version: 66.06
glider: 143
mission: 10
dive: 549
start: 1 4 110 22 59 52
data:
$ID,143
$MISSION,10
$DIVE,549
$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,-47667
$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
$GPS1,225428,6738.646,-5636.376,11,2.4,31,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-66.5
$GPS2,225934,6738.631,-5636.323,10,2.2,29,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.231,-5611.829
$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,158.2,20000,-16.9,-9.167
$D_GRID,181
$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,-99.68,0.000,2,0.000,0.000,129,2799,3281,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.2,-4.9,20,144,11.30,2.90,-2.92,0.000,4,0.291,0.101,2446,3927,3398,0,0,9,0,0,0
$GC,262,-0.73,-146.0,24.9,-12.0,45,267,0.00,2.72,0.00,0.000,6,0.000,0.061,2445,2803,3400,0,0,7,0,0,0
$GC,606,-0.78,-146.0,64.1,-11.0,106,611,0.00,2.85,0.00,0.000,4,0.000,0.088,2446,3924,3401,0,0,8,0,0,0
$GC,798,-0.83,-146.0,83.7,-9.9,140,803,0.00,2.72,0.00,0.000,6,0.000,0.061,2446,2797,3401,0,0,7,0,0,0
$GC,1138,-0.91,-146.0,114.8,-9.8,187,1143,0.15,2.90,0.00,0.000,4,0.120,0.086,2383,3933,3399,0,0,9,0,0,0
$GC,1241,-0.75,-146.0,126.7,-12.2,195,1247,0.25,2.72,0.00,0.000,6,0.202,0.061,2443,2800,3399,0,0,7,0,0,0
$GC,1566,-0.81,-146.0,154.8,-8.1,226,1571,0.00,2.85,0.00,0.000,4,0.000,0.087,2443,3928,3399,0,0,8,0,0,0
$GC,1774,-0.89,-146.0,171.9,-8.5,244,1780,0.15,2.72,0.00,0.000,6,0.118,0.061,2395,2797,3399,0,0,7,0,0,0
$STATE,1873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1873,begin apogee
$GC,1881,-0.16,0.0,181.9,10.3,253,2001,0.85,0.00,116.60,0.856,6,0.191,0.000,2627,2395,2799,0,0,0,0,0,0
$STATE,2002,end apogee,CONTROL_FINISHED_OK
$STATE,2002,begin climb
$GC,2004,0.73,146.0,185.4,0.0,265,2133,0.98,1.92,119.10,0.813,4,0.145,0.084,2921,796,2202,0,0,0,0,0,0
$GC,2184,0.73,149.0,173.3,9.0,281,2189,0.00,1.88,0.00,0.000,6,0.000,0.061,2922,2436,2199,0,0,0,0,0,0
$GC,2508,0.73,149.0,143.1,9.3,312,2518,0.00,3.88,0.00,0.000,4,0.000,0.080,2921,3924,2196,0,0,10,0,0,0
$GC,2602,0.64,149.0,132.4,12.7,320,2608,0.17,3.88,0.00,0.000,6,0.203,0.068,2900,2404,2194,0,0,7,0,0,0
$GC,2926,0.72,149.0,100.1,10.3,351,2936,0.00,3.92,0.00,0.000,4,0.000,0.080,2900,3930,2194,0,0,8,0,0,0
$GC,3043,0.72,149.0,85.5,12.7,371,3049,0.00,3.83,0.00,0.000,6,0.000,0.068,2915,2393,2194,0,0,9,0,0,0
$GC,3387,0.77,149.0,49.9,9.5,432,3392,0.00,3.90,0.00,0.000,4,0.000,0.079,2915,3917,2194,0,0,8,0,0,0
$GC,3450,0.72,149.0,43.5,10.6,443,3456,0.00,3.80,0.00,0.000,6,0.000,0.068,2933,2395,2194,0,0,9,0,0,0
$GC,3793,0.72,149.0,13.4,9.2,504,3799,0.00,3.90,0.00,0.000,4,0.000,0.081,2933,3916,2194,0,0,8,0,0,0
$FREEZE,8.50,0.987,-1.853,0,1,0
$FREEZE,7.82,0.981,-1.852,0,1,0
$FREEZE,7.18,0.977,-1.852,0,1,0
$FREEZE,6.52,0.969,-1.852,0,1,0
$FREEZE,5.94,0.968,-1.851,0,1,0
$FREEZE,5.43,0.968,-1.851,0,1,0
$FREEZE,4.91,0.972,-1.850,0,1,0
$FREEZE,4.40,0.970,-1.850,0,1,0
$FREEZE,3.88,0.971,-1.849,0,1,0
$FREEZE,3.36,0.969,-1.849,0,1,0
$FREEZE,2.92,0.969,-1.849,0,1,0
$FREEZE,2.22,0.971,-1.848,0,1,0
$FREEZE,1.29,0.972,-1.847,0,1,0
$GC,3904,0.58,149.0,2.2,9.4,523,3911,0.30,3.80,0.00,0.000,4,0.205,0.069,2879,2396,2194,0,0,8,0,0,0
$STATE,3912,end climb,SURFACE_DEPTH_REACHED
$STATE,3912,begin surface coast
$FREEZE,0.48,1.031,-1.118,0,1,0
$FINISH,0.5,1.016501
$STATE,3918,end surface coast,CONTROL_FINISHED_OK
$STATE,3918,begin surface
$SM_CCo,3937,97.60,0.717,0,0,1474,325.02
$SM_GC,1.13,0.00,0.00,97.60,0.000,0.000,0.717,123,2799,1474,-8.02,-0.03,325.02
$RAFOS_CLK,243
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5643.65,310399,212136
$TT8_MAMPS,0.029146
$HUMID,48.70
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,17.40
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,18.9
$24V_AH,23.0,85.657
$10V_AH,10.0,43.384
$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,22.150,59.275,235.700,97.600,0.000,31.111,36.772,105.908,0.750,0.000,31.954,849.746,1894.156,432.306,867.647,299.683,0.000,905.487,0.000,838.040,360.000,2.620,0.000
$DEVICE_MAMPS,291.460,101.244,855.972,717.145,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,382.178,353.646,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152568
$DATA_FILE_SIZE,19064,525
$CAP_FILE_SIZE,59263,0
$CFSIZE,260165632,213848064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,129,0,0
$SOUNDSPEED,1460.4
$GPS,050110,000801,6738.127,-5635.526,9,1.3,10,-38.2