version: 66.06
glider: 143
mission: 10
dive: 526
start: 1 3 110 21 24 21
data:
$ID,143
$MISSION,10
$DIVE,526
$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,220
$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,-47106.246
$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,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
$GPS1,211926,6740.114,-5625.132,9,1.5,10,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-68.2
$GPS2,212402,6740.075,-5625.107,14,1.7,14,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6731.803,-5643.270
$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,258.2,20000,-16.9,-9.167
$D_GRID,135
$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,-99.43,0.000,2,0.000,0.000,126,2799,3286,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.7,-7.1,20,144,11.43,2.92,-2.72,0.000,4,0.295,0.098,2435,3917,3399,0,0,9,0,0,0
$GC,168,-0.30,-146.0,14.8,-17.3,28,174,0.57,2.75,0.00,0.000,6,0.192,0.061,2586,2802,3401,0,0,7,0,0,0
$GC,513,-0.90,-146.0,34.6,-5.4,89,519,0.52,2.47,0.00,0.000,4,0.092,0.081,2403,1197,3403,0,0,0,0,0,0
$GC,755,-0.78,-146.0,62.3,-12.8,132,762,0.15,2.40,0.00,0.000,6,0.216,0.071,2438,2793,3402,0,0,0,0,0,0
$GC,1100,-0.78,-146.0,94.3,-8.0,193,1105,0.00,2.90,0.00,0.000,4,0.000,0.090,2438,3926,3401,0,0,8,0,0,0
$GC,1318,-0.78,-146.0,117.1,-9.0,217,1324,0.00,2.75,0.00,0.000,6,0.000,0.063,2438,2801,3400,0,0,6,0,0,0
$STATE,1524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1525,begin apogee
$GC,1531,-0.16,0.0,135.8,9.3,237,1652,0.68,0.00,116.20,0.838,6,0.188,0.000,2627,2392,2799,0,0,0,0,0,0
$STATE,1652,end apogee,CONTROL_FINISHED_OK
$STATE,1652,begin climb
$GC,1655,0.73,146.0,140.1,0.0,249,1784,0.98,1.92,118.62,0.795,4,0.143,0.087,2922,798,2202,0,0,0,0,0,0
$GC,1800,0.74,158.7,131.8,8.6,262,1817,0.00,1.90,11.62,0.709,6,0.000,0.061,2923,2411,2153,0,0,0,0,0,0
$GC,2135,0.74,159.2,99.5,9.1,294,2141,0.00,3.95,0.00,0.000,4,0.000,0.082,2923,3912,2147,0,0,8,0,0,0
$GC,2254,0.65,159.2,85.6,12.0,315,2260,0.15,3.83,0.00,0.000,6,0.202,0.070,2908,2408,2145,0,0,5,0,0,0
$GC,2600,0.80,205.6,56.7,7.2,376,2647,0.12,3.95,38.85,0.758,4,0.127,0.082,2948,3924,1960,0,0,7,0,0,0
$GC,2793,0.70,205.6,33.8,12.5,411,2800,0.20,3.85,0.00,0.000,6,0.195,0.070,2919,2397,1956,0,0,5,0,0,0
$FREEZE,8.54,0.823,-1.851,0,1,0
$FREEZE,7.99,0.821,-1.851,0,1,0
$FREEZE,7.62,0.809,-1.851,0,1,0
$FREEZE,7.07,0.803,-1.850,0,1,0
$FREEZE,6.52,0.796,-1.850,0,1,0
$FREEZE,6.00,0.795,-1.849,0,1,0
$FREEZE,5.49,0.794,-1.849,0,1,0
$FREEZE,5.07,0.787,-1.848,0,1,0
$FREEZE,4.58,0.782,-1.848,0,1,0
$FREEZE,4.08,0.765,-1.848,0,1,0
$FREEZE,3.70,0.747,-1.847,0,1,0
$FREEZE,3.13,0.749,-1.847,0,1,0
$FREEZE,2.77,0.750,-1.846,0,1,0
$FREEZE,2.03,0.750,-1.846,0,1,0
$FREEZE,1.39,0.750,-1.845,0,1,0
$GC,3139,0.83,225.1,2.8,8.3,472,3154,0.12,0.00,12.48,0.706,2,0.125,0.000,2960,2401,1898,0,0,0,0,0,0
$STATE,3155,end climb,SURFACE_DEPTH_REACHED
$STATE,3155,begin surface coast
$FREEZE,0.47,0.748,-1.012,0,1,0
$FREEZE,0.55,0.722,-1.667,0,1,0
$FREEZE,0.38,0.739,-0.977,0,1,0
$FREEZE,0.43,0.723,-0.731,0,1,0
$FINISH,0.4,1.010784
$STATE,3178,end surface coast,CONTROL_FINISHED_OK
$STATE,3178,begin surface
$SM_CCo,3197,54.65,0.719,0,0,1474,325.02
$SM_GC,1.33,0.00,0.00,54.65,0.000,0.000,0.719,123,2793,1474,-8.02,-0.20,325.02
$RAFOS_CLK,195
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5539.39,300399,202038
$TT8_MAMPS,0.027612
$HUMID,49.37
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,17.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,19.1
$24V_AH,23.0,83.628
$10V_AH,9.9,42.665
$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,23.100,37.775,297.775,54.650,0.000,30.928,32.189,102.342,1.000,0.000,15.620,751.484,1350.443,413.888,743.907,273.678,0.000,839.933,0.000,734.217,0.000,2.618,0.000
$DEVICE_MAMPS,295.295,98.176,838.331,718.679,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,348.635,320.072,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152548
$DATA_FILE_SIZE,19092,478
$CAP_FILE_SIZE,51889,0
$CFSIZE,260165632,214626304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,55,0,0
$SOUNDSPEED,1456.6
$GPS,030110,221946,6739.529,-5625.447,8,2.8,28,-38.2