version: 66.06
glider: 143
mission: 10
dive: 469
start: 1 1 110 3 8 23
data:
$ID,143
$MISSION,10
$DIVE,469
$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,-46031.754
$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
$GPS1,030143,6740.178,-5655.475,8,1.5,9,-38.4
$_CALLS,1
$_XMS_NAKs,21
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-66.2
$GPS2,030806,6740.229,-5655.352,15,1.4,31,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6734.830,-5630.830
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.73,-146.0,0.0,0.0,0,114,0.00,0.00,-95.20,0.000,2,0.000,0.000,124,2809,3129,0,0,0,0,0,0
$GC,117,-0.73,-146.0,3.2,-5.1,19,144,11.68,2.95,-7.53,0.000,4,0.302,0.104,2448,3923,3397,0,0,7,0,0,0
$GC,240,-0.73,-146.0,19.3,-9.4,41,246,0.00,2.80,0.00,0.000,6,0.000,0.064,2448,2789,3399,0,0,6,0,0,0
$GC,584,-0.73,-146.0,54.2,-10.4,102,589,0.00,2.92,0.00,0.000,4,0.000,0.091,2448,3925,3400,0,0,8,0,0,0
$GC,781,-0.77,-146.0,76.0,-11.7,137,786,0.00,2.78,0.00,0.000,6,0.000,0.064,2448,2791,3400,0,0,6,0,0,0
$GC,1118,-0.83,-146.0,112.6,-10.5,187,1123,0.00,2.90,0.00,0.000,4,0.000,0.092,2448,3922,3399,0,0,8,0,0,0
$GC,1376,-0.90,-146.0,140.1,-10.1,209,1382,0.15,2.75,0.00,0.000,6,0.123,0.065,2401,2800,3398,0,0,6,0,0,0
$GC,1700,-0.84,-146.0,176.4,-10.3,240,1705,0.00,2.90,0.00,0.000,4,0.000,0.090,2400,3917,3397,0,0,7,0,0,0
$STATE,1851,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1851,begin apogee
$GC,1861,-0.16,0.0,191.5,10.0,253,1982,0.85,0.00,116.35,0.881,6,0.197,0.000,2630,2396,2800,0,0,0,0,0,0
$STATE,1982,end apogee,CONTROL_FINISHED_OK
$STATE,1982,begin climb
$GC,1985,0.73,146.0,195.3,0.0,265,2114,0.95,2.05,120.00,0.832,4,0.141,0.089,2919,799,2202,0,0,0,0,0,0
$GC,2153,0.73,146.0,183.4,10.9,280,2159,0.00,1.92,0.00,0.000,6,0.000,0.062,2919,2404,2199,0,0,0,0,0,0
$GC,2478,0.73,146.0,145.9,12.4,311,2487,0.00,3.92,0.00,0.000,4,0.000,0.082,2919,3916,2196,0,0,7,0,0,0
$GC,2624,0.65,146.0,126.4,13.7,324,2634,0.15,3.85,0.00,0.000,6,0.206,0.070,2905,2404,2194,0,0,6,0,0,0
$GC,2956,0.74,158.5,94.1,8.6,360,2977,0.00,3.90,10.48,0.732,4,0.000,0.081,2904,3919,2152,0,0,7,0,0,0
$GC,3017,0.74,158.5,88.4,10.0,371,3023,0.00,3.85,0.00,0.000,6,0.000,0.069,2920,2394,2152,0,0,6,0,0,0
$GC,3360,0.88,205.9,63.0,7.2,432,3412,0.15,4.00,40.33,0.763,4,0.100,0.081,2975,3920,1959,0,0,6,0,0,0
$GC,3532,0.73,205.9,42.2,14.0,463,3538,0.25,3.88,0.00,0.000,6,0.193,0.070,2932,2397,1955,0,0,6,0,0,0
$GC,3876,0.83,228.1,11.4,8.2,524,3903,0.00,3.95,18.95,0.729,4,0.000,0.083,2932,3923,1870,0,0,8,0,0,0
$FREEZE,7.83,-0.339,-1.833,0,1,0
$FREEZE,7.19,-0.317,-1.833,0,1,0
$FREEZE,6.42,-0.331,-1.833,0,1,0
$FREEZE,5.66,-0.313,-1.832,0,1,0
$FREEZE,5.03,-0.319,-1.831,0,1,0
$FREEZE,4.28,-0.307,-1.830,0,1,0
$FREEZE,3.68,-0.319,-1.830,0,1,0
$FREEZE,2.86,-0.322,-1.830,0,1,0
$FREEZE,2.30,-0.327,-1.829,0,1,0
$FREEZE,1.68,-0.334,-1.829,0,1,0
$STATE,3958,end climb,SURFACE_DEPTH_REACHED
$STATE,3958,begin surface coast
$FREEZE,1.15,-0.334,-1.828,0,1,0
$FINISH,1.1,1.026786
$STATE,3964,end surface coast,CONTROL_FINISHED_OK
$STATE,3964,begin surface
$SM_CCo,3984,62.67,0.723,0,0,1474,325.02
$SM_GC,1.11,0.00,0.00,62.67,0.000,0.000,0.723,129,2797,1474,-8.00,-0.08,325.02
$RAFOS_CLK,257
$RAFOS,0,1262318464,4.033333,4.017778,67,60,56,0,0,0,178,211,151,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5656.20,280399,010125
$TT8_MAMPS,0.029146
$HUMID,47.32
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,20.0,20.7
$24V_AH,22.8,78.461
$10V_AH,10.1,40.844
$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,22.525,58.000,306.100,62.675,0.000,27.437,34.329,194.390,0.750,0.000,32.479,869.956,1828.881,454.879,906.659,373.486,0.000,951.368,0.000,873.517,720.000,2.620,0.000
$DEVICE_MAMPS,302.198,104.312,881.283,723.281,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,391.689,362.367,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152532
$DATA_FILE_SIZE,19041,540
$CAP_FILE_SIZE,60632,0
$CFSIZE,260165632,216596480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,106,0,0
$SOUNDSPEED,1455.2
$GPS,010110,041707,6740.119,-5654.065,30,1.0,31,-38.4