version: 66.06
glider: 143
mission: 10
dive: 500
start: 1 2 110 18 7 43
data:
$ID,143
$MISSION,10
$DIVE,500
$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,-46618.68
$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,13
$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
$GPS1,180213,6741.272,-5633.062,7,1.9,13,-38.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-68.6
$GPS2,180725,6741.285,-5633.084,13,1.7,30,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6735.885,-5608.544
$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,-99.95,0.000,2,0.000,0.000,123,2796,3321,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.9,-7.7,20,144,11.57,2.88,-1.80,0.000,4,0.299,0.099,2439,3923,3399,0,0,9,0,0,0
$GC,201,-0.73,-146.0,19.8,-11.4,34,207,0.00,2.72,0.00,0.000,6,0.000,0.061,2439,2802,3401,0,0,7,0,0,0
$GC,545,-0.73,-146.0,56.3,-10.4,95,550,0.00,2.85,0.00,0.000,4,0.000,0.088,2439,3928,3401,0,0,8,0,0,0
$GC,736,-0.73,-146.0,75.8,-9.9,129,742,0.00,2.72,0.00,0.000,6,0.000,0.062,2439,2796,3401,0,0,7,0,0,0
$GC,1081,-0.73,-146.0,106.7,-8.8,184,1086,0.00,2.85,0.00,0.000,4,0.000,0.088,2439,3920,3401,0,0,8,0,0,0
$GC,1339,-0.77,-146.0,130.9,-9.1,206,1345,0.00,2.72,0.00,0.000,6,0.000,0.062,2439,2791,3400,0,0,7,0,0,0
$GC,1664,-0.77,-146.0,159.1,-9.1,237,1669,0.00,2.90,0.00,0.000,4,0.000,0.088,2439,3926,3399,0,0,6,0,0,0
$STATE,1757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1757,begin apogee
$GC,1767,-0.16,0.0,168.2,9.5,245,1887,0.70,0.00,116.45,0.851,6,0.189,0.000,2632,2395,2800,0,0,0,0,0,0
$STATE,1888,end apogee,CONTROL_FINISHED_OK
$STATE,1888,begin climb
$GC,1891,0.73,146.0,171.5,0.0,257,2019,0.95,1.95,119.15,0.805,4,0.144,0.087,2920,789,2202,0,0,0,0,0,0
$GC,2053,0.73,146.0,161.1,10.2,272,2057,0.00,1.88,0.00,0.000,6,0.000,0.061,2920,2413,2199,0,0,0,0,0,0
$GC,2383,0.77,182.0,127.1,7.7,303,2424,0.00,3.97,29.50,0.775,4,0.000,0.081,2920,3924,2057,0,0,8,0,0,0
$GC,2493,0.77,182.0,114.5,13.8,313,2503,0.00,3.92,0.00,0.000,6,0.000,0.069,2938,2399,2054,0,0,6,0,0,0
$GC,2834,0.77,182.0,75.7,11.4,364,2840,0.00,3.92,0.00,0.000,4,0.000,0.081,2938,3918,2052,0,0,9,0,0,0
$GC,2979,0.68,182.0,57.1,13.0,389,2986,0.17,3.85,0.00,0.000,6,0.201,0.069,2916,2391,2052,0,0,7,0,0,0
$GC,3325,0.78,182.0,24.0,9.2,450,3330,0.00,3.90,0.00,0.000,4,0.000,0.081,2916,3918,2052,0,0,8,0,0,0
$GC,3403,0.78,182.0,16.6,10.2,464,3409,0.00,3.78,0.00,0.000,6,0.000,0.069,2931,2401,2052,0,0,9,0,0,0
$FREEZE,8.47,1.270,-1.855,0,1,0
$FREEZE,8.01,1.269,-1.855,0,1,0
$FREEZE,7.48,1.270,-1.854,0,1,0
$FREEZE,6.87,1.267,-1.854,0,1,0
$FREEZE,6.23,1.267,-1.853,0,1,0
$FREEZE,5.70,1.265,-1.853,0,1,0
$FREEZE,5.05,1.269,-1.852,0,1,0
$FREEZE,4.51,1.268,-1.852,0,1,0
$FREEZE,4.02,1.268,-1.852,0,1,0
$FREEZE,3.45,1.269,-1.851,0,1,0
$FREEZE,2.95,1.266,-1.851,0,1,0
$FREEZE,2.33,1.273,-1.850,0,1,0
$FREEZE,1.91,1.274,-1.850,0,1,0
$STATE,3554,end climb,SURFACE_DEPTH_REACHED
$STATE,3554,begin surface coast
$FREEZE,1.33,1.274,-1.849,0,1,0
$FREEZE,0.82,1.297,-1.848,0,1,0
$FREEZE,0.47,1.280,-1.820,0,1,0
$FREEZE,0.64,1.271,-1.849,0,1,0
$FINISH,0.6,1.026990
$STATE,3578,end surface coast,CONTROL_FINISHED_OK
$STATE,3578,begin surface
$SM_CCo,3596,79.75,0.722,0,0,1474,325.02
$SM_GC,1.41,0.00,0.00,79.75,0.000,0.000,0.722,123,2802,1474,-8.02,0.03,325.02
$RAFOS_CLK,221
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6715.07,-5629.59,290399,171703
$TT8_MAMPS,0.027612
$HUMID,48.93
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.40
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,19.4
$24V_AH,23.0,81.336
$10V_AH,10.0,41.888
$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,21.450,51.800,265.100,79.750,0.000,31.150,31.649,121.003,0.750,0.000,32.193,802.161,1636.495,427.972,829.183,296.590,0.000,882.481,0.000,800.233,0.000,2.620,0.000
$DEVICE_MAMPS,299.130,98.943,851.370,721.747,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,360.054,333.096,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152548
$DATA_FILE_SIZE,19066,495
$CAP_FILE_SIZE,54423,0
$CFSIZE,260165632,215478272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,105,0,0
$SOUNDSPEED,1459.0
$GPS,020110,191016,6740.867,-5633.015,10,3.5,30,-38.3