version: 66.06
glider: 143
mission: 10
dive: 497
start: 1 2 110 14 33 27
data:
$ID,143
$MISSION,10
$DIVE,497
$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,-46557.195
$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,14
$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
$GPS1,142825,6740.285,-5633.048,11,1.1,12,-38.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-69.5
$GPS2,143308,6740.370,-5633.139,10,1.1,10,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6734.970,-5608.615
$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,163
$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,13,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,113,0.00,0.00,-94.62,0.000,2,0.000,0.000,129,2793,3204,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.4,-6.5,19,137,11.50,0.00,-5.20,0.000,6,0.298,0.000,2454,2792,3398,0,0,0,0,0,0
$GC,475,-0.78,-146.0,41.7,-9.7,83,481,0.00,2.90,0.00,0.000,4,0.000,0.091,2454,3920,3401,0,0,6,0,0,0
$GC,624,-0.84,-146.0,56.1,-9.9,109,630,0.12,2.70,0.00,0.000,6,0.120,0.063,2414,2801,3401,0,0,6,0,0,0
$GC,969,-0.78,-146.0,94.1,-10.6,170,975,0.00,2.85,0.00,0.000,4,0.000,0.090,2414,3920,3401,0,0,7,0,0,0
$GC,1054,-0.71,-146.0,102.9,-10.0,182,1060,0.17,2.70,0.00,0.000,6,0.208,0.063,2454,2801,3400,0,0,6,0,0,0
$GC,1379,-0.81,-146.0,128.9,-7.9,213,1384,0.00,2.85,0.00,0.000,4,0.000,0.091,2454,3921,3400,0,0,7,0,0,0
$GC,1566,-0.92,-146.0,144.8,-8.6,229,1571,0.20,2.70,0.00,0.000,6,0.104,0.063,2387,2800,3399,0,0,6,0,0,0
$STATE,1730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1730,begin apogee
$GC,1736,-0.16,0.0,163.2,9.8,244,1857,0.90,0.00,116.30,0.853,6,0.197,0.000,2627,2396,2799,0,0,0,0,0,0
$STATE,1857,end apogee,CONTROL_FINISHED_OK
$STATE,1857,begin climb
$GC,1860,0.73,146.0,166.4,0.0,256,1988,0.98,1.95,119.07,0.810,4,0.146,0.088,2921,802,2202,0,0,0,0,0,0
$GC,2103,0.73,146.0,149.2,9.7,278,2107,0.00,1.83,0.00,0.000,6,0.000,0.063,2922,2409,2198,0,0,0,0,0,0
$GC,2434,0.73,146.0,115.5,10.4,309,2444,0.00,3.92,0.00,0.000,4,0.000,0.081,2921,3925,2195,0,0,7,0,0,0
$GC,2598,0.65,146.0,95.8,12.2,326,2605,0.17,3.85,0.00,0.000,6,0.197,0.070,2899,2402,2193,0,0,6,0,0,0
$GC,2945,0.78,161.0,65.2,8.5,387,2967,0.15,3.95,12.12,0.731,4,0.119,0.081,2950,3909,2142,0,0,7,0,0,0
$GC,3014,0.63,161.0,57.4,12.4,399,3021,0.28,3.83,0.00,0.000,6,0.193,0.070,2900,2397,2142,0,0,7,0,0,0
$GC,3360,0.78,181.0,28.0,8.3,460,3387,0.12,3.92,18.05,0.736,4,0.125,0.082,2941,3922,2061,0,0,9,0,0,0
$GC,3476,0.69,181.0,14.7,12.3,481,3483,0.20,3.90,0.00,0.000,6,0.193,0.071,2912,2395,2059,0,0,5,0,0,0
$FREEZE,8.61,1.036,-1.852,0,1,0
$FREEZE,8.19,1.036,-1.852,0,1,0
$FREEZE,7.62,1.037,-1.851,0,1,0
$FREEZE,7.13,1.038,-1.851,0,1,0
$FREEZE,6.62,1.041,-1.850,0,1,0
$FREEZE,6.07,1.040,-1.850,0,1,0
$FREEZE,5.50,1.040,-1.850,0,1,0
$FREEZE,5.11,1.041,-1.849,0,1,0
$FREEZE,4.51,1.043,-1.849,0,1,0
$FREEZE,3.96,1.044,-1.848,0,1,0
$FREEZE,3.64,1.044,-1.848,0,1,0
$FREEZE,3.07,1.044,-1.848,0,1,0
$FREEZE,2.72,1.047,-1.847,0,1,0
$FREEZE,2.15,1.046,-1.847,0,1,0
$FREEZE,1.69,1.046,-1.847,0,1,0
$STATE,3617,end climb,SURFACE_DEPTH_REACHED
$STATE,3617,begin surface coast
$FREEZE,1.26,1.045,-1.846,0,1,0
$FREEZE,0.73,1.050,-1.846,0,1,0
$FREEZE,0.55,1.058,-1.845,0,1,0
$FREEZE,0.39,1.057,-1.845,0,1,0
$FINISH,0.4,1.026950
$STATE,3642,end surface coast,CONTROL_FINISHED_OK
$STATE,3642,begin surface
$SM_CCo,3660,80.07,0.725,0,0,1475,325.02
$SM_GC,1.41,0.00,0.00,80.07,0.000,0.000,0.725,128,2792,1475,-8.01,-0.23,325.02
$RAFOS_CLK,226
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5640.55,290399,131335
$TT8_MAMPS,0.026845
$HUMID,49.01
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,20.0,19.6
$24V_AH,22.9,81.059
$10V_AH,10.0,41.790
$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,22.950,46.025,265.550,80.075,0.000,30.689,38.380,106.035,0.750,0.000,11.974,838.468,1651.542,422.677,824.968,291.903,0.000,881.020,0.000,814.286,0.000,2.619,0.000
$DEVICE_MAMPS,298.363,91.273,852.904,724.815,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,371.869,342.905,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152556
$DATA_FILE_SIZE,19038,510
$CAP_FILE_SIZE,56814,0
$CFSIZE,260165632,215584768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,80,0,0
$SOUNDSPEED,1457.6
$GPS,020110,153643,6740.923,-5633.163,8,1.3,9,-38.3