version: 66.06
glider: 143
mission: 10
dive: 503
start: 1 2 110 21 36 33
data:
$ID,143
$MISSION,10
$DIVE,503
$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,-46703.777
$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,18
$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
$GPS1,213137,6739.602,-5632.502,38,1.5,39,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-67.0
$GPS2,213614,6739.570,-5632.477,12,1.9,12,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6734.171,-5607.966
$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,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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,118,0.00,0.00,-99.57,0.000,2,0.000,0.000,127,2804,3297,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.5,-5.7,20,144,11.30,2.88,-2.45,0.000,4,0.292,0.098,2436,3928,3398,0,0,9,0,0,0
$GC,346,-0.73,-146.0,33.4,-10.5,60,352,0.00,2.72,0.00,0.000,6,0.000,0.062,2436,2805,3401,0,0,7,0,0,0
$GC,688,-0.73,-146.0,66.8,-9.6,121,694,0.00,2.85,0.00,0.000,4,0.000,0.089,2436,3923,3401,0,0,8,0,0,0
$GC,869,-0.73,-146.0,85.0,-10.2,153,874,0.00,2.72,0.00,0.000,6,0.000,0.062,2436,2797,3401,0,0,7,0,0,0
$GC,1202,-0.73,-146.0,116.9,-9.2,197,1207,0.00,2.90,0.00,0.000,4,0.000,0.088,2436,3925,3400,0,0,6,0,0,0
$GC,1443,-0.73,-146.0,139.1,-8.7,218,1448,0.00,2.72,0.00,0.000,6,0.000,0.063,2436,2796,3399,0,0,7,0,0,0
$STATE,1724,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1724,begin apogee
$GC,1731,-0.16,0.0,163.9,9.0,244,1852,0.70,0.00,116.45,0.849,6,0.186,0.000,2630,2384,2800,0,0,0,0,0,0
$STATE,1853,end apogee,CONTROL_FINISHED_OK
$STATE,1853,begin climb
$GC,1855,0.73,146.0,167.3,0.0,256,1984,0.95,1.90,118.88,0.806,4,0.143,0.087,2919,809,2202,0,0,0,0,0,0
$GC,2067,0.73,150.0,153.1,9.0,275,2077,0.00,1.85,4.18,0.539,6,0.000,0.061,2919,2408,2187,0,0,0,0,0,0
$GC,2402,0.73,150.0,121.7,9.6,307,2412,0.00,3.92,0.00,0.000,4,0.000,0.081,2919,3920,2184,0,0,8,0,0,0
$GC,2518,0.65,150.0,108.6,11.2,317,2525,0.15,3.85,0.00,0.000,6,0.206,0.069,2904,2407,2183,0,0,7,0,0,0
$GC,2856,0.79,195.6,81.7,7.2,369,2903,0.12,4.00,38.03,0.770,4,0.126,0.082,2945,3925,2002,0,0,9,0,0,0
$GC,2965,0.68,195.6,70.0,12.2,389,2975,0.22,3.92,0.00,0.000,6,0.199,0.068,2910,2398,1999,0,0,6,0,0,0
$GC,3315,0.82,221.8,40.5,8.1,451,3346,0.15,3.97,22.42,0.740,4,0.117,0.081,2961,3918,1894,0,0,8,0,0,0
$GC,3426,0.70,221.8,26.8,13.2,471,3433,0.25,3.92,0.00,0.000,6,0.193,0.069,2917,2393,1893,0,0,5,0,0,0
$FREEZE,8.49,1.446,-1.857,0,1,0
$FREEZE,8.03,1.442,-1.857,0,1,0
$FREEZE,7.47,1.439,-1.856,0,1,0
$FREEZE,6.98,1.441,-1.856,0,1,0
$FREEZE,6.43,1.438,-1.855,0,1,0
$FREEZE,5.91,1.440,-1.855,0,1,0
$FREEZE,5.50,1.440,-1.855,0,1,0
$FREEZE,4.88,1.437,-1.854,0,1,0
$FREEZE,4.57,1.438,-1.854,0,1,0
$FREEZE,4.06,1.438,-1.854,0,1,0
$FREEZE,3.55,1.437,-1.853,0,1,0
$FREEZE,3.00,1.436,-1.853,0,1,0
$FREEZE,2.60,1.437,-1.852,0,1,0
$FREEZE,2.14,1.437,-1.852,0,1,0
$FREEZE,1.53,1.436,-1.852,0,1,0
$STATE,3692,end climb,SURFACE_DEPTH_REACHED
$STATE,3693,begin surface coast
$FREEZE,0.84,1.435,-1.851,0,1,0
$FREEZE,0.50,1.439,-1.783,0,1,0
$FREEZE,0.49,1.366,-1.614,0,1,0
$FREEZE,0.56,1.372,-1.802,0,1,0
$FINISH,0.6,1.026319
$STATE,3715,end surface coast,CONTROL_FINISHED_OK
$STATE,3715,begin surface
$SM_CCo,3734,60.88,0.727,0,0,1475,325.02
$SM_GC,1.41,0.00,0.00,60.88,0.000,0.000,0.727,126,2790,1475,-8.01,-0.28,325.02
$RAFOS_CLK,230
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5628.00,290399,202016
$TT8_MAMPS,0.027612
$HUMID,50.00
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,17.30
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.7,19.5
$24V_AH,23.0,81.616
$10V_AH,9.9,41.986
$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,22.000,46.325,299.950,60.875,0.000,30.526,31.438,106.240,1.250,0.000,14.112,825.111,1695.683,430.449,844.870,282.341,0.000,903.466,0.000,830.310,0.000,2.619,0.000
$DEVICE_MAMPS,292.227,98.176,849.069,727.116,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,377.108,350.226,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152604
$DATA_FILE_SIZE,19018,522
$CAP_FILE_SIZE,55895,0
$CFSIZE,260165632,215375872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,88,0,0
$SOUNDSPEED,1458.9
$GPS,020110,224043,6739.162,-5632.234,7,1.2,8,-38.2