version: 66.06
glider: 143
mission: 10
dive: 501
start: 1 2 110 19 15 31
data:
$ID,143
$MISSION,10
$DIVE,501
$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,-46655.262
$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,15
$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
$GPS1,191016,6740.867,-5633.015,10,3.5,30,-38.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-68.2
$GPS2,191513,6740.850,-5633.005,16,1.1,33,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6735.450,-5608.472
$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,163
$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,-146.0,0.0,0.0,0,113,0.00,0.00,-94.93,0.000,2,0.000,0.000,123,2802,3197,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.1,-4.5,19,142,11.70,2.92,-5.57,0.000,4,0.302,0.103,2450,3923,3398,0,0,9,0,0,0
$GC,207,-0.78,-146.0,16.2,-11.5,35,213,0.00,2.72,0.00,0.000,6,0.000,0.061,2450,2802,3399,0,0,7,0,0,0
$GC,551,-0.82,-146.0,49.8,-10.5,96,556,0.00,2.85,0.00,0.000,4,0.000,0.089,2450,3919,3400,0,0,8,0,0,0
$GC,727,-0.88,-146.0,67.9,-10.0,127,734,0.15,2.75,0.00,0.000,6,0.115,0.062,2402,2798,3400,0,0,5,0,0,0
$GC,1074,-0.80,-146.0,107.6,-11.8,183,1079,0.12,2.88,0.00,0.000,4,0.219,0.088,2427,3920,3400,0,0,8,0,0,0
$GC,1332,-0.80,-146.0,134.9,-10.0,205,1338,0.00,2.72,0.00,0.000,6,0.000,0.062,2427,2788,3399,0,0,7,0,0,0
$STATE,1635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1635,begin apogee
$GC,1641,-0.16,0.0,163.3,9.7,234,1762,0.73,0.00,116.20,0.849,6,0.185,0.000,2630,2391,2799,0,0,0,0,0,0
$STATE,1763,end apogee,CONTROL_FINISHED_OK
$STATE,1763,begin climb
$GC,1765,0.73,146.0,167.7,0.0,246,1894,0.95,1.92,119.10,0.805,4,0.143,0.087,2919,801,2202,0,0,0,0,0,0
$GC,1989,0.73,146.9,153.1,9.1,266,1995,0.00,1.85,0.00,0.000,6,0.000,0.061,2919,2406,2198,0,0,0,0,0,0
$GC,2314,0.74,154.1,124.6,8.9,297,2328,0.00,3.97,6.90,0.679,4,0.000,0.081,2919,3919,2170,0,0,8,0,0,0
$GC,2407,0.65,154.1,115.3,10.8,305,2414,0.15,3.88,0.00,0.000,6,0.205,0.069,2904,2397,2169,0,0,7,0,0,0
$GC,2738,0.82,227.7,93.7,6.1,345,2810,0.15,4.07,61.47,0.775,4,0.117,0.081,2954,3908,1870,0,0,8,0,0,0
$GC,2905,0.72,227.7,76.3,11.8,375,2911,0.20,3.90,0.00,0.000,6,0.196,0.070,2926,2392,1864,0,0,7,0,0,0
$GC,3251,0.79,227.7,42.5,10.4,436,3257,0.00,3.92,0.00,0.000,4,0.000,0.081,2926,3913,1862,0,0,8,0,0,0
$GC,3341,0.79,227.7,32.9,9.3,452,3347,0.00,3.80,0.00,0.000,6,0.000,0.069,2942,2400,1862,0,0,9,0,0,0
$FREEZE,8.25,1.440,-1.857,0,1,0
$FREEZE,7.56,1.450,-1.856,0,1,0
$FREEZE,7.13,1.454,-1.856,0,1,0
$FREEZE,6.51,1.457,-1.855,0,1,0
$FREEZE,5.91,1.457,-1.855,0,1,0
$FREEZE,5.24,1.456,-1.855,0,1,0
$FREEZE,4.64,1.456,-1.854,0,1,0
$FREEZE,3.96,1.455,-1.854,0,1,0
$FREEZE,3.19,1.455,-1.853,0,1,0
$FREEZE,2.59,1.453,-1.853,0,1,0
$FREEZE,1.84,1.428,-1.852,0,1,0
$STATE,3634,end climb,SURFACE_DEPTH_REACHED
$STATE,3635,begin surface coast
$FREEZE,1.01,1.442,-1.852,0,1,0
$FREEZE,0.58,1.451,-1.851,0,1,0
$FREEZE,0.49,1.463,-1.850,0,1,0
$FINISH,0.5,1.026996
$STATE,3652,end surface coast,CONTROL_FINISHED_OK
$STATE,3652,begin surface
$SM_CCo,3671,55.65,0.727,0,0,1475,325.02
$SM_GC,1.35,0.00,0.00,55.65,0.000,0.000,0.727,125,2797,1475,-8.02,-0.08,325.02
$RAFOS_CLK,225
$RAFOS,1,1262462944,20.166666,20.151112,68,66,59,0,0,0,184,224,154,0,0,0
$RAFOS,0,1262462465,20.033333,20.018055,68,60,58,0,0,0,202,221,155,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6715.07,-5642.17,290399,181844
$TT8_MAMPS,0.027612
$HUMID,50.27
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.30
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.9,19.9
$24V_AH,23.0,81.427
$10V_AH,10.0,41.920
$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,22.275,46.325,303.675,55.650,0.000,24.653,32.348,112.964,1.250,0.000,35.953,803.320,1680.755,425.005,840.201,279.886,0.000,888.067,0.000,807.695,720.000,2.619,0.000
$DEVICE_MAMPS,302.198,102.778,849.069,727.116,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,368.135,339.896,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152552
$DATA_FILE_SIZE,19033,507
$CAP_FILE_SIZE,55504,0
$CFSIZE,260165632,215445504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,92,0,0
$SOUNDSPEED,1458.9
$GPS,020110,201852,6740.239,-5632.824,8,4.1,28,-38.3