version: 66.06
glider: 143
mission: 10
dive: 522
start: 1 3 110 17 22 2
data:
$ID,143
$MISSION,10
$DIVE,522
$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,240
$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,-47023.652
$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,26
$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
$GPS1,171704,6741.264,-5621.425,11,99.0,31,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-69.4
$GPS2,172143,6741.281,-5621.486,11,1.2,11,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6735.881,-5646.026
$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,278.2,20000,-16.9,-9.167
$D_GRID,130
$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,-94.50,0.000,2,0.000,0.000,126,2801,3187,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.0,-4.6,19,142,11.65,2.50,-5.88,0.000,4,0.302,0.096,2446,1203,3399,0,0,2,0,0,0
$GC,231,-0.73,-146.0,18.3,-9.9,39,236,0.00,2.38,0.00,0.000,6,0.000,0.071,2446,2786,3400,0,0,1,0,0,0
$GC,575,-0.73,-146.0,50.6,-9.1,100,580,0.00,2.92,0.00,0.000,4,0.000,0.091,2446,3923,3400,0,0,8,0,0,0
$GC,834,-0.78,-146.0,74.4,-9.0,146,840,0.00,2.75,0.00,0.000,6,0.000,0.063,2447,2795,3400,0,0,7,0,0,0
$GC,1176,-0.84,-146.0,103.8,-8.6,203,1181,0.00,2.92,0.00,0.000,4,0.000,0.088,2447,3920,3400,0,0,6,0,0,0
$GC,1284,-0.89,-146.0,113.2,-9.1,212,1289,0.15,2.75,0.00,0.000,6,0.120,0.062,2398,2798,3400,0,0,6,0,0,0
$STATE,1446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1446,begin apogee
$GC,1453,-0.16,0.0,131.0,11.5,227,1574,0.85,0.00,115.88,0.831,6,0.196,0.000,2628,2389,2799,0,0,0,0,0,0
$STATE,1574,end apogee,CONTROL_FINISHED_OK
$STATE,1574,begin climb
$GC,1577,0.73,146.0,135.1,0.0,239,1704,0.95,1.90,118.30,0.788,4,0.141,0.089,2919,808,2203,0,0,0,0,0,0
$GC,1767,0.73,146.0,123.5,9.2,257,1771,0.00,1.83,0.00,0.000,6,0.000,0.063,2918,2419,2199,0,0,0,0,0,0
$GC,2096,0.76,172.5,94.5,8.1,293,2127,0.00,3.97,21.73,0.758,4,0.000,0.083,2918,3905,2096,0,0,10,0,0,0
$GC,2221,0.76,172.5,82.1,11.1,315,2227,0.00,3.88,0.00,0.000,6,0.000,0.070,2936,2410,2093,0,0,7,0,0,0
$GC,2564,0.76,172.5,49.0,9.4,376,2569,0.00,3.92,0.00,0.000,4,0.000,0.083,2936,3915,2092,0,0,8,0,0,0
$GC,2632,0.66,172.5,41.4,11.6,388,2639,0.20,3.88,0.00,0.000,6,0.201,0.070,2908,2384,2092,0,0,8,0,0,0
$GC,2980,0.81,200.8,14.0,8.0,449,3012,0.12,4.05,24.23,0.739,4,0.130,0.083,2949,3911,1980,0,0,7,0,0,0
$FREEZE,8.60,0.817,-1.852,0,1,0
$FREEZE,7.95,0.818,-1.851,0,1,0
$FREEZE,7.20,0.813,-1.850,0,1,0
$FREEZE,6.49,0.811,-1.849,0,1,0
$FREEZE,5.76,0.809,-1.849,0,1,0
$FREEZE,5.18,0.788,-1.849,0,1,0
$FREEZE,4.42,0.786,-1.848,0,1,0
$FREEZE,3.82,0.787,-1.847,0,1,0
$FREEZE,3.06,0.789,-1.847,0,1,0
$FREEZE,2.29,0.788,-1.846,0,1,0
$FREEZE,1.61,0.786,-1.846,0,1,0
$STATE,3084,end climb,SURFACE_DEPTH_REACHED
$STATE,3084,begin surface coast
$FREEZE,1.04,0.790,-1.845,0,1,0
$FREEZE,0.51,0.777,-1.845,0,1,0
$FREEZE,0.48,0.795,-1.116,0,1,0
$FINISH,0.5,1.016479
$STATE,3102,end surface coast,CONTROL_FINISHED_OK
$STATE,3102,begin surface
$SM_CCo,3123,71.80,0.722,0,0,1474,325.02
$SM_GC,1.30,0.00,0.00,71.80,0.000,0.000,0.722,129,2806,1474,-8.00,0.17,325.02
$RAFOS_CLK,191
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6715.07,-5618.60,300399,161648
$TT8_MAMPS,0.027612
$HUMID,49.40
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,17.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,19.3
$24V_AH,23.0,83.275
$10V_AH,10.2,42.549
$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,22.275,43.550,280.125,71.800,0.000,28.660,33.342,105.905,1.000,0.000,13.000,746.733,1305.527,420.304,730.658,276.171,0.000,840.279,0.000,722.940,0.000,2.617,0.000
$DEVICE_MAMPS,302.198,95.875,830.661,721.747,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,342.368,315.534,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152544
$DATA_FILE_SIZE,15896,471
$CAP_FILE_SIZE,50452,0
$CFSIZE,260165632,214761472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,77,0,0
$SOUNDSPEED,1457.5
$GPS,030110,181614,6741.326,-5622.630,11,1.3,12,-38.2