version: 66.06
glider: 143
mission: 10
dive: 545
start: 1 4 110 17 56 4
data:
$ID,143
$MISSION,10
$DIVE,545
$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,-47575.906
$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,12
$R_STBD_OVSHOOT,19
$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
$GPS1,175050,6740.837,-5637.038,8,1.7,9,-38.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-68.7
$GPS2,175546,6740.891,-5637.099,9,2.4,28,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6732.618,-5655.271
$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,188
$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,-146.0,0.0,0.0,0,113,0.00,0.00,-95.00,0.000,2,0.000,0.000,122,2800,3189,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.1,-4.8,19,142,11.65,2.90,-5.72,0.000,4,0.299,0.100,2451,3912,3398,0,0,9,0,0,0
$GC,172,-0.73,-146.0,12.4,-10.9,29,177,0.00,2.72,0.00,0.000,6,0.000,0.060,2451,2788,3399,0,0,7,0,0,0
$GC,516,-0.78,-146.0,47.7,-9.5,90,522,0.00,2.90,0.00,0.000,4,0.000,0.087,2451,3922,3400,0,0,6,0,0,0
$GC,693,-0.85,-146.0,63.6,-8.5,121,699,0.12,2.70,0.00,0.000,6,0.123,0.061,2411,2797,3400,0,0,6,0,0,0
$GC,1037,-0.80,-146.0,101.6,-11.4,181,1042,0.00,2.85,0.00,0.000,4,0.000,0.088,2411,3924,3400,0,0,7,0,0,0
$GC,1138,-0.75,-146.0,113.6,-11.2,189,1144,0.15,2.70,0.00,0.000,6,0.206,0.061,2444,2804,3399,0,0,6,0,0,0
$GC,1463,-0.84,-146.0,143.6,-9.0,220,1468,0.00,2.83,0.00,0.000,4,0.000,0.087,2444,3920,3398,0,0,7,0,0,0
$GC,1559,-0.91,-146.0,153.0,-9.6,228,1565,0.15,2.67,0.00,0.000,6,0.117,0.061,2395,2798,3397,0,0,6,0,0,0
$GC,1885,-0.84,-146.0,185.7,-9.0,258,1890,0.00,2.85,0.00,0.000,4,0.000,0.086,2394,3920,3398,0,0,7,0,0,0
$STATE,1910,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1911,begin apogee
$GC,1920,-0.16,0.0,188.2,9.5,260,2041,0.88,0.00,116.32,0.859,6,0.198,0.000,2630,2398,2800,0,0,0,0,0,0
$STATE,2042,end apogee,CONTROL_FINISHED_OK
$STATE,2042,begin climb
$GC,2044,0.73,146.0,191.2,0.0,272,2174,0.95,1.98,119.55,0.815,4,0.141,0.084,2920,792,2201,0,0,0,0,0,0
$GC,2257,0.73,146.0,172.6,13.2,291,2263,0.00,1.88,0.00,0.000,6,0.000,0.060,2920,2401,2197,0,0,0,0,0,0
$GC,2582,0.73,146.0,135.2,10.6,322,2592,0.00,3.90,0.00,0.000,4,0.000,0.080,2920,3920,2194,0,0,7,0,0,0
$GC,2700,0.62,146.0,121.9,11.5,332,2706,0.20,3.78,0.00,0.000,6,0.203,0.067,2892,2401,2193,0,0,7,0,0,0
$GC,3028,0.75,182.9,94.9,7.6,368,3065,0.12,3.90,29.60,0.764,4,0.123,0.080,2933,3920,2053,0,0,8,0,0,0
$GC,3124,0.65,182.9,84.7,12.6,385,3131,0.20,3.83,0.00,0.000,6,0.197,0.067,2905,2396,2050,0,0,7,0,0,0
$GC,3472,0.80,216.8,52.6,7.7,446,3509,0.12,3.92,28.83,0.741,4,0.123,0.080,2946,3924,1915,0,0,8,0,0,0
$GC,3532,0.80,216.8,46.0,11.8,457,3538,0.00,3.85,0.00,0.000,6,0.000,0.067,2963,2392,1914,0,0,7,0,0,0
$FREEZE,8.98,0.736,-1.852,0,1,0
$FREEZE,8.37,0.736,-1.852,0,1,0
$FREEZE,7.67,0.735,-1.851,0,1,0
$FREEZE,7.04,0.735,-1.850,0,1,0
$FREEZE,6.35,0.735,-1.850,0,1,0
$GC,3877,0.80,216.8,6.4,11.4,518,3883,0.00,3.90,0.00,0.000,4,0.000,0.080,2964,3929,1912,0,0,7,0,0,0
$FREEZE,4.79,0.740,-1.848,0,1,0
$FREEZE,3.92,0.740,-1.848,0,1,0
$FREEZE,3.22,0.747,-1.847,0,1,0
$FREEZE,2.34,0.751,-1.846,0,1,0
$FREEZE,1.52,0.750,-1.846,0,1,0
$STATE,3910,end climb,SURFACE_DEPTH_REACHED
$STATE,3910,begin surface coast
$FREEZE,1.00,0.750,-1.845,0,1,0
$FREEZE,0.39,0.763,-1.844,0,1,0
$FINISH,0.4,1.026963
$STATE,3922,end surface coast,CONTROL_FINISHED_OK
$STATE,3922,begin surface
$SM_CCo,3943,62.42,0.712,0,0,1475,325.02
$SM_GC,1.40,0.00,0.00,62.42,0.000,0.000,0.712,122,2807,1475,-8.03,0.20,325.02
$RAFOS_CLK,243
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5637.44,310399,161639
$TT8_MAMPS,0.027612
$HUMID,48.74
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,17.50
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.9,19.5
$24V_AH,22.9,85.299
$10V_AH,9.9,43.249
$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,22.750,62.575,294.300,62.425,0.000,24.646,35.044,108.638,1.250,0.000,31.049,840.982,1868.292,442.059,863.396,292.014,0.000,921.835,0.000,833.814,0.000,2.621,0.000
$DEVICE_MAMPS,299.130,99.710,859.040,711.776,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,382.647,353.182,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152552
$DATA_FILE_SIZE,19020,526
$CAP_FILE_SIZE,60447,0
$CFSIZE,260165632,213991424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,126,0,0
$SOUNDSPEED,1460.9
$GPS,040110,190407,6740.835,-5638.502,30,1.0,31,-38.3