version: 66.06
glider: 143
mission: 10
dive: 531
start: 1 4 110 2 36 3
data:
$ID,143
$MISSION,10
$DIVE,531
$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,-47275.426
$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,16
$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
$GPS1,023101,6739.697,-5626.298,37,1.5,38,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-68.7
$GPS2,023544,6739.727,-5626.275,16,1.4,16,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6731.454,-5644.433
$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,141
$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,-99.50,0.000,2,0.000,0.000,130,2806,3292,0,0,0,0,0,0
$GC,121,-0.73,-146.0,3.5,-6.1,20,143,11.32,2.88,-2.62,0.000,4,0.293,0.100,2433,3918,3398,0,0,7,0,0,0
$GC,395,-0.73,-146.0,38.5,-10.8,69,401,0.00,2.72,0.00,0.000,6,0.000,0.062,2433,2794,3401,0,0,7,0,0,0
$GC,739,-0.73,-146.0,70.7,-8.1,130,744,0.00,2.85,0.00,0.000,4,0.000,0.089,2433,3920,3401,0,0,8,0,0,0
$GC,997,-0.73,-146.0,90.5,-7.8,176,1003,0.00,2.70,0.00,0.000,6,0.000,0.063,2433,2798,3400,0,0,6,0,0,0
$GC,1331,-0.73,-146.0,115.9,-8.1,218,1336,0.00,2.85,0.00,0.000,4,0.000,0.089,2433,3922,3400,0,0,7,0,0,0
$GC,1397,-0.73,-146.0,121.8,-9.5,223,1403,0.00,2.72,0.00,0.000,6,0.000,0.062,2433,2802,3399,0,0,5,0,0,0
$STATE,1624,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1624,begin apogee
$GC,1631,-0.16,0.0,141.9,8.9,245,1752,0.73,0.00,116.15,0.839,6,0.195,0.000,2630,2391,2799,0,0,0,0,0,0
$STATE,1753,end apogee,CONTROL_FINISHED_OK
$STATE,1753,begin climb
$GC,1755,0.73,146.0,145.9,0.0,257,1884,0.98,1.98,118.68,0.794,4,0.150,0.087,2922,787,2202,0,0,0,0,0,0
$GC,2046,0.75,166.1,126.5,8.3,283,2068,0.00,1.85,17.15,0.751,6,0.000,0.063,2922,2395,2122,0,0,0,0,0,0
$GC,2389,0.79,194.9,96.2,8.0,319,2420,0.00,3.95,24.48,0.761,4,0.000,0.081,2922,3918,2004,0,0,8,0,0,0
$GC,2496,0.74,197.0,86.8,9.1,338,2502,0.00,3.88,0.00,0.000,6,0.000,0.068,2939,2396,2002,0,0,6,0,0,0
$GC,2839,0.74,197.0,54.2,10.3,399,2845,0.00,3.90,0.00,0.000,4,0.000,0.081,2939,3916,2001,0,0,7,0,0,0
$GC,2953,0.66,197.0,41.7,11.1,419,2960,0.20,3.80,0.00,0.000,6,0.198,0.069,2910,2395,2000,0,0,7,0,0,0
$GC,3300,0.81,212.5,11.7,8.5,480,3327,0.12,3.92,15.62,0.726,4,0.127,0.081,2951,3930,1931,0,0,7,0,0,0
$FREEZE,8.07,1.157,-1.855,0,1,0
$FREEZE,7.31,1.156,-1.854,0,1,0
$FREEZE,6.58,1.084,-1.854,0,1,0
$FREEZE,5.82,1.035,-1.853,0,1,0
$FREEZE,5.23,0.971,-1.853,0,1,0
$FREEZE,4.47,0.895,-1.851,0,1,0
$FREEZE,3.80,0.850,-1.851,0,1,0
$FREEZE,3.09,0.812,-1.849,0,1,0
$FREEZE,2.34,0.808,-1.848,0,1,0
$FREEZE,1.74,0.805,-1.848,0,1,0
$STATE,3382,end climb,SURFACE_DEPTH_REACHED
$STATE,3382,begin surface coast
$FREEZE,1.02,0.803,-1.847,0,1,0
$FINISH,1.0,1.026989
$STATE,3389,end surface coast,CONTROL_FINISHED_OK
$STATE,3389,begin surface
$SM_CCo,3410,65.57,0.724,0,0,1474,325.02
$SM_GC,1.29,0.00,0.00,65.57,0.000,0.000,0.724,126,2806,1474,-8.01,0.17,325.02
$RAFOS_CLK,207
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5632.72,310399,010145
$TT8_MAMPS,0.029146
$HUMID,49.25
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,17.20
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.8,19.4
$24V_AH,23.0,84.074
$10V_AH,9.9,42.818
$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,21.750,43.825,292.075,65.575,0.000,30.777,33.538,106.137,1.250,0.000,17.663,794.430,1480.611,427.322,783.454,279.672,0.000,867.100,0.000,767.213,0.000,2.617,0.000
$DEVICE_MAMPS,292.994,100.477,839.098,724.048,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,358.632,332.476,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152568
$DATA_FILE_SIZE,19035,496
$CAP_FILE_SIZE,51811,0
$CFSIZE,260165632,214462464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,82,0,0
$SOUNDSPEED,1457.6
$GPS,040110,033456,6740.244,-5626.320,10,1.2,11,-38.2