version: 66.06
glider: 143
mission: 10
dive: 492
start: 1 2 110 8 35 9
data:
$ID,143
$MISSION,10
$DIVE,492
$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,-46487.617
$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,12
$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
$GPS1,083008,6739.018,-5636.003,8,1.9,9,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-67.7
$GPS2,083450,6739.003,-5635.926,15,1.9,15,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.604,-5611.425
$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,13,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,118,0.00,0.00,-99.55,0.000,2,0.000,0.000,127,2795,3301,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.8,-7.3,20,144,11.32,2.88,-2.28,0.000,4,0.293,0.102,2444,3924,3399,0,0,8,0,0,0
$GC,284,-0.73,-146.0,26.2,-9.3,49,290,0.00,2.70,0.00,0.000,6,0.000,0.062,2445,2807,3402,0,0,5,0,0,0
$GC,629,-0.73,-146.0,60.3,-10.4,110,635,0.00,2.83,0.00,0.000,4,0.000,0.090,2444,3930,3402,0,0,7,0,0,0
$GC,742,-0.73,-146.0,71.9,-9.7,130,748,0.00,2.72,0.00,0.000,6,0.000,0.063,2445,2797,3402,0,0,5,0,0,0
$GC,1089,-0.80,-146.0,102.6,-8.2,189,1094,0.00,2.85,0.00,0.000,4,0.000,0.090,2445,3933,3400,0,0,7,0,0,0
$GC,1331,-0.87,-146.0,122.3,-7.0,210,1336,0.12,2.72,0.00,0.000,6,0.125,0.063,2405,2797,3399,0,0,5,0,0,0
$GC,1655,-0.81,-146.0,153.9,-10.3,240,1660,0.00,2.83,0.00,0.000,4,0.000,0.088,2405,3924,3400,0,0,7,0,0,0
$GC,1786,-0.75,-146.0,167.6,-10.8,251,1791,0.17,2.70,0.00,0.000,6,0.203,0.061,2445,2800,3399,0,0,5,0,0,0
$STATE,1949,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1949,begin apogee
$GC,1956,-0.16,0.0,181.4,7.4,266,2076,0.65,0.00,116.57,0.862,6,0.186,0.000,2627,2394,2800,0,0,0,0,0,0
$STATE,2077,end apogee,CONTROL_FINISHED_OK
$STATE,2077,begin climb
$GC,2079,0.73,146.0,184.4,0.0,278,2209,0.98,1.98,119.43,0.818,4,0.145,0.087,2922,789,2201,0,0,0,0,0,0
$GC,2259,0.73,146.0,172.3,10.4,294,2265,0.00,1.90,0.00,0.000,6,0.000,0.061,2922,2401,2199,0,0,0,0,0,0
$GC,2584,0.73,146.0,141.1,9.7,325,2593,0.00,3.95,0.00,0.000,4,0.000,0.081,2922,3931,2194,0,0,6,0,0,0
$GC,2684,0.63,146.0,130.3,10.9,334,2694,0.20,3.90,0.00,0.000,6,0.199,0.069,2894,2395,2194,0,0,5,0,0,0
$GC,3013,0.76,183.0,103.7,7.6,365,3054,0.12,3.97,29.92,0.779,4,0.125,0.081,2935,3929,2052,0,0,7,0,0,0
$GC,3122,0.66,183.0,91.2,12.8,381,3128,0.20,3.90,0.00,0.000,6,0.197,0.069,2907,2400,2050,0,0,5,0,0,0
$GC,3469,0.81,198.7,60.7,8.5,442,3491,0.12,3.92,13.85,0.735,4,0.125,0.081,2948,3927,1990,0,0,8,0,0,0
$GC,3555,0.71,198.7,50.9,12.3,457,3561,0.20,3.88,0.00,0.000,6,0.193,0.068,2918,2399,1989,0,0,5,0,0,0
$GC,3902,0.82,205.5,19.5,8.9,518,3919,0.12,3.90,7.28,0.669,4,0.123,0.081,2959,3922,1961,0,0,8,0,0,0
$FREEZE,8.51,0.796,-1.849,0,1,0
$FREEZE,7.85,0.796,-1.849,0,1,0
$FREEZE,7.07,0.797,-1.848,0,1,0
$FREEZE,6.41,0.797,-1.847,0,1,0
$FREEZE,5.80,0.797,-1.847,0,1,0
$FREEZE,5.14,0.796,-1.847,0,1,0
$FREEZE,4.38,0.796,-1.846,0,1,0
$FREEZE,3.76,0.797,-1.845,0,1,0
$FREEZE,3.02,0.798,-1.845,0,1,0
$GC,4033,0.70,205.5,3.0,12.1,541,4039,0.25,3.88,0.00,0.000,6,0.202,0.070,2917,2394,1961,0,0,5,0,0,0
$FREEZE,1.19,0.798,-1.844,0,1,0
$STATE,4044,end climb,SURFACE_DEPTH_REACHED
$STATE,4044,begin surface coast
$FREEZE,0.48,0.799,-1.843,0,1,0
$FREEZE,0.83,0.798,-1.843,0,1,0
$FREEZE,0.52,0.817,-1.842,0,1,0
$FINISH,0.5,1.026921
$STATE,4062,end surface coast,CONTROL_FINISHED_OK
$STATE,4062,begin surface
$SM_CCo,4081,68.50,0.723,0,0,1474,325.02
$SM_GC,1.23,0.00,0.00,68.50,0.000,0.000,0.723,125,2801,1474,-8.02,0.03,325.02
$RAFOS_CLK,251
$RAFOS,6,1262422145,8.833333,8.818055,59,54,53,0,0,0,195,118,171,0,0,0
$RAFOS,5,1262421664,8.700000,8.684444,69,61,57,0,0,0,187,155,203,0,0,0
$RAFOS,3,1262420701,8.433333,8.416945,57,54,54,0,0,0,194,134,220,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5640.55,290399,070708
$TT8_MAMPS,0.027612
$HUMID,48.42
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.40
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.5,18.9
$24V_AH,22.9,80.609
$10V_AH,9.9,41.630
$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,22.725,59.600,287.050,68.500,0.000,30.452,31.809,105.539,0.750,0.000,16.623,894.593,1911.674,443.075,897.127,290.925,0.000,945.404,0.000,881.393,720.000,2.619,0.000
$DEVICE_MAMPS,292.994,102.011,862.108,722.514,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,397.480,367.502,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152516
$DATA_FILE_SIZE,19066,546
$CAP_FILE_SIZE,62874,0
$CFSIZE,260165632,215748608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,98,0,0
$SOUNDSPEED,1459.3
$GPS,020110,094536,6738.588,-5634.682,30,1.5,31,-38.2