version: 66.06
glider: 143
mission: 10
dive: 512
start: 1 3 110 7 30 27
data:
$ID,143
$MISSION,10
$DIVE,512
$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,-46851.645
$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,22
$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
$GPS1,072531,6740.959,-5624.897,40,1.3,41,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-69.9
$GPS2,073008,6740.952,-5624.781,12,1.1,12,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6735.552,-5600.246
$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,138
$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,13,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,113,0.00,0.00,-94.85,0.000,2,0.000,0.000,130,2802,3225,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.4,-6.0,19,138,11.35,2.92,-4.55,0.000,4,0.295,0.099,2444,3917,3396,0,0,7,0,0,0
$GC,219,-0.73,-146.0,17.7,-9.9,37,225,0.00,2.72,0.00,0.000,6,0.000,0.061,2444,2801,3398,0,0,7,0,0,0
$GC,563,-0.73,-146.0,46.9,-8.0,98,569,0.00,2.90,0.00,0.000,4,0.000,0.087,2444,3926,3399,0,0,6,0,0,0
$GC,800,-0.73,-146.0,69.7,-10.3,140,805,0.00,2.72,0.00,0.000,6,0.000,0.062,2445,2799,3399,0,0,7,0,0,0
$GC,1147,-0.77,-146.0,104.2,-9.4,198,1152,0.00,2.90,0.00,0.000,4,0.000,0.088,2444,3926,3399,0,0,7,0,0,0
$GC,1332,-0.83,-146.0,121.2,-10.2,214,1337,0.00,2.72,0.00,0.000,6,0.000,0.061,2445,2795,3398,0,0,7,0,0,0
$STATE,1527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1527,begin apogee
$GC,1533,-0.16,0.0,138.1,7.8,232,1653,0.65,0.00,115.40,0.830,6,0.187,0.000,2628,2397,2799,0,0,0,0,0,0
$STATE,1654,end apogee,CONTROL_FINISHED_OK
$STATE,1654,begin climb
$GC,1657,0.73,146.0,141.3,0.0,244,1784,0.98,1.92,117.97,0.788,4,0.144,0.087,2924,800,2202,0,0,0,0,0,0
$GC,1904,0.73,146.0,122.5,10.5,267,1908,0.00,1.80,0.00,0.000,6,0.000,0.061,2924,2411,2198,0,0,0,0,0,0
$GC,2234,0.73,146.0,88.2,11.3,307,2240,0.00,3.92,0.00,0.000,4,0.000,0.081,2923,3920,2196,0,0,7,0,0,0
$GC,2342,0.63,146.0,74.1,13.2,326,2352,0.20,3.88,0.00,0.000,6,0.204,0.068,2896,2405,2194,0,0,6,0,0,0
$GC,2692,0.78,172.0,41.8,8.1,388,2724,0.15,3.95,21.05,0.739,4,0.118,0.081,2946,3905,2096,0,0,6,0,0,0
$GC,2831,0.64,172.0,25.1,12.2,413,2842,0.28,3.83,0.00,0.000,6,0.198,0.069,2898,2393,2095,0,0,9,0,0,0
$FREEZE,8.82,1.226,-1.856,0,1,0
$FREEZE,8.32,1.221,-1.855,0,1,0
$FREEZE,7.98,1.218,-1.855,0,1,0
$FREEZE,7.46,1.219,-1.854,0,1,0
$FREEZE,7.02,1.207,-1.854,0,1,0
$FREEZE,6.59,1.199,-1.854,0,1,0
$FREEZE,6.13,1.193,-1.853,0,1,0
$FREEZE,5.73,1.185,-1.853,0,1,0
$FREEZE,5.30,1.179,-1.853,0,1,0
$FREEZE,4.86,1.168,-1.853,0,1,0
$FREEZE,4.51,1.171,-1.852,0,1,0
$FREEZE,3.88,1.187,-1.851,0,1,0
$FREEZE,3.54,1.182,-1.851,0,1,0
$FREEZE,3.12,1.177,-1.851,0,1,0
$FREEZE,2.70,1.179,-1.850,0,1,0
$FREEZE,2.20,1.170,-1.850,0,1,0
$FREEZE,1.69,1.163,-1.850,0,1,0
$STATE,3116,end climb,SURFACE_DEPTH_REACHED
$STATE,3117,begin surface coast
$FREEZE,1.30,1.163,-1.849,0,1,0
$FREEZE,0.85,1.175,-1.849,0,1,0
$FREEZE,0.51,1.168,-1.849,0,1,0
$FREEZE,0.47,1.125,-1.724,0,1,0
$FREEZE,0.55,1.145,-0.902,0,1,0
$FINISH,0.6,1.013321
$STATE,3147,end surface coast,CONTROL_FINISHED_OK
$STATE,3148,begin surface
$SM_CCo,3166,85.25,0.720,0,0,1475,325.02
$SM_GC,1.30,0.00,0.00,85.25,0.000,0.000,0.720,126,2797,1475,-8.01,-0.08,325.02
$RAFOS_CLK,191
$RAFOS,1,1262506144,8.166667,8.151111,69,61,56,0,0,0,215,121,175,0,0,0
$RAFOS,0,1262505665,8.033334,8.018056,64,60,54,0,0,0,215,184,195,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5628.00,300399,060631
$TT8_MAMPS,0.029146
$HUMID,48.54
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,17.40
$XPDR_PINGS,2
$ALTIM_TOP_PING,20.0,19.5
$24V_AH,23.1,82.404
$10V_AH,10.2,42.259
$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,21.675,38.350,254.425,85.250,0.000,28.178,33.170,109.548,0.750,0.000,14.231,765.293,1337.328,411.673,746.447,277.164,0.000,830.209,0.000,735.753,1080.000,2.619,0.000
$DEVICE_MAMPS,294.528,98.943,829.894,720.213,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,341.811,314.932,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152556
$DATA_FILE_SIZE,15878,469
$CAP_FILE_SIZE,50200,0
$CFSIZE,260165632,215089152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,70,0,0
$SOUNDSPEED,1459.2
$GPS,030110,082537,6740.411,-5623.727,9,1.1,10,-38.2