version: 66.06
glider: 143
mission: 10
dive: 493
start: 1 2 110 9 50 39
data:
$ID,143
$MISSION,10
$DIVE,493
$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,-46500.648
$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,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
$GPS1,094536,6738.588,-5634.682,30,1.5,31,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-65.9
$GPS2,095020,6738.585,-5634.649,10,1.0,10,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.186,-5610.156
$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,176
$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,-94.65,0.000,2,0.000,0.000,125,2801,3188,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.2,-5.2,19,142,11.15,2.90,-5.75,0.000,4,0.288,0.101,2447,3916,3398,0,0,8,0,0,0
$GC,166,-0.66,-146.0,12.0,-11.4,28,172,0.12,2.70,0.00,0.000,6,0.215,0.061,2475,2801,3400,0,0,6,0,0,0
$GC,511,-0.78,-146.0,42.7,-8.8,89,517,0.12,2.85,0.00,0.000,4,0.123,0.087,2428,3926,3400,0,0,8,0,0,0
$GC,641,-0.78,-146.0,57.8,-11.5,112,647,0.00,2.70,0.00,0.000,6,0.000,0.062,2428,2800,3400,0,0,6,0,0,0
$GC,985,-0.78,-146.0,94.5,-10.9,173,990,0.00,2.85,0.00,0.000,4,0.000,0.088,2428,3930,3400,0,0,7,0,0,0
$GC,1243,-0.78,-146.0,121.7,-10.3,201,1248,0.00,2.72,0.00,0.000,6,0.000,0.063,2428,2801,3399,0,0,5,0,0,0
$GC,1567,-0.78,-146.0,153.1,-9.4,231,1572,0.00,2.85,0.00,0.000,4,0.000,0.089,2428,3922,3399,0,0,8,0,0,0
$GC,1725,-0.78,-146.0,168.0,-9.6,244,1731,0.00,2.67,0.00,0.000,6,0.000,0.061,2428,2801,3399,0,0,6,0,0,0
$STATE,1803,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1803,begin apogee
$GC,1809,-0.16,0.0,176.1,10.0,252,1930,0.73,0.00,116.38,0.861,6,0.186,0.000,2629,2392,2800,0,0,0,0,0,0
$STATE,1931,end apogee,CONTROL_FINISHED_OK
$STATE,1931,begin climb
$GC,1933,0.73,146.0,180.1,0.0,264,2062,0.98,1.95,119.25,0.815,4,0.144,0.087,2924,802,2202,0,0,0,0,0,0
$GC,2120,0.73,146.0,168.2,10.0,281,2124,0.00,1.85,0.00,0.000,6,0.000,0.061,2924,2408,2199,0,0,0,0,0,0
$GC,2449,0.73,146.0,134.9,9.8,312,2459,0.00,3.92,0.00,0.000,4,0.000,0.081,2924,3919,2196,0,0,7,0,0,0
$GC,2554,0.62,146.0,122.9,11.7,321,2561,0.20,3.88,0.00,0.000,6,0.201,0.069,2896,2403,2194,0,0,5,0,0,0
$GC,2885,0.73,157.6,93.6,8.7,358,2902,0.00,3.92,9.55,0.725,4,0.000,0.081,2896,3927,2156,0,0,8,0,0,0
$GC,2998,0.73,157.6,82.0,10.8,378,3003,0.00,3.88,0.00,0.000,6,0.000,0.068,2911,2398,2155,0,0,5,0,0,0
$GC,3342,0.88,209.2,56.3,7.0,439,3394,0.17,3.95,43.50,0.757,4,0.097,0.081,2974,3914,1946,0,0,9,0,0,0
$GC,3456,0.73,209.2,43.3,13.1,460,3463,0.25,3.90,0.00,0.000,6,0.193,0.069,2932,2399,1943,0,0,5,0,0,0
$FREEZE,8.78,0.803,-1.849,0,1,0
$FREEZE,8.17,0.803,-1.849,0,1,0
$FREEZE,7.48,0.803,-1.848,0,1,0
$GC,3803,0.79,209.2,7.5,11.1,521,3809,0.00,3.90,0.00,0.000,4,0.000,0.081,2932,3916,1941,0,0,7,0,0,0
$FREEZE,5.91,0.803,-1.847,0,1,0
$FREEZE,5.38,0.804,-1.847,0,1,0
$FREEZE,4.72,0.805,-1.846,0,1,0
$FREEZE,4.14,0.804,-1.846,0,1,0
$FREEZE,3.55,0.804,-1.845,0,1,0
$FREEZE,2.94,0.805,-1.845,0,1,0
$FREEZE,2.33,0.804,-1.844,0,1,0
$FREEZE,1.72,0.803,-1.844,0,1,0
$STATE,3855,end climb,SURFACE_DEPTH_REACHED
$STATE,3855,begin surface coast
$FREEZE,0.83,0.804,-1.843,0,1,0
$FREEZE,0.47,0.804,-1.843,0,1,0
$FREEZE,0.40,0.807,-1.843,0,1,0
$FINISH,0.4,1.026935
$STATE,3873,end surface coast,CONTROL_FINISHED_OK
$STATE,3873,begin surface
$SM_CCo,3894,67.00,0.722,0,0,1474,325.02
$SM_GC,1.32,0.00,0.00,67.00,0.000,0.000,0.722,121,2802,1474,-8.03,0.06,325.02
$RAFOS_CLK,239
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5635.83,290399,080838
$TT8_MAMPS,0.027612
$HUMID,48.34
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.30
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.6,19.2
$24V_AH,22.9,80.700
$10V_AH,10.0,41.663
$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,21.975,57.275,288.675,67.000,0.000,22.744,38.217,113.286,1.000,0.000,12.407,864.013,1791.837,436.661,866.808,291.644,0.000,921.593,0.000,854.867,0.000,2.618,0.000
$DEVICE_MAMPS,287.625,101.244,861.341,721.747,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,387.443,358.228,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152564
$DATA_FILE_SIZE,19053,533
$CAP_FILE_SIZE,58839,0
$CFSIZE,260165632,215715840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,105,0,0
$SOUNDSPEED,1458.9
$GPS,020110,105738,6738.543,-5633.899,11,1.7,12,-38.2