version: 66.06
glider: 143
mission: 10
dive: 472
start: 1 1 110 6 52 3
data:
$ID,143
$MISSION,10
$DIVE,472
$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,-46069.102
$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,16
$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
$GPS1,064704,6738.846,-5651.018,9,99.0,29,-38.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-69.6
$GPS2,065144,6738.802,-5650.957,9,1.1,9,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.402,-5626.459
$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,187
$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,-94.80,0.000,2,0.000,0.000,128,2805,3142,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.2,-5.2,19,142,11.73,2.90,-7.05,0.000,4,0.304,0.105,2450,3917,3398,0,0,8,0,0,0
$GC,196,-0.78,-146.0,15.1,-10.3,33,201,0.00,2.75,0.00,0.000,6,0.000,0.063,2451,2794,3400,0,0,6,0,0,0
$GC,540,-0.78,-146.0,52.6,-10.6,94,545,0.00,2.90,0.00,0.000,4,0.000,0.091,2451,3923,3400,0,0,6,0,0,0
$GC,675,-0.78,-146.0,66.8,-9.9,118,681,0.00,2.72,0.00,0.000,6,0.000,0.064,2451,2800,3400,0,0,6,0,0,0
$GC,1019,-0.86,-146.0,97.7,-9.3,179,1025,0.12,2.88,0.00,0.000,4,0.119,0.090,2400,3918,3400,0,0,7,0,0,0
$GC,1065,-0.80,-146.0,102.9,-11.4,185,1071,0.12,2.72,0.00,0.000,6,0.219,0.064,2425,2796,3399,0,0,6,0,0,0
$GC,1389,-0.80,-146.0,135.5,-9.7,215,1394,0.00,2.90,0.00,0.000,4,0.000,0.091,2426,3929,3399,0,0,6,0,0,0
$GC,1536,-0.80,-146.0,149.6,-9.6,227,1542,0.00,2.72,0.00,0.000,6,0.000,0.064,2427,2801,3398,0,0,6,0,0,0
$GC,1861,-0.85,-146.0,179.7,-9.1,258,1866,0.00,2.88,0.00,0.000,4,0.000,0.090,2426,3925,3397,0,0,6,0,0,0
$STATE,1943,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1943,begin apogee
$GC,1953,-0.16,0.0,187.5,9.4,265,2073,0.73,0.00,116.35,0.873,6,0.186,0.000,2628,2397,2800,0,0,0,0,0,0
$STATE,2074,end apogee,CONTROL_FINISHED_OK
$STATE,2074,begin climb
$GC,2076,0.73,146.0,191.0,0.0,277,2206,0.98,2.00,119.47,0.822,4,0.139,0.086,2926,795,2204,0,0,0,0,0,0
$GC,2256,0.73,146.0,177.5,10.7,293,2262,0.00,1.92,0.00,0.000,6,0.000,0.062,2926,2403,2201,0,0,0,0,0,0
$GC,2581,0.73,146.0,142.5,10.9,324,2590,0.00,3.90,0.00,0.000,4,0.000,0.081,2926,3921,2198,0,0,7,0,0,0
$GC,2658,0.61,146.0,132.9,12.5,331,2669,0.22,3.85,0.00,0.000,6,0.199,0.069,2891,2394,2196,0,0,6,0,0,0
$GC,2987,0.75,170.7,103.8,8.1,362,3019,0.12,3.92,20.50,0.760,4,0.122,0.081,2933,3925,2103,0,0,7,0,0,0
$GC,3133,0.65,170.7,87.9,11.0,384,3140,0.20,3.85,0.00,0.000,6,0.196,0.069,2903,2392,2101,0,0,6,0,0,0
$GC,3480,0.85,219.6,63.3,7.1,445,3532,0.17,4.00,41.53,0.753,4,0.108,0.081,2963,3913,1903,0,0,7,0,0,0
$GC,3629,0.76,219.6,45.4,13.3,472,3636,0.17,3.85,0.00,0.000,6,0.190,0.069,2940,2391,1900,0,0,6,0,0,0
$GC,3974,0.84,219.6,10.3,10.0,533,3980,0.00,3.90,0.00,0.000,4,0.000,0.082,2939,3924,1898,0,0,7,0,0,0
$FREEZE,8.88,-0.192,-1.836,0,1,0
$FREEZE,8.20,-0.225,-1.836,0,1,0
$FREEZE,7.67,-0.231,-1.835,0,1,0
$FREEZE,6.91,-0.217,-1.834,0,1,0
$FREEZE,6.28,-0.220,-1.834,0,1,0
$FREEZE,5.63,-0.203,-1.833,0,1,0
$FREEZE,4.95,-0.216,-1.832,0,1,0
$FREEZE,4.39,-0.208,-1.832,0,1,0
$FREEZE,3.69,-0.211,-1.832,0,1,0
$FREEZE,3.05,-0.196,-1.831,0,1,0
$FREEZE,2.38,-0.215,-1.831,0,1,0
$FREEZE,1.70,-0.212,-1.830,0,1,0
$STATE,4047,end climb,SURFACE_DEPTH_REACHED
$STATE,4049,begin surface coast
$FREEZE,0.81,-0.233,-1.830,0,1,0
$FREEZE,0.43,-0.223,-1.828,0,1,0
$FINISH,0.4,1.026787
$STATE,4060,end surface coast,CONTROL_FINISHED_OK
$STATE,4060,begin surface
$SM_CCo,4080,62.58,0.722,0,0,1474,325.02
$SM_GC,1.34,0.00,0.00,62.58,0.000,0.000,0.722,130,2793,1474,-8.00,-0.20,325.02
$RAFOS_CLK,252
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5656.20,280399,050554
$TT8_MAMPS,0.027612
$HUMID,47.67
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,19.5
$24V_AH,22.9,78.743
$10V_AH,9.9,40.945
$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,22.800,63.175,297.850,62.575,0.000,30.331,37.026,108.089,1.000,0.000,10.643,892.211,1913.569,452.686,876.667,293.803,0.000,950.064,0.000,867.125,0.000,2.619,0.000
$DEVICE_MAMPS,304.499,105.079,872.846,721.747,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,397.239,368.607,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152540
$DATA_FILE_SIZE,19060,548
$CAP_FILE_SIZE,61086,0
$CFSIZE,260165632,216485888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,115,0,0
$SOUNDSPEED,1457.7
$GPS,010110,080202,6738.126,-5649.582,9,1.8,10,-38.3