version: 66.06
glider: 143
mission: 10
dive: 543
start: 1 4 110 15 29 56
data:
$ID,143
$MISSION,10
$DIVE,543
$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,-47527.766
$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,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
$GPS1,152508,6739.775,-5633.603,13,1.3,14,-38.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-69.6
$GPS2,152937,6739.830,-5633.648,10,2.0,15,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6731.557,-5651.808
$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,258.3,20000,-16.9,-9.167
$D_GRID,177
$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,-94.53,0.000,2,0.000,0.000,126,2797,3184,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.1,-5.2,19,142,11.27,2.88,-5.80,0.000,4,0.291,0.101,2445,3911,3398,0,0,9,0,0,0
$GC,183,-0.73,-146.0,13.7,-10.6,31,189,0.00,2.67,0.00,0.000,6,0.000,0.060,2445,2802,3399,0,0,6,0,0,0
$GC,527,-0.73,-146.0,44.4,-7.7,92,532,0.00,2.83,0.00,0.000,4,0.000,0.088,2446,3922,3400,0,0,8,0,0,0
$GC,706,-0.73,-146.0,60.2,-9.2,124,712,0.00,2.67,0.00,0.000,6,0.000,0.061,2446,2801,3400,0,0,6,0,0,0
$GC,1050,-0.78,-146.0,93.2,-10.5,185,1056,0.00,2.83,0.00,0.000,4,0.000,0.089,2446,3927,3400,0,0,8,0,0,0
$GC,1309,-0.85,-146.0,119.9,-10.1,214,1314,0.00,2.70,0.00,0.000,6,0.000,0.062,2446,2798,3399,0,0,6,0,0,0
$GC,1635,-0.93,-146.0,149.3,-8.2,244,1641,0.17,2.85,0.00,0.000,4,0.113,0.086,2374,3933,3398,0,0,8,0,0,0
$GC,1771,-0.76,-146.0,165.0,-11.5,255,1777,0.28,2.70,0.00,0.000,6,0.202,0.061,2441,2801,3397,0,0,6,0,0,0
$STATE,1902,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1902,begin apogee
$GC,1909,-0.16,0.0,177.4,9.1,268,2030,0.68,0.00,116.30,0.854,6,0.184,0.000,2631,2396,2800,0,0,0,0,0,0
$STATE,2030,end apogee,CONTROL_FINISHED_OK
$STATE,2031,begin climb
$GC,2033,0.73,146.0,180.7,0.0,280,2162,0.95,1.98,119.28,0.812,4,0.134,0.085,2925,793,2201,0,0,0,0,0,0
$GC,2186,0.73,147.7,171.1,9.1,294,2189,0.00,1.90,0.00,0.000,6,0.000,0.061,2925,2410,2200,0,0,0,0,0,0
$GC,2515,0.73,147.7,137.3,10.6,325,2525,0.00,3.90,0.00,0.000,4,0.000,0.081,2925,3922,2195,0,0,7,0,0,0
$GC,2593,0.62,147.7,127.9,12.8,332,2603,0.20,3.85,0.00,0.000,6,0.201,0.068,2897,2394,2194,0,0,7,0,0,0
$GC,2924,0.74,171.2,97.4,8.2,365,2954,0.00,3.92,20.33,0.759,4,0.000,0.081,2897,3924,2101,0,0,8,0,0,0
$GC,3029,0.74,171.2,87.4,9.8,384,3035,0.00,3.83,0.00,0.000,6,0.000,0.067,2913,2400,2099,0,0,7,0,0,0
$GC,3372,0.82,171.2,55.6,9.8,445,3379,0.12,3.90,0.00,0.000,4,0.109,0.080,2961,3924,2099,0,0,7,0,0,0
$GC,3459,0.66,171.2,44.2,13.6,460,3469,0.30,3.78,0.00,0.000,6,0.197,0.067,2905,2401,2099,0,0,8,0,0,0
$GC,3806,0.84,206.3,13.3,7.7,522,3847,0.17,3.92,30.12,0.730,4,0.109,0.081,2965,3926,1957,0,0,8,0,0,0
$FREEZE,8.41,0.828,-1.851,0,1,0
$FREEZE,7.64,0.802,-1.851,0,1,0
$FREEZE,6.84,0.792,-1.850,0,1,0
$FREEZE,6.18,0.707,-1.849,0,1,0
$FREEZE,5.43,0.567,-1.846,0,1,0
$FREEZE,4.64,0.336,-1.847,0,1,0
$FREEZE,3.93,0.338,-1.845,0,1,0
$FREEZE,3.13,0.321,-1.844,0,1,0
$FREEZE,2.40,0.315,-1.843,0,1,0
$FREEZE,1.61,0.307,-1.842,0,1,0
$STATE,3902,end climb,SURFACE_DEPTH_REACHED
$STATE,3903,begin surface coast
$FREEZE,1.02,0.315,-1.841,0,1,0
$FREEZE,0.36,0.314,-1.840,0,1,0
$FINISH,0.4,1.026933
$STATE,3914,end surface coast,CONTROL_FINISHED_OK
$STATE,3914,begin surface
$SM_CCo,3936,68.03,0.711,0,0,1475,325.02
$SM_GC,1.22,0.00,0.00,68.03,0.000,0.000,0.711,129,2805,1475,-8.00,0.14,325.02
$RAFOS_CLK,236
$RAFOS,3,1262622304,16.433332,16.417778,62,60,57,0,0,0,188,208,225,0,0,0
$RAFOS,2,1262621831,16.299999,16.286388,63,60,59,0,0,0,204,217,188,0,0,0
$RAFOS,1,1262621350,16.166666,16.152779,61,57,54,0,0,0,153,169,135,0,0,0
$RAFOS,0,1262620866,16.033333,16.018333,67,57,57,0,0,0,199,169,116,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5628.00,310399,141435
$TT8_MAMPS,0.029913
$HUMID,48.11
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.40
$XPDR_PINGS,3
$ALTIM_TOP_PING,20.0,19.6
$24V_AH,22.9,85.121
$10V_AH,10.1,43.184
$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,22.500,56.925,286.025,68.025,0.000,23.253,30.806,101.785,1.000,0.000,17.426,867.475,1817.317,442.827,872.329,278.994,0.000,932.470,0.000,856.448,1800.000,2.620,0.000
$DEVICE_MAMPS,290.693,101.244,854.438,711.009,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,394.559,363.970,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152568
$DATA_FILE_SIZE,19079,542
$CAP_FILE_SIZE,60345,0
$CFSIZE,260165632,214061056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,116,0,0
$SOUNDSPEED,1459.6
$GPS,040110,163806,6740.403,-5635.339,38,0.9,39,-38.3