE,4.63,0.351,-1.843,0,1,0
$FREEZE,4.14,0.342,-1.843,0,1,0
$FREEZE,3.59,0.325,-1.843,0,1,0
$FREEZE,3.13,0.316,-1.842,0,1,0
$FREEZE,2.59,0.320,-1.842,0,1,0
$FREEZE,2.10,0.317,-1.841,0,1,0
$FREEZE,1.62,0.316,-1.841,0,1,0
$STATE,3606,end climb,SURFACE_DEPTH_REACHED
$STATE,3606,begin surface coast
$FREEZE,1.14,0.316,-1.840,0,1,0
$FREEZE,0.65,0.319,-1.840,0,1,0
$FREEZE,0.37,0.271,-1.248,0,1,0
$FREEZE,0.40,0.276,-1.614,0,1,0
$FINISH,0.4,1.023711
$STATE,3630,end surface coast,CONTROL_FINISHED_OK
$STATE,3630,begin surface
$SM_CCo,3648,75.45,0.719,0,0,1474,325.02
$SM_GC,1.20,0.00,0.00,75.45,0.000,0.000,0.719,127,2797,1474,-8.01,-0.08,325.02
$RAFOS_CLK,224
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5629.59,310399,131356
$TT8_MAMPS,0.027612
$HUMID,47.91
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.40
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.6,19.3
$24V_AH,22.9,85.032
$10V_AH,9.9,43.151
$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,22.250,50.550,275.075,75.450,0.000,28.149,34.313,104.747,1.250,0.000,14.512,834.243,1639.127,432.425,817.883,284.799,0.000,895.041,0.000,805.548,0.000,2.620,0.000
$DEVICE_MAMPS,297.596,92.040,848.302,718.679,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,372.990,344.714,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152528
$DATA_FILE_SIZE,19059,513
$CAP_FILE_SIZE,56474,0
$CFSIZE,260165632,214097920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,85,0,0
$SOUNDSPEED,1459.6
$GPS,040110,152508,6739.775,-5633.603,13,1.3,14,-38.3