version: 66.06
glider: 143
mission: 10
dive: 536
start: 1 4 110 7 50 24
data:
$ID,143
$MISSION,10
$DIVE,536
$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,-47390.156
$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,15
$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
$GPS1,074508,6740.847,-5626.591,12,1.9,13,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-69.9
$GPS2,075006,6740.826,-5626.588,12,1.0,28,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6732.553,-5644.760
$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,258.2,20000,-16.9,-9.167
$D_GRID,145
$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,-99.80,0.000,2,0.000,0.000,130,2805,3322,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.8,-7.3,20,144,11.55,2.58,-1.80,0.000,4,0.300,0.092,2446,1191,3400,0,0,1,0,0,0
$GC,173,-0.60,-146.0,15.5,-13.1,29,180,0.17,2.47,0.00,0.000,6,0.208,0.071,2489,2806,3402,0,0,0,0,0,0
$GC,519,-0.77,-146.0,43.1,-8.7,90,525,0.15,2.85,0.00,0.000,4,0.113,0.088,2428,3927,3402,0,0,7,0,0,0
$GC,745,-0.77,-146.0,69.8,-11.6,130,751,0.00,2.60,0.00,0.000,6,0.000,0.061,2428,2807,3402,0,0,5,0,0,0
$GC,1086,-0.77,-146.0,106.6,-10.4,185,1090,0.00,2.72,0.00,0.000,4,0.000,0.089,2428,3922,3401,0,0,7,0,0,0
$GC,1174,-0.77,-146.0,115.7,-9.3,192,1180,0.00,2.62,0.00,0.000,6,0.000,0.061,2428,2799,3401,0,0,3,0,0,0
$GC,1500,-0.77,-146.0,144.5,-8.5,223,1504,0.00,2.00,0.00,0.000,3,0.000,0.087,2428,3451,3401,0,0,7,0,0,0
$STATE,1505,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1505,begin apogee
$GC,1514,-0.16,0.0,145.1,8.6,223,1634,0.73,0.00,116.32,0.834,6,0.193,0.000,2627,2391,2799,0,0,0,0,0,0
$STATE,1635,end apogee,CONTROL_FINISHED_OK
$STATE,1635,begin climb
$GC,1638,0.73,146.0,148.5,0.0,235,1766,0.98,2.05,118.57,0.791,4,0.143,0.087,2924,789,2203,0,0,0,0,0,0
$GC,1866,0.74,157.4,132.5,8.7,256,1883,0.00,1.92,10.23,0.706,6,0.000,0.062,2923,2409,2158,0,0,0,0,0,0
$GC,2201,0.79,196.7,103.6,7.5,288,2243,0.00,3.85,33.22,0.765,4,0.000,0.081,2923,3923,1997,0,0,8,0,0,0
$GC,2374,0.79,196.7,86.7,10.7,314,2380,0.00,3.80,0.00,0.000,6,0.000,0.067,2941,2400,1992,0,0,4,0,0,0
$GC,2718,0.79,197.4,55.4,9.1,375,2722,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2403,1992,0,0,0,0,0,0
$GC,3060,0.79,197.4,23.2,9.4,436,3066,0.00,3.83,0.00,0.000,4,0.000,0.082,2941,3930,1992,0,0,6,0,0,0
$GC,3106,0.73,197.4,18.3,11.5,444,3113,0.12,3.72,0.00,0.000,6,0.207,0.067,2932,2399,1992,0,0,6,0,0,0
$FREEZE,8.68,1.286,-1.857,0,1,0
$FREEZE,8.18,1.286,-1.856,0,1,0
$FREEZE,7.70,1.286,-1.856,0,1,0
$FREEZE,7.18,1.287,-1.855,0,1,0
$FREEZE,6.52,1.288,-1.855,0,1,0
$FREEZE,6.09,1.286,-1.855,0,1,0
$FREEZE,5.57,1.289,-1.854,0,1,0
$FREEZE,5.03,1.282,-1.854,0,1,0
$FREEZE,4.57,1.288,-1.854,0,1,0
$FREEZE,4.04,1.281,-1.853,0,1,0
$FREEZE,3.51,1.272,-1.853,0,1,0
$FREEZE,3.04,1.274,-1.852,0,1,0
$FREEZE,2.54,1.280,-1.852,0,1,0
$FREEZE,1.98,1.285,-1.852,0,1,0
$STATE,3280,end climb,SURFACE_DEPTH_REACHED
$STATE,3280,begin surface coast
$FREEZE,1.48,1.290,-1.851,0,1,0
$FREEZE,0.92,1.280,-1.851,0,1,0
$FREEZE,0.51,1.285,-1.850,0,1,0
$FREEZE,0.46,0.858,-0.924,0,1,0
$FINISH,0.5,1.013647
$STATE,3303,end surface coast,CONTROL_FINISHED_OK
$STATE,3304,begin surface
$SM_CCo,3323,72.00,0.723,0,0,1475,325.02
$SM_GC,1.31,0.00,0.00,72.00,0.000,0.000,0.723,127,2793,1475,-8.01,-0.20,325.02
$RAFOS_CLK,207
$RAFOS,4,1262593981,8.566667,8.550278,64,57,54,0,0,0,215,193,157,0,0,0
$RAFOS,3,1262593506,8.433333,8.418333,67,67,60,0,0,0,203,215,147,0,0,0
$RAFOS,2,1262593022,8.300000,8.283889,64,61,56,0,0,0,207,226,152,0,0,0
$RAFOS,1,1262592546,8.166667,8.151667,62,61,60,0,0,0,183,169,193,0,0,0
$RAFOS,0,1262592065,8.033334,8.018056,60,60,59,0,0,0,168,185,129,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6715.07,-5621.74,310399,060637
$TT8_MAMPS,0.029146
$HUMID,49.01
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.40
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.5,18.9
$24V_AH,23.0,84.505
$10V_AH,9.9,42.966
$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,21.975,41.200,278.350,72.000,0.000,28.507,37.103,105.973,1.500,0.000,30.131,777.107,1448.736,418.969,772.979,281.051,0.000,851.122,0.000,745.090,2160.000,2.618,0.000
$DEVICE_MAMPS,299.897,92.040,834.496,723.281,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,348.268,321.712,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152528
$DATA_FILE_SIZE,15886,479
$CAP_FILE_SIZE,52227,0
$CFSIZE,260165632,214302720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,59,0,0
$SOUNDSPEED,1459.2
$GPS,040110,084816,6740.356,-5626.888,8,99.0,28,-38.2