version: 66.06
glider: 143
mission: 10
dive: 480
start: 1 1 110 17 2 46
data:
$ID,143
$MISSION,10
$DIVE,480
$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,-46199.25
$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,17
$R_STBD_OVSHOOT,20
$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
$GPS1,165741,6740.338,-5646.066,40,1.5,45,-38.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-67.6
$GPS2,170226,6740.351,-5646.052,13,1.0,13,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6734.951,-5621.528
$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,158.3,20000,-16.9,-9.167
$D_GRID,189
$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,-99.95,0.000,2,0.000,0.000,130,2796,3276,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.8,-7.4,20,144,11.35,2.47,-2.90,0.000,4,0.295,0.096,2448,1188,3398,0,0,0,0,0,0
$GC,267,-0.73,-146.0,26.1,-11.3,46,272,0.00,2.42,0.00,0.000,6,0.000,0.071,2448,2798,3401,0,0,0,0,0,0
$GC,611,-0.73,-146.0,64.2,-11.5,107,616,0.00,2.92,0.00,0.000,4,0.000,0.092,2448,3929,3401,0,0,6,0,0,0
$GC,854,-0.78,-146.0,88.5,-8.9,150,860,0.00,2.78,0.00,0.000,6,0.000,0.064,2448,2798,3400,0,0,6,0,0,0
$GC,1188,-0.86,-146.0,114.0,-6.7,193,1193,0.00,2.90,0.00,0.000,4,0.000,0.091,2448,3929,3398,0,0,8,0,0,0
$GC,1423,-0.94,-146.0,132.5,-8.9,213,1429,0.20,2.78,0.00,0.000,6,0.109,0.064,2380,2793,3398,0,0,6,0,0,0
$GC,1747,-0.81,-146.0,168.1,-10.1,244,1753,0.17,2.90,0.00,0.000,4,0.209,0.087,2413,3922,3398,0,0,8,0,0,0
$STATE,1958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1959,begin apogee
$GC,1968,-0.16,0.0,189.0,8.4,262,2089,0.77,0.00,116.45,0.874,6,0.185,0.000,2627,2394,2800,0,0,0,0,0,0
$STATE,2090,end apogee,CONTROL_FINISHED_OK
$STATE,2090,begin climb
$GC,2092,0.73,146.0,192.7,0.0,274,2222,0.98,1.98,119.65,0.828,4,0.146,0.086,2920,787,2201,0,0,0,0,0,0
$GC,2278,0.73,146.0,180.1,9.7,291,2282,0.00,1.88,0.00,0.000,6,0.000,0.061,2920,2405,2199,0,0,0,0,0,0
$GC,2608,0.74,159.5,148.9,8.6,322,2629,0.00,3.97,11.48,0.755,4,0.000,0.081,2920,3914,2147,0,0,7,0,0,0
$GC,2726,0.65,159.5,135.5,12.6,332,2732,0.15,3.85,0.00,0.000,6,0.206,0.069,2906,2401,2146,0,0,6,0,0,0
$GC,3051,0.70,159.5,102.6,10.4,363,3060,0.00,3.90,0.00,0.000,4,0.000,0.082,2905,3923,2145,0,0,7,0,0,0
$GC,3161,0.70,159.5,90.1,10.9,380,3167,0.00,3.83,0.00,0.000,6,0.000,0.069,2921,2401,2145,0,0,6,0,0,0
$GC,3505,0.76,170.1,58.4,8.7,441,3521,0.00,3.90,10.00,0.716,4,0.000,0.081,2921,3919,2106,0,0,7,0,0,0
$GC,3618,0.76,170.1,47.4,9.9,461,3624,0.00,3.83,0.00,0.000,6,0.000,0.069,2939,2398,2105,0,0,6,0,0,0
$GC,3962,0.76,170.1,15.7,9.4,522,3968,0.00,3.90,0.00,0.000,4,0.000,0.082,2939,3924,2105,0,0,7,0,0,0
$FREEZE,8.55,-0.310,-1.835,0,1,0
$FREEZE,7.98,-0.308,-1.834,0,1,0
$FREEZE,7.32,-0.308,-1.834,0,1,0
$FREEZE,6.73,-0.310,-1.834,0,1,0
$FREEZE,6.12,-0.311,-1.833,0,1,0
$FREEZE,5.60,-0.313,-1.833,0,1,0
$GC,4059,0.70,170.1,5.6,10.6,539,4066,0.17,3.83,0.00,0.000,6,0.202,0.069,2916,2395,2105,0,0,6,0,0,0
$FREEZE,4.15,-0.313,-1.832,0,1,0
$FREEZE,3.63,-0.314,-1.831,0,1,0
$FREEZE,3.15,-0.315,-1.831,0,1,0
$FREEZE,2.70,-0.314,-1.831,0,1,0
$FREEZE,2.25,-0.313,-1.830,0,1,0
$FREEZE,1.78,-0.316,-1.830,0,1,0
$STATE,4099,end climb,SURFACE_DEPTH_REACHED
$STATE,4099,begin surface coast
$FREEZE,1.30,-0.317,-1.830,0,1,0
$FREEZE,0.94,-0.321,-1.829,0,1,0
$FREEZE,0.54,-0.320,-1.829,0,1,0
$FREEZE,0.56,-0.293,-1.800,0,1,0
$FINISH,0.6,1.026381
$STATE,4125,end surface coast,CONTROL_FINISHED_OK
$STATE,4125,begin surface
$SM_CCo,4143,88.80,0.728,0,0,1474,325.02
$SM_GC,1.33,0.00,0.00,88.80,0.000,0.000,0.728,124,2803,1474,-8.02,0.11,325.02
$RAFOS_CLK,263
$RAFOS,6,1262364543,16.833334,16.817499,57,56,56,0,0,0,157,147,219,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5648.38,280399,151549
$TT8_MAMPS,0.026845
$HUMID,47.67
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,19.4
$24V_AH,22.9,79.487
$10V_AH,10.0,41.216
$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,21.975,58.925,257.575,88.800,0.000,30.710,31.738,112.874,1.000,0.000,14.589,893.753,1989.466,437.235,911.059,292.173,0.000,936.978,0.000,896.551,0.000,2.618,0.000
$DEVICE_MAMPS,294.528,95.875,873.613,727.883,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,401.308,371.130,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152552
$DATA_FILE_SIZE,19064,550
$CAP_FILE_SIZE,60677,0
$CFSIZE,260165632,216195072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,92,0,0
$SOUNDSPEED,1457.0
$GPS,010110,181414,6739.883,-5645.950,9,1.7,10,-38.3