version: 66.06
glider: 143
mission: 10
dive: 499
start: 1 2 110 16 56 32
data:
$ID,143
$MISSION,10
$DIVE,499
$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,-46585.863
$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,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
$GPS1,164801,6741.291,-5633.071,36,1.6,37,-38.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-69.4
$GPS2,165614,6741.374,-5633.117,12,1.8,12,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6735.974,-5608.575
$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,168
$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,-146.0,0.0,0.0,0,118,0.00,0.00,-99.85,0.000,2,0.000,0.000,124,2800,3298,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.7,-7.5,20,138,11.43,0.00,-2.38,0.000,6,0.295,0.000,2443,2799,3398,0,0,0,0,0,0
$GC,475,-0.73,-146.0,44.0,-9.3,83,481,0.00,2.90,0.00,0.000,4,0.000,0.091,2442,3925,3402,0,0,7,0,0,0
$GC,694,-0.73,-146.0,65.6,-9.8,122,700,0.00,2.72,0.00,0.000,6,0.000,0.063,2443,2795,3402,0,0,7,0,0,0
$GC,1040,-0.77,-146.0,94.6,-8.3,183,1046,0.00,2.85,0.00,0.000,4,0.000,0.089,2443,3919,3401,0,0,8,0,0,0
$GC,1245,-0.84,-146.0,112.8,-8.7,207,1249,0.00,2.70,0.00,0.000,6,0.000,0.062,2443,2800,3400,0,0,6,0,0,0
$GC,1570,-0.91,-146.0,140.7,-8.6,237,1575,0.15,2.85,0.00,0.000,4,0.112,0.086,2379,3926,3400,0,0,8,0,0,0
$GC,1750,-0.76,-146.0,162.8,-11.5,252,1756,0.25,2.70,0.00,0.000,6,0.206,0.061,2438,2800,3400,0,0,6,0,0,0
$STATE,1806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1806,begin apogee
$GC,1813,-0.16,0.0,169.0,10.0,258,1934,0.68,0.00,116.47,0.851,6,0.184,0.000,2630,2392,2799,0,0,0,0,0,0
$STATE,1934,end apogee,CONTROL_FINISHED_OK
$STATE,1934,begin climb
$GC,1937,0.73,146.0,172.6,0.0,270,2065,0.95,1.95,119.15,0.806,4,0.142,0.086,2920,786,2202,0,0,0,0,0,0
$GC,2100,0.74,158.7,163.2,8.6,285,2116,0.00,1.88,11.85,0.725,6,0.000,0.061,2920,2411,2151,0,0,0,0,0,0
$GC,2434,0.74,158.7,133.4,9.8,316,2443,0.00,3.92,0.00,0.000,4,0.000,0.081,2920,3915,2146,0,0,7,0,0,0
$GC,2535,0.66,158.7,121.7,11.8,325,2545,0.15,3.85,0.00,0.000,6,0.206,0.069,2906,2405,2144,0,0,7,0,0,0
$GC,2869,0.77,193.7,92.5,7.7,364,2905,0.00,3.97,29.02,0.767,4,0.000,0.081,2905,3926,2009,0,0,8,0,0,0
$GC,3023,0.77,193.7,76.8,10.6,392,3029,0.00,3.88,0.00,0.000,6,0.000,0.069,2921,2398,2006,0,0,7,0,0,0
$GC,3367,0.88,206.3,45.9,8.6,453,3388,0.15,3.95,11.48,0.716,4,0.102,0.081,2977,3910,1958,0,0,8,0,0,0
$GC,3512,0.72,206.3,26.3,14.1,479,3523,0.28,3.83,0.00,0.000,6,0.195,0.070,2927,2394,1957,0,0,8,0,0,0
$FREEZE,8.71,1.166,-1.854,0,1,0
$FREEZE,8.30,1.172,-1.853,0,1,0
$FREEZE,7.75,1.172,-1.853,0,1,0
$FREEZE,7.31,1.171,-1.853,0,1,0
$FREEZE,6.81,1.171,-1.852,0,1,0
$FREEZE,6.34,1.171,-1.852,0,1,0
$FREEZE,5.95,1.171,-1.852,0,1,0
$FREEZE,5.51,1.172,-1.851,0,1,0
$FREEZE,5.05,1.172,-1.851,0,1,0
$FREEZE,4.61,1.172,-1.851,0,1,0
$FREEZE,4.05,1.169,-1.850,0,1,0
$FREEZE,3.42,1.165,-1.850,0,1,0
$FREEZE,2.82,1.167,-1.849,0,1,0
$FREEZE,2.28,1.171,-1.849,0,1,0
$FREEZE,1.70,1.168,-1.849,0,1,0
$STATE,3778,end climb,SURFACE_DEPTH_REACHED
$STATE,3778,begin surface coast
$FREEZE,0.82,1.172,-1.848,0,1,0
$FREEZE,0.49,1.177,-1.807,0,1,0
$FREEZE,0.45,1.192,-0.394,0,1,0
$FINISH,0.5,1.005745
$STATE,3795,end surface coast,CONTROL_FINISHED_OK
$STATE,3795,begin surface
$SM_CCo,3813,68.35,0.724,0,0,1475,325.02
$SM_GC,1.31,0.00,0.00,68.35,0.000,0.000,0.724,123,2795,1475,-8.02,-0.14,325.02
$RAFOS_CLK,244
$RAFOS,5,1262450461,16.700001,16.683611,60,59,57,0,0,0,172,203,221,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6715.07,-5629.59,290399,161633
$TT8_MAMPS,0.027612
$HUMID,48.46
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.40
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.5,19.0
$24V_AH,23.0,81.247
$10V_AH,10.0,41.857
$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,22.200,46.100,287.975,68.350,0.000,57.353,74.255,184.454,1.000,0.000,14.358,850.645,1804.991,431.122,855.406,437.189,0.000,909.057,0.000,843.201,0.000,2.620,0.000
$DEVICE_MAMPS,295.295,91.273,850.603,724.048,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,385.592,355.927,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152568
$DATA_FILE_SIZE,19066,529
$CAP_FILE_SIZE,60851,0
$CFSIZE,260165632,215511040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,89,0,0
$SOUNDSPEED,1460.0
$GPS,020110,180213,6741.272,-5633.062,7,1.9,13,-38.3