version: 66.06
glider: 143
mission: 10
dive: 518
start: 1 3 110 13 27 32
data:
$ID,143
$MISSION,10
$DIVE,518
$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,-46963.328
$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,17
$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
$GPS1,132234,6739.566,-5620.650,13,99.0,33,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-68.0
$GPS2,132713,6739.595,-5620.686,10,1.9,15,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6734.195,-5556.175
$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,126
$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,-94.70,0.000,2,0.000,0.000,125,2799,3199,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.0,-4.5,19,142,11.30,2.55,-5.45,0.000,4,0.292,0.096,2446,1181,3399,0,0,3,0,0,0
$GC,166,-0.64,-146.0,11.9,-11.7,28,172,0.15,2.45,0.00,0.000,6,0.208,0.071,2481,2803,3400,0,0,2,0,0,0
$GC,511,-0.77,-146.0,39.8,-8.0,89,517,0.12,2.90,0.00,0.000,4,0.117,0.087,2426,3937,3400,0,0,7,0,0,0
$GC,725,-0.77,-146.0,60.5,-9.9,127,730,0.00,2.75,0.00,0.000,6,0.000,0.063,2426,2801,3400,0,0,6,0,0,0
$GC,1068,-0.77,-146.0,93.6,-9.8,188,1074,0.00,2.88,0.00,0.000,4,0.000,0.090,2426,3933,3400,0,0,8,0,0,0
$GC,1126,-0.77,-146.0,99.3,-10.1,198,1131,0.00,2.75,0.00,0.000,6,0.000,0.062,2426,2800,3400,0,0,6,0,0,0
$STATE,1402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1402,begin apogee
$GC,1408,-0.16,0.0,126.9,9.5,225,1528,0.75,0.00,115.70,0.828,6,0.194,0.000,2629,2392,2799,0,0,0,0,0,0
$STATE,1529,end apogee,CONTROL_FINISHED_OK
$STATE,1529,begin climb
$GC,1532,0.73,146.0,129.6,0.0,237,1659,0.98,1.98,118.03,0.786,4,0.144,0.088,2924,795,2203,0,0,0,0,0,0
$GC,1872,0.73,153.0,104.3,8.9,268,1882,0.00,1.83,6.15,0.644,6,0.000,0.063,2924,2413,2176,0,0,0,0,0,0
$GC,2218,0.76,177.1,75.1,8.2,325,2249,0.00,3.92,21.30,0.754,4,0.000,0.081,2924,3909,2076,0,0,7,0,0,0
$GC,2343,0.71,177.1,62.1,11.0,347,2349,0.00,3.90,0.00,0.000,6,0.000,0.070,2941,2401,2073,0,0,6,0,0,0
$GC,2688,0.72,178.5,30.0,9.1,408,2694,0.00,3.92,0.00,0.000,4,0.000,0.083,2941,3912,2072,0,0,8,0,0,0
$GC,2781,0.61,178.5,20.0,11.3,424,2792,0.28,3.83,0.00,0.000,6,0.199,0.071,2892,2395,2071,0,0,9,0,0,0
$FREEZE,8.51,1.092,-1.854,0,1,0
$FREEZE,8.25,1.089,-1.854,0,1,0
$FREEZE,7.76,1.061,-1.854,0,1,0
$FREEZE,7.20,1.079,-1.853,0,1,0
$FREEZE,7.00,1.071,-1.853,0,1,0
$FREEZE,6.54,1.057,-1.852,0,1,0
$FREEZE,6.17,1.050,-1.852,0,1,0
$FREEZE,5.65,1.053,-1.852,0,1,0
$FREEZE,5.22,1.053,-1.851,0,1,0
$FREEZE,4.81,1.050,-1.851,0,1,0
$FREEZE,4.38,1.050,-1.850,0,1,0
$FREEZE,4.07,1.047,-1.850,0,1,0
$FREEZE,3.67,1.048,-1.850,0,1,0
$FREEZE,3.22,1.037,-1.850,0,1,0
$FREEZE,2.77,1.042,-1.849,0,1,0
$FREEZE,2.30,1.051,-1.849,0,1,0
$FREEZE,1.84,1.038,-1.849,0,1,0
$STATE,3015,end climb,SURFACE_DEPTH_REACHED
$STATE,3015,begin surface coast
$FREEZE,1.57,1.042,-1.848,0,1,0
$FREEZE,1.06,1.050,-1.848,0,1,0
$FREEZE,0.60,1.054,-1.847,0,1,0
$FREEZE,0.53,0.557,-1.871,0,1,0
$FREEZE,0.48,0.876,-1.414,0,1,0
$FINISH,0.5,1.020810
$STATE,3045,end surface coast,CONTROL_FINISHED_OK
$STATE,3045,begin surface
$SM_CCo,3063,76.40,0.726,0,0,1474,325.02
$SM_GC,1.41,0.00,0.00,76.40,0.000,0.000,0.726,124,2800,1474,-8.02,0.00,325.02
$RAFOS_CLK,185
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5617.03,300399,121222
$TT8_MAMPS,0.028379
$HUMID,49.60
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.20
$XPDR_PINGS,4
$ALTIM_TOP_PING,20.0,19.3
$24V_AH,23.0,82.929
$10V_AH,10.0,42.434
$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,21.700,37.825,261.175,76.400,0.000,26.991,37.293,104.387,1.250,0.000,17.095,757.806,1248.313,409.195,738.634,273.356,0.000,825.635,0.000,726.472,0.000,2.617,0.000
$DEVICE_MAMPS,292.227,95.875,828.360,725.582,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,343.706,315.710,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152528
$DATA_FILE_SIZE,15901,471
$CAP_FILE_SIZE,49689,0
$CFSIZE,260165632,214892544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,64,0,0
$SOUNDSPEED,1457.3
$GPS,030110,142050,6740.014,-5620.812,10,1.2,11,-38.2