version: 66.06
glider: 143
mission: 10
dive: 486
start: 1 2 110 0 42 8
data:
$ID,143
$MISSION,10
$DIVE,486
$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,-46343.188
$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,19
$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
$GPS1,003704,6738.563,-5644.425,9,3.1,29,-38.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-65.7
$GPS2,004150,6738.637,-5644.516,11,1.8,11,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.237,-5620.021
$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,189
$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,-95.03,0.000,2,0.000,0.000,124,2794,3168,0,0,0,0,0,0
$GC,117,-0.73,-146.0,3.2,-4.9,19,144,11.23,2.97,-6.05,0.000,4,0.291,0.102,2444,3911,3398,0,0,8,0,0,0
$GC,244,-0.73,-146.0,21.0,-9.8,42,250,0.00,2.72,0.00,0.000,6,0.000,0.064,2444,2802,3400,0,0,7,0,0,0
$GC,588,-0.73,-146.0,53.3,-9.5,103,594,0.00,2.90,0.00,0.000,4,0.000,0.091,2444,3913,3400,0,0,6,0,0,0
$GC,718,-0.73,-146.0,65.6,-9.8,126,723,0.00,2.72,0.00,0.000,6,0.000,0.064,2444,2796,3400,0,0,7,0,0,0
$GC,1062,-0.79,-146.0,93.1,-6.9,187,1068,0.00,2.90,0.00,0.000,4,0.000,0.090,2444,3916,3399,0,0,6,0,0,0
$GC,1159,-0.87,-146.0,100.7,-7.8,203,1164,0.00,2.72,0.00,0.000,6,0.000,0.064,2444,2794,3399,0,0,7,0,0,0
$GC,1484,-0.94,-146.0,126.7,-7.4,234,1489,0.17,2.90,0.00,0.000,4,0.107,0.086,2371,3922,3398,0,0,7,0,0,0
$GC,1609,-0.77,-146.0,140.1,-11.6,244,1616,0.28,2.72,0.00,0.000,6,0.205,0.061,2437,2796,3398,0,0,6,0,0,0
$GC,1935,-0.82,-146.0,168.2,-8.9,275,1940,0.00,2.88,0.00,0.000,4,0.000,0.087,2437,3914,3397,0,0,6,0,0,0
$GC,2093,-0.87,-146.0,181.4,-8.5,288,2098,0.00,2.72,0.00,0.000,6,0.000,0.061,2437,2796,3398,0,0,6,0,0,0
$STATE,2192,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2192,begin apogee
$GC,2199,-0.16,0.0,189.6,8.0,298,2319,0.68,0.00,116.38,0.865,6,0.185,0.000,2627,2392,2800,0,0,0,0,0,0
$STATE,2320,end apogee,CONTROL_FINISHED_OK
$STATE,2320,begin climb
$GC,2322,0.73,146.0,193.2,0.0,310,2451,0.98,1.95,119.55,0.823,4,0.140,0.085,2924,795,2201,0,0,0,0,0,0
$GC,2508,0.73,146.0,179.9,10.1,327,2512,0.00,1.85,0.00,0.000,6,0.000,0.061,2924,2405,2199,0,0,0,0,0,0
$GC,2837,0.73,146.0,148.7,9.4,358,2847,0.00,3.92,0.00,0.000,4,0.000,0.081,2924,3921,2196,0,0,8,0,0,0
$GC,2960,0.61,146.0,134.8,11.5,369,2971,0.22,3.85,0.00,0.000,6,0.197,0.068,2889,2401,2194,0,0,7,0,0,0
$GC,3290,0.73,156.7,107.1,8.7,400,3306,0.12,3.92,8.68,0.712,4,0.124,0.081,2931,3913,2160,0,0,7,0,0,0
$GC,3402,0.61,156.7,93.2,12.8,414,3409,0.22,3.78,0.00,0.000,6,0.196,0.067,2894,2400,2160,0,0,7,0,0,0
$GC,3748,0.83,219.5,63.4,6.5,475,3810,0.20,3.97,52.83,0.760,4,0.105,0.081,2962,3924,1903,0,0,7,0,0,0
$GC,3906,0.75,219.5,44.5,14.4,504,3913,0.20,3.80,0.00,0.000,6,0.189,0.067,2932,2393,1899,0,0,6,0,0,0
$GC,4251,0.85,219.5,10.4,10.2,565,4257,0.00,3.85,0.00,0.000,4,0.000,0.081,2932,3923,1897,0,0,6,0,0,0
$FREEZE,8.96,0.104,-1.840,0,1,0
$FREEZE,8.30,0.103,-1.840,0,1,0
$FREEZE,7.72,0.103,-1.839,0,1,0
$FREEZE,7.14,0.103,-1.839,0,1,0
$FREEZE,6.49,0.103,-1.838,0,1,0
$FREEZE,5.93,0.103,-1.838,0,1,0
$FREEZE,5.45,0.103,-1.837,0,1,0
$FREEZE,5.07,0.101,-1.837,0,1,0
$FREEZE,4.26,0.102,-1.837,0,1,0
$FREEZE,3.65,0.102,-1.836,0,1,0
$FREEZE,2.91,0.103,-1.836,0,1,0
$FREEZE,2.31,0.101,-1.835,0,1,0
$FREEZE,1.61,0.101,-1.835,0,1,0
$STATE,4332,end climb,SURFACE_DEPTH_REACHED
$STATE,4332,begin surface coast
$FREEZE,0.63,0.102,-1.834,0,1,0
$FREEZE,0.40,0.141,-1.161,0,1,0
$FINISH,0.4,1.017158
$STATE,4343,end surface coast,CONTROL_FINISHED_OK
$STATE,4343,begin surface
$SM_CCo,4362,60.70,0.718,0,0,1474,325.02
$SM_GC,1.34,0.00,0.00,60.70,0.000,0.000,0.718,126,2805,1474,-8.01,0.14,325.02
$RAFOS_CLK,266
$RAFOS,6,1262393346,0.833333,0.818333,55,53,53,0,0,0,183,174,143,0,0,0
$RAFOS,4,1262392382,0.566667,0.550556,62,59,58,0,0,0,187,206,220,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5645.28,280399,232335
$TT8_MAMPS,0.027612
$HUMID,47.36
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,17.40
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,18.9
$24V_AH,22.9,80.046
$10V_AH,10.0,41.421
$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,22.475,62.750,297.425,60.700,0.000,31.419,29.911,118.852,0.750,0.000,14.044,948.717,2073.634,441.145,941.755,307.131,0.000,965.977,0.000,924.637,360.000,2.620,0.000
$DEVICE_MAMPS,290.693,102.011,865.176,717.912,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,420.264,391.268,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152552
$DATA_FILE_SIZE,22153,581
$CAP_FILE_SIZE,65224,0
$CFSIZE,260165632,215965696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,119,0,0
$SOUNDSPEED,1459.4
$GPS,020110,015704,6739.239,-5643.590,7,2.4,27,-38.3