version: 66.06
glider: 143
mission: 10
dive: 548
start: 1 4 110 21 45 20
data:
$ID,143
$MISSION,10
$DIVE,548
$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,-47634.418
$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,14
$R_STBD_OVSHOOT,13
$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
$GPS1,214006,6739.395,-5637.285,30,1.0,31,-38.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-66.5
$GPS2,214502,6739.371,-5637.232,10,1.2,10,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.971,-5612.726
$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,186
$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,-146.0,0.0,0.0,0,113,0.00,0.00,-94.62,0.000,2,0.000,0.000,125,2806,3193,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.1,-4.6,19,137,11.25,0.00,-5.53,0.000,6,0.289,0.000,2448,2806,3398,0,0,0,0,0,0
$GC,476,-0.77,-146.0,41.1,-9.1,83,482,0.00,2.85,0.00,0.000,4,0.000,0.090,2448,3925,3400,0,0,7,0,0,0
$GC,735,-0.82,-146.0,65.2,-9.6,129,740,0.00,2.70,0.00,0.000,6,0.000,0.061,2448,2799,3400,0,0,6,0,0,0
$GC,1079,-0.90,-146.0,99.3,-9.6,190,1085,0.15,2.85,0.00,0.000,4,0.113,0.086,2388,3933,3400,0,0,8,0,0,0
$GC,1227,-0.76,-146.0,116.7,-11.4,204,1233,0.22,2.72,0.00,0.000,6,0.203,0.061,2441,2790,3399,0,0,7,0,0,0
$GC,1552,-0.84,-146.0,144.3,-9.9,234,1557,0.00,2.90,0.00,0.000,4,0.000,0.087,2442,3937,3399,0,0,6,0,0,0
$GC,1653,-0.92,-146.0,151.8,-6.8,242,1659,0.15,2.72,0.00,0.000,6,0.114,0.061,2393,2794,3399,0,0,7,0,0,0
$STATE,1965,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1965,begin apogee
$GC,1972,-0.16,0.0,186.1,10.2,272,2093,0.85,0.00,116.38,0.858,6,0.188,0.000,2627,2388,2799,0,0,0,0,0,0
$STATE,2093,end apogee,CONTROL_FINISHED_OK
$STATE,2093,begin climb
$GC,2096,0.73,146.0,189.5,0.0,284,2225,0.95,1.92,119.15,0.813,4,0.134,0.085,2921,794,2201,0,0,0,0,0,0
$GC,2309,0.76,175.3,175.4,7.9,303,2338,0.00,1.88,25.08,0.773,6,0.000,0.060,2921,2414,2085,0,0,0,0,0,0
$GC,2663,0.76,175.3,138.8,9.8,337,2673,0.00,3.90,0.00,0.000,4,0.000,0.079,2921,3931,2079,0,0,8,0,0,0
$GC,2734,0.70,175.3,130.5,12.2,343,2740,0.00,3.88,0.00,0.000,6,0.000,0.067,2939,2399,2078,0,0,7,0,0,0
$GC,3060,0.70,175.3,94.8,12.8,377,3066,0.00,3.90,0.00,0.000,4,0.000,0.079,2939,3919,2078,0,0,8,0,0,0
$GC,3168,0.60,175.3,78.0,16.9,396,3178,0.28,3.80,0.00,0.000,6,0.197,0.067,2890,2397,2078,0,0,9,0,0,0
$GC,3517,0.77,175.3,41.8,9.6,458,3523,0.15,3.92,0.00,0.000,4,0.116,0.079,2941,3925,2078,0,0,8,0,0,0
$GC,3617,0.68,175.3,29.7,12.3,475,3624,0.20,3.80,0.00,0.000,6,0.196,0.067,2911,2395,2078,0,0,9,0,0,0
$FREEZE,8.67,0.865,-1.853,0,1,0
$FREEZE,8.17,0.862,-1.852,0,1,0
$FREEZE,7.68,0.857,-1.852,0,1,0
$FREEZE,7.25,0.857,-1.852,0,1,0
$FREEZE,6.92,0.857,-1.851,0,1,0
$FREEZE,6.61,0.855,-1.851,0,1,0
$FREEZE,6.31,0.855,-1.851,0,1,0
$FREEZE,5.89,0.859,-1.850,0,1,0
$FREEZE,5.46,0.856,-1.850,0,1,0
$FREEZE,5.13,0.858,-1.850,0,1,0
$FREEZE,4.68,0.859,-1.850,0,1,0
$FREEZE,4.03,0.856,-1.849,0,1,0
$FREEZE,3.53,0.877,-1.849,0,1,0
$FREEZE,3.08,0.881,-1.848,0,1,0
$FREEZE,2.54,0.872,-1.848,0,1,0
$FREEZE,1.99,0.857,-1.848,0,1,0
$STATE,3943,end climb,SURFACE_DEPTH_REACHED
$STATE,3943,begin surface coast
$FREEZE,1.48,0.858,-1.847,0,1,0
$FREEZE,1.04,0.860,-1.847,0,1,0
$FREEZE,0.51,0.863,-1.847,0,1,0
$FREEZE,0.46,0.961,-1.179,0,1,0
$FINISH,0.5,1.017397
$STATE,3967,end surface coast,CONTROL_FINISHED_OK
$STATE,3967,begin surface
$SM_CCo,3985,82.70,0.717,0,0,1475,325.02
$SM_GC,1.32,0.00,0.00,82.70,0.000,0.000,0.717,129,2799,1475,-8.00,-0.03,325.02
$RAFOS_CLK,245
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5640.55,310399,202052
$TT8_MAMPS,0.027612
$HUMID,48.66
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.40
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,19.8
$24V_AH,23.0,85.571
$10V_AH,10.0,43.351
$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,22.375,45.900,260.600,82.700,0.000,23.370,34.170,127.813,0.750,0.000,13.109,864.242,1919.565,421.023,857.094,306.655,0.000,895.278,0.000,849.348,0.000,2.624,0.000
$DEVICE_MAMPS,289.159,89.739,857.506,717.145,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,392.797,361.746,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152528
$DATA_FILE_SIZE,19019,537
$CAP_FILE_SIZE,57612,0
$CFSIZE,260165632,213880832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,92,0,0
$SOUNDSPEED,1460.4
$GPS,040110,225428,6738.646,-5636.376,11,2.4,31,-38.2