version: 66.06
glider: 143
mission: 10
dive: 490
start: 1 2 110 6 3 0
data:
$ID,143
$MISSION,10
$DIVE,490
$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,-46433.773
$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,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
$GPS1,055037,6740.093,-5639.361,4,1.6,10,-38.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-64.7
$GPS2,060243,6740.112,-5639.050,15,1.5,26,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6734.713,-5614.530
$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,188
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.73,-146.0,0.0,0.0,0,114,0.00,0.00,-94.97,0.000,2,0.000,0.000,125,2798,3162,0,0,0,0,0,0
$GC,117,-0.73,-146.0,3.3,-5.6,19,143,11.10,2.92,-6.43,0.000,4,0.287,0.103,2445,3916,3398,0,0,7,0,0,0
$GC,224,-0.73,-146.0,18.0,-10.6,38,229,0.00,2.70,0.00,0.000,6,0.000,0.062,2446,2801,3400,0,0,6,0,0,0
$GC,566,-0.73,-146.0,52.1,-9.8,99,572,0.00,2.85,0.00,0.000,4,0.000,0.090,2445,3929,3400,0,0,7,0,0,0
$GC,703,-0.78,-146.0,67.2,-10.8,123,709,0.00,2.67,0.00,0.000,6,0.000,0.063,2446,2802,3400,0,0,6,0,0,0
$GC,1047,-0.84,-146.0,101.5,-9.2,183,1052,0.00,2.80,0.00,0.000,4,0.000,0.090,2446,3934,3400,0,0,9,0,0,0
$GC,1304,-0.92,-146.0,126.0,-9.3,205,1311,0.17,2.62,0.00,0.000,6,0.113,0.064,2389,2807,3400,0,0,5,0,0,0
$GC,1629,-0.81,-146.0,163.5,-11.7,236,1635,0.15,2.78,0.00,0.000,4,0.211,0.087,2413,3920,3399,0,0,6,0,0,0
$GC,1798,-0.81,-146.0,181.1,-9.8,250,1804,0.00,2.60,0.00,0.000,6,0.000,0.061,2413,2801,3399,0,0,5,0,0,0
$STATE,1865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1865,begin apogee
$GC,1871,-0.16,0.0,188.2,10.0,257,1992,0.80,0.00,116.75,0.872,6,0.193,0.000,2629,2387,2799,0,0,0,0,0,0
$STATE,1993,end apogee,CONTROL_FINISHED_OK
$STATE,1993,begin climb
$GC,1996,0.73,146.0,191.8,0.0,269,2125,0.95,2.00,119.68,0.828,4,0.140,0.086,2920,798,2202,0,0,0,0,0,0
$GC,2163,0.73,146.0,181.4,10.1,284,2169,0.00,1.95,0.00,0.000,6,0.000,0.061,2920,2403,2200,0,0,0,0,0,0
$GC,2488,0.73,146.0,150.3,10.0,315,2498,0.00,3.90,0.00,0.000,4,0.000,0.081,2920,3926,2195,0,0,6,0,0,0
$GC,2601,0.63,146.0,137.4,12.0,325,2611,0.17,3.85,0.00,0.000,6,0.202,0.069,2898,2398,2195,0,0,5,0,0,0
$GC,2930,0.71,146.0,104.7,9.6,356,2939,0.00,3.90,0.00,0.000,4,0.000,0.081,2898,3926,2195,0,0,5,0,0,0
$GC,3014,0.71,146.0,95.8,10.7,367,3020,0.00,3.83,0.00,0.000,6,0.000,0.068,2914,2394,2195,0,0,5,0,0,0
$GC,3358,0.81,171.8,64.4,8.1,428,3390,0.10,3.90,21.15,0.755,4,0.125,0.081,2955,3925,2098,0,0,6,0,0,0
$GC,3497,0.65,171.8,47.3,13.4,453,3503,0.28,3.83,0.00,0.000,6,0.195,0.067,2906,2400,2097,0,0,5,0,0,0
$GC,3843,0.78,171.8,16.2,9.4,514,3849,0.10,3.90,0.00,0.000,4,0.137,0.081,2939,3922,2096,0,0,6,0,0,0
$FREEZE,8.93,0.769,-1.849,0,2,0
$FREEZE,8.28,0.769,-1.848,0,2,0
$FREEZE,7.62,0.769,-1.848,0,2,0
$FREEZE,7.01,0.772,-1.847,0,2,0
$FREEZE,6.38,0.772,-1.847,0,2,0
$FREEZE,5.75,0.776,-1.847,0,2,0
$FREEZE,5.13,0.775,-1.846,0,2,0
$GC,3943,0.70,171.8,5.1,11.1,531,3949,0.17,3.80,0.00,0.000,6,0.196,0.071,2914,2400,2096,0,0,6,0,0,0
$FREEZE,3.36,0.775,-1.845,0,2,0
$FREEZE,2.87,0.776,-1.844,0,2,0
$FREEZE,2.44,0.777,-1.844,0,2,0
$FREEZE,1.77,0.778,-1.844,0,2,0
$STATE,3971,end climb,SURFACE_DEPTH_REACHED
$STATE,3971,begin surface coast
$FREEZE,1.27,0.778,-1.843,0,2,0
$FREEZE,0.61,0.778,-1.843,0,2,0
$FREEZE,0.68,0.784,-1.843,0,2,0
$FINISH,0.7,1.026931
$STATE,3991,end surface coast,CONTROL_FINISHED_OK
$STATE,3992,begin surface
$SM_CCo,4010,85.95,0.726,0,0,1475,325.02
$SM_GC,1.31,0.00,0.00,85.95,0.000,0.000,0.726,130,2795,1475,-8.00,-0.14,325.02
$RAFOS_CLK,270
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5635.83,290399,060639
$TT8_MAMPS,0.027612
$HUMID,48.38
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,20.0,19.1
$24V_AH,22.9,80.423
$10V_AH,10.0,41.561
$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,22.325,59.025,257.575,85.950,0.000,94.226,110.486,255.989,0.750,0.000,27.473,888.955,1986.652,442.581,903.715,604.011,0.000,934.935,0.000,875.879,0.000,2.618,0.000
$DEVICE_MAMPS,286.858,102.778,872.079,726.349,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,391.307,362.739,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152528
$DATA_FILE_SIZE,19057,539
$CAP_FILE_SIZE,66585,0
$CFSIZE,260165632,215814144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,96,0,0
$SOUNDSPEED,1458.5
$GPS,020110,071237,6739.622,-5637.428,34,1.5,35,-38.3