version: 66.06
glider: 143
mission: 10
dive: 468
start: 1 1 110 1 53 43
data:
$ID,143
$MISSION,10
$DIVE,468
$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,120
$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,-45998.648
$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
$GPS1,014804,6739.876,-5656.701,7,2.1,27,-38.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-66.3
$GPS2,015325,6739.957,-5656.623,11,1.4,11,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6734.557,-5632.106
$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,158.4,20000,-16.9,-9.167
$D_GRID,191
$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,-146.0,0.0,0.0,0,118,0.00,0.00,-100.10,0.000,2,0.000,0.000,130,2808,3234,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.7,-7.0,20,144,11.20,2.92,-4.00,0.000,4,0.290,0.103,2444,3916,3397,0,0,7,0,0,0
$GC,274,-0.73,-146.0,27.1,-12.0,47,279,0.00,2.78,0.00,0.000,6,0.000,0.064,2444,2792,3399,0,0,6,0,0,0
$GC,616,-0.73,-146.0,68.7,-11.1,108,622,0.00,2.90,0.00,0.000,4,0.000,0.091,2444,3921,3400,0,0,8,0,0,0
$GC,852,-0.73,-146.0,95.3,-11.5,150,858,0.00,2.75,0.00,0.000,6,0.000,0.066,2444,2800,3399,0,0,6,0,0,0
$GC,1185,-0.79,-146.0,131.8,-10.6,185,1190,0.00,2.95,0.00,0.000,4,0.000,0.092,2444,3923,3399,0,0,6,0,0,0
$GC,1371,-0.88,-146.0,150.5,-9.5,201,1376,0.12,2.78,0.00,0.000,6,0.131,0.065,2405,2798,3398,0,0,5,0,0,0
$GC,1695,-0.88,-146.0,183.7,-9.7,231,1700,0.00,2.88,0.00,0.000,4,0.000,0.090,2405,3927,3396,0,0,8,0,0,0
$STATE,1766,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1766,begin apogee
$GC,1776,-0.16,0.0,191.2,10.2,237,1896,0.82,0.00,116.32,0.883,6,0.199,0.000,2626,2397,2800,0,0,0,0,0,0
$STATE,1897,end apogee,CONTROL_FINISHED_OK
$STATE,1897,begin climb
$GC,1900,0.73,146.0,195.2,0.0,249,2029,0.98,2.08,119.97,0.834,4,0.146,0.088,2919,786,2202,0,0,0,0,0,0
$GC,2056,0.73,146.0,184.7,10.4,263,2062,0.00,1.95,0.00,0.000,6,0.000,0.062,2920,2402,2201,0,0,0,0,0,0
$GC,2381,0.73,146.0,152.2,9.9,294,2390,0.00,3.92,0.00,0.000,4,0.000,0.082,2920,3917,2196,0,0,7,0,0,0
$GC,2528,0.63,146.0,135.0,11.7,307,2539,0.17,3.85,0.00,0.000,6,0.203,0.070,2898,2402,2195,0,0,6,0,0,0
$GC,2857,0.73,146.0,102.3,9.8,338,2867,0.00,3.88,0.00,0.000,4,0.000,0.082,2898,3917,2195,0,0,7,0,0,0
$GC,2946,0.73,146.0,93.0,9.8,351,2953,0.00,3.83,0.00,0.000,6,0.000,0.069,2913,2389,2195,0,0,6,0,0,0
$GC,3293,0.86,170.7,63.7,8.1,412,3324,0.15,3.92,20.15,0.752,4,0.103,0.081,2969,3918,2104,0,0,7,0,0,0
$GC,3438,0.67,170.7,45.6,14.0,438,3444,0.30,3.83,0.00,0.000,6,0.194,0.069,2913,2400,2103,0,0,6,0,0,0
$GC,3783,0.84,215.8,17.9,7.3,499,3830,0.15,3.97,38.30,0.744,4,0.115,0.083,2965,3919,1919,0,0,7,0,0,0
$FREEZE,9.00,-0.366,-1.834,0,1,0
$FREEZE,8.31,-0.357,-1.833,0,1,0
$FREEZE,7.54,-0.359,-1.833,0,1,0
$FREEZE,6.64,-0.307,-1.832,0,1,0
$FREEZE,5.98,-0.336,-1.832,0,1,0
$FREEZE,5.29,-0.345,-1.831,0,1,0
$FREEZE,4.55,-0.353,-1.831,0,1,0
$GC,3900,0.74,215.8,4.5,13.4,520,3906,0.22,3.85,0.00,0.000,6,0.205,0.067,2931,2395,1915,0,0,6,0,0,0
$FREEZE,2.82,-0.358,-1.829,0,1,0
$FREEZE,2.11,-0.359,-1.829,0,1,0
$FREEZE,1.48,-0.358,-1.829,0,1,0
$STATE,3922,end climb,SURFACE_DEPTH_REACHED
$STATE,3922,begin surface coast
$FREEZE,0.95,-0.378,-1.828,0,1,0
$FREEZE,0.33,-0.334,-1.826,0,1,0
$FREEZE,0.40,-0.391,-1.804,0,1,0
$FINISH,0.4,1.026447
$STATE,3940,end surface coast,CONTROL_FINISHED_OK
$STATE,3940,begin surface
$SM_CCo,3958,67.12,0.722,0,0,1474,325.02
$SM_GC,1.43,0.00,0.00,67.12,0.000,0.000,0.722,124,2808,1474,-8.02,0.23,325.02
$RAFOS_CLK,250
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5643.65,280399,000000
$TT8_MAMPS,0.027612
$HUMID,47.71
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,20.0,19.3
$24V_AH,22.8,78.361
$10V_AH,10.0,40.809
$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,22.200,59.950,294.750,67.125,0.000,22.250,31.644,160.438,0.750,0.000,13.044,859.369,1857.333,451.334,854.365,328.835,0.000,934.121,0.000,840.350,0.000,2.618,0.000
$DEVICE_MAMPS,289.926,102.778,882.817,721.747,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,381.324,353.742,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152540
$DATA_FILE_SIZE,19066,527
$CAP_FILE_SIZE,59774,0
$CFSIZE,260165632,216633344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,104,0,0
$SOUNDSPEED,1455.2
$GPS,010110,030143,6740.178,-5655.475,8,1.5,9,-38.4