version: 66.06
glider: 143
mission: 10
dive: 502
start: 1 2 110 20 27 39
data:
$ID,143
$MISSION,10
$DIVE,502
$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,-46689.039
$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,14
$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
$GPS1,201852,6740.239,-5632.824,8,4.1,28,-38.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-67.3
$GPS2,202722,6740.187,-5632.811,11,99.0,30,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6734.787,-5608.289
$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,14,-0.73,-146.0,0.0,0.0,0,117,0.00,0.00,-99.35,0.000,2,0.000,0.000,125,2798,3281,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.4,-5.8,20,143,11.77,0.00,-2.90,0.000,6,0.304,0.000,2449,2798,3398,0,0,0,0,0,0
$GC,482,-0.73,-146.0,41.0,-8.3,84,487,0.00,2.90,0.00,0.000,4,0.000,0.091,2449,3920,3401,0,0,6,0,0,0
$GC,724,-0.78,-146.0,63.7,-9.8,127,730,0.00,2.72,0.00,0.000,6,0.000,0.062,2449,2791,3401,0,0,7,0,0,0
$GC,1071,-0.84,-146.0,93.6,-8.1,188,1076,0.00,2.90,0.00,0.000,4,0.000,0.088,2448,3919,3401,0,0,6,0,0,0
$GC,1290,-0.94,-146.0,112.3,-9.2,214,1296,0.20,2.72,0.00,0.000,6,0.106,0.061,2383,2798,3400,0,0,6,0,0,0
$GC,1615,-0.81,-146.0,150.0,-10.8,245,1620,0.17,2.88,0.00,0.000,4,0.207,0.090,2423,3924,3400,0,0,9,0,0,0
$GC,1694,-0.81,-146.0,157.2,-8.9,251,1699,0.00,2.72,0.00,0.000,6,0.000,0.062,2423,2788,3399,0,0,7,0,0,0
$STATE,1761,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1761,begin apogee
$GC,1767,-0.16,0.0,163.3,8.5,258,1888,0.73,0.00,116.50,0.854,6,0.186,0.000,2627,2394,2799,0,0,0,0,0,0
$STATE,1889,end apogee,CONTROL_FINISHED_OK
$STATE,1889,begin climb
$GC,1891,0.73,146.0,166.8,0.0,270,2020,0.98,1.95,118.57,0.809,4,0.140,0.087,2924,788,2205,0,0,0,0,0,0
$GC,2043,0.73,153.4,158.1,8.9,284,2057,0.00,1.88,8.00,0.679,6,0.000,0.061,2924,2414,2173,0,0,0,0,0,0
$GC,2382,0.73,153.4,125.6,9.8,316,2392,0.00,3.92,0.00,0.000,4,0.000,0.081,2924,3919,2168,0,0,8,0,0,0
$GC,2453,0.63,153.4,117.3,12.1,322,2460,0.20,3.88,0.00,0.000,6,0.199,0.069,2896,2403,2167,0,0,7,0,0,0
$GC,2785,0.77,185.0,88.9,7.8,365,2822,0.12,3.97,26.30,0.767,4,0.127,0.081,2937,3916,2044,0,0,10,0,0,0
$GC,2884,0.68,185.0,78.4,11.8,383,2890,0.17,3.88,0.00,0.000,6,0.196,0.069,2915,2399,2041,0,0,7,0,0,0
$GC,3231,0.81,214.2,48.2,7.9,444,3267,0.12,4.00,25.17,0.749,4,0.125,0.081,2956,3925,1925,0,0,8,0,0,0
$GC,3346,0.71,214.2,34.5,13.0,465,3353,0.22,3.92,0.00,0.000,6,0.195,0.069,2921,2397,1922,0,0,5,0,0,0
$FREEZE,8.60,1.476,-1.857,0,1,0
$FREEZE,8.03,1.478,-1.857,0,1,0
$FREEZE,7.37,1.481,-1.856,0,1,0
$FREEZE,6.76,1.479,-1.856,0,1,0
$FREEZE,6.17,1.478,-1.855,0,1,0
$FREEZE,5.53,1.476,-1.855,0,1,0
$FREEZE,4.92,1.478,-1.854,0,1,0
$FREEZE,4.33,1.480,-1.854,0,1,0
$FREEZE,3.87,1.481,-1.854,0,1,0
$FREEZE,3.25,1.462,-1.853,0,1,0
$FREEZE,2.60,1.455,-1.853,0,1,0
$FREEZE,1.97,1.464,-1.852,0,1,0
$STATE,3651,end climb,SURFACE_DEPTH_REACHED
$STATE,3651,begin surface coast
$FREEZE,1.54,1.472,-1.852,0,1,0
$FREEZE,0.96,1.472,-1.852,0,1,0
$FREEZE,0.54,1.473,-1.851,0,1,0
$FINISH,0.5,1.027011
$STATE,3669,end surface coast,CONTROL_FINISHED_OK
$STATE,3669,begin surface
$SM_CCo,3687,64.30,0.725,0,0,1475,325.02
$SM_GC,1.42,0.00,0.00,64.30,0.000,0.000,0.725,128,2804,1475,-8.01,0.11,325.02
$RAFOS_CLK,238
$RAFOS,6,1262465343,20.833334,20.817499,67,66,61,0,0,0,147,206,183,0,0,0
$RAFOS,5,1262464866,20.700001,20.684999,67,62,61,0,0,0,834,192,212,0,0,0
$RAFOS,4,1262464385,20.566668,20.551390,56,55,54,0,0,0,191,153,226,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5629.59,290399,202022
$TT8_MAMPS,0.027612
$HUMID,49.33
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.40
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,19.1
$24V_AH,23.0,81.525
$10V_AH,10.0,41.954
$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,22.925,46.375,294.550,64.300,0.000,59.433,70.291,173.105,1.000,0.000,33.151,826.825,1721.783,434.838,843.963,439.745,0.000,902.985,0.000,815.432,1080.000,2.620,0.000
$DEVICE_MAMPS,303.732,91.273,853.671,724.815,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,380.586,350.063,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152516
$DATA_FILE_SIZE,19064,522
$CAP_FILE_SIZE,60181,0
$CFSIZE,260165632,215408640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,89,0,0
$SOUNDSPEED,1458.5
$GPS,020110,213137,6739.602,-5632.502,38,1.5,39,-38.2