version: 66.06
glider: 143
mission: 10
dive: 520
start: 1 3 110 15 22 57
data:
$ID,143
$MISSION,10
$DIVE,520
$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,-46992.156
$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,19
$R_STBD_OVSHOOT,13
$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
$GPS1,151810,6740.524,-5620.993,7,2.5,27,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-68.6
$GPS2,152238,6740.582,-5621.043,10,1.4,10,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6735.182,-5556.515
$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,128
$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,-94.65,0.000,2,0.000,0.000,125,2798,3192,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.2,-5.3,19,142,11.38,2.92,-5.62,0.000,4,0.295,0.103,2445,3918,3399,0,0,10,0,0,0
$GC,231,-0.73,-146.0,17.9,-9.5,39,236,0.00,2.72,0.00,0.000,6,0.000,0.062,2446,2803,3401,0,0,7,0,0,0
$GC,575,-0.73,-146.0,48.4,-8.8,100,581,0.00,2.88,0.00,0.000,4,0.000,0.090,2446,3927,3401,0,0,8,0,0,0
$GC,777,-0.73,-146.0,66.3,-8.6,136,783,0.00,2.72,0.00,0.000,6,0.000,0.063,2446,2801,3401,0,0,7,0,0,0
$GC,1121,-0.73,-146.0,94.4,-7.9,197,1127,0.00,2.85,0.00,0.000,4,0.000,0.091,2446,3923,3401,0,0,9,0,0,0
$GC,1248,-0.78,-146.0,104.1,-7.9,215,1253,0.00,2.72,0.00,0.000,6,0.000,0.064,2446,2801,3401,0,0,7,0,0,0
$GC,1573,-0.78,-146.0,127.7,-7.9,245,1577,0.00,2.90,0.00,0.000,4,0.000,0.088,2446,3929,3400,0,0,6,0,0,0
$STATE,1582,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1582,begin apogee
$GC,1592,-0.16,0.0,128.2,6.9,245,1713,0.65,0.00,115.97,0.830,6,0.189,0.000,2627,2398,2800,0,0,0,0,0,0
$STATE,1713,end apogee,CONTROL_FINISHED_OK
$STATE,1714,begin climb
$GC,1716,0.73,146.0,130.9,0.0,257,1843,0.98,1.95,118.35,0.788,4,0.145,0.089,2922,786,2203,0,0,0,0,0,0
$GC,2000,0.73,146.0,109.2,11.1,283,2006,0.00,1.85,0.00,0.000,6,0.000,0.064,2921,2415,2197,0,0,0,0,0,0
$GC,2338,0.73,146.0,73.0,11.0,336,2343,0.00,3.92,0.00,0.000,4,0.000,0.083,2922,3919,2195,0,0,8,0,0,0
$GC,2476,0.65,146.0,56.9,11.9,360,2482,0.17,3.88,0.00,0.000,6,0.206,0.070,2900,2402,2193,0,0,7,0,0,0
$GC,2823,0.79,174.8,28.0,8.0,421,2855,0.15,3.97,23.23,0.740,4,0.120,0.083,2950,3917,2086,0,0,9,0,0,0
$GC,2913,0.65,174.8,17.8,12.6,437,2923,0.28,3.90,0.00,0.000,6,0.196,0.069,2902,2392,2084,0,0,7,0,0,0
$FREEZE,8.60,1.118,-1.855,0,1,0
$FREEZE,8.14,1.056,-1.855,0,1,0
$FREEZE,7.70,1.070,-1.854,0,1,0
$FREEZE,7.32,1.047,-1.854,0,1,0
$FREEZE,6.78,1.041,-1.853,0,1,0
$FREEZE,6.56,1.042,-1.853,0,1,0
$FREEZE,5.97,1.028,-1.852,0,1,0
$FREEZE,5.60,1.038,-1.852,0,1,0
$FREEZE,5.13,1.030,-1.851,0,1,0
$FREEZE,4.77,1.036,-1.851,0,1,0
$FREEZE,4.21,1.033,-1.851,0,1,0
$FREEZE,3.87,1.027,-1.850,0,1,0
$FREEZE,3.40,1.019,-1.850,0,1,0
$FREEZE,2.97,1.011,-1.850,0,1,0
$FREEZE,2.68,1.017,-1.849,0,1,0
$FREEZE,2.20,1.012,-1.849,0,1,0
$FREEZE,1.72,1.017,-1.848,0,1,0
$STATE,3108,end climb,SURFACE_DEPTH_REACHED
$STATE,3108,begin surface coast
$FREEZE,1.28,1.047,-1.848,0,1,0
$FREEZE,0.93,1.020,-1.848,0,1,0
$FREEZE,0.54,1.027,-0.995,0,1,0
$FREEZE,0.49,0.985,-1.174,0,1,0
$FREEZE,0.55,0.939,-1.829,0,1,0
$FINISH,0.5,1.026739
$STATE,3140,end surface coast,CONTROL_FINISHED_OK
$STATE,3140,begin surface
$SM_CCo,3159,84.43,0.723,0,0,1474,325.02
$SM_GC,1.37,0.00,0.00,84.43,0.000,0.000,0.723,128,2796,1474,-8.00,-0.11,325.02
$RAFOS_CLK,198
$RAFOS,1,1262534943,16.166666,16.150833,69,60,57,0,0,0,206,164,196,0,0,0
$RAFOS,0,1262534462,16.033333,16.017221,68,66,61,0,0,0,209,153,197,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5620.16,300399,141416
$TT8_MAMPS,0.027612
$HUMID,49.33
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.30
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.3,18.9
$24V_AH,23.0,83.100
$10V_AH,10.0,42.491
$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,21.750,44.175,257.550,84.425,0.000,31.240,31.652,98.892,1.000,0.000,12.422,775.337,1306.639,421.393,743.916,272.027,0.000,842.888,0.000,736.556,720.000,3.949,0.000
$DEVICE_MAMPS,294.528,102.778,829.894,723.281,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,347.529,319.963,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152548
$DATA_FILE_SIZE,15900,477
$CAP_FILE_SIZE,51318,0
$CFSIZE,260165632,214827008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,93,0,0
$SOUNDSPEED,1457.0
$GPS,030110,161822,6740.990,-5621.323,13,99.0,33,-38.2