version: 66.06
glider: 143
mission: 10
dive: 535
start: 1 4 110 6 45 57
data:
$ID,143
$MISSION,10
$DIVE,535
$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,-47359.395
$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,15
$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
$GPS1,064104,6741.142,-5626.460,8,2.4,28,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-69.3
$GPS2,064538,6741.143,-5626.467,11,1.8,11,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6732.870,-5644.643
$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,147
$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,-99.45,0.000,2,0.000,0.000,128,2800,3307,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.9,-7.8,20,144,11.50,2.58,-2.17,0.000,4,0.297,0.095,2447,1193,3399,0,0,1,0,0,0
$GC,267,-0.73,-146.0,25.6,-10.3,46,273,0.00,2.47,0.00,0.000,6,0.000,0.071,2447,2798,3401,0,0,0,0,0,0
$GC,611,-0.73,-146.0,59.4,-9.2,107,617,0.00,2.83,0.00,0.000,4,0.000,0.091,2447,3923,3401,0,0,8,0,0,0
$GC,871,-0.73,-146.0,82.8,-8.3,153,876,0.00,2.67,0.00,0.000,6,0.000,0.062,2447,2802,3401,0,0,6,0,0,0
$GC,1213,-0.79,-146.0,110.5,-8.3,203,1218,0.00,2.83,0.00,0.000,4,0.000,0.089,2447,3922,3401,0,0,8,0,0,0
$GC,1361,-0.87,-146.0,123.2,-8.4,215,1367,0.12,2.70,0.00,0.000,6,0.127,0.062,2408,2797,3400,0,0,6,0,0,0
$STATE,1600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1601,begin apogee
$GC,1608,-0.16,0.0,147.0,10.3,238,1728,0.80,0.00,116.35,0.838,6,0.191,0.000,2627,2397,2800,0,0,0,0,0,0
$STATE,1729,end apogee,CONTROL_FINISHED_OK
$STATE,1729,begin climb
$GC,1731,0.73,146.0,151.0,0.0,250,1860,0.98,2.00,118.93,0.792,4,0.145,0.087,2922,793,2201,0,0,0,0,0,0
$GC,1977,0.73,146.0,132.2,10.0,272,1983,0.00,1.90,0.00,0.000,6,0.000,0.062,2922,2405,2197,0,0,0,0,0,0
$GC,2302,0.73,146.0,101.3,9.4,303,2312,0.00,3.90,0.00,0.000,4,0.000,0.082,2922,3925,2195,0,0,6,0,0,0
$GC,2460,0.64,146.0,84.6,11.1,329,2467,0.17,3.80,0.00,0.000,6,0.201,0.068,2900,2402,2193,0,0,7,0,0,0
$GC,2806,0.79,179.8,56.4,7.7,390,2843,0.15,3.90,27.08,0.750,4,0.120,0.081,2950,3917,2066,0,0,8,0,0,0
$GC,2880,0.66,179.8,48.8,12.0,403,2886,0.25,3.83,0.00,0.000,6,0.196,0.068,2908,2396,2063,0,0,7,0,0,0
$GC,3226,0.79,195.0,18.5,8.5,464,3248,0.12,3.90,13.95,0.716,4,0.127,0.082,2949,3921,2003,0,0,8,0,0,0
$FREEZE,8.55,1.273,-1.857,0,1,0
$FREEZE,7.84,1.272,-1.856,0,1,0
$FREEZE,7.15,1.268,-1.855,0,1,0
$GC,3325,0.70,195.0,7.1,12.3,481,3332,0.20,3.80,0.00,0.000,6,0.193,0.068,2920,2401,2001,0,0,7,0,0,0
$FREEZE,5.18,1.234,-1.854,0,1,0
$FREEZE,4.68,1.224,-1.853,0,1,0
$FREEZE,4.12,1.206,-1.853,0,1,0
$FREEZE,3.50,1.193,-1.852,0,1,0
$FREEZE,3.06,1.161,-1.852,0,1,0
$FREEZE,2.60,1.143,-1.852,0,1,0
$FREEZE,2.08,1.126,-1.851,0,1,0
$FREEZE,1.59,1.100,-1.850,0,1,0
$STATE,3376,end climb,SURFACE_DEPTH_REACHED
$STATE,3376,begin surface coast
$FREEZE,1.07,1.088,-1.850,0,1,0
$FREEZE,0.57,1.076,-1.849,0,1,0
$FREEZE,0.44,0.867,-1.585,0,1,0
$FREEZE,0.43,0.826,-1.062,0,1,0
$FINISH,0.4,1.015683
$STATE,3399,end surface coast,CONTROL_FINISHED_OK
$STATE,3399,begin surface
$SM_CCo,3418,73.10,0.716,0,0,1475,325.02
$SM_GC,1.30,0.00,0.00,73.10,0.000,0.000,0.716,130,2805,1475,-8.00,0.14,325.02
$RAFOS_CLK,210
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5632.72,310399,050538
$TT8_MAMPS,0.027612
$HUMID,48.62
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,20.0,19.6
$24V_AH,23.0,84.417
$10V_AH,9.9,42.936
$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,22.550,45.225,276.300,73.100,0.000,30.276,35.066,101.546,0.750,0.000,13.014,798.667,1483.488,426.013,778.031,285.883,0.000,866.379,0.000,767.694,0.000,2.618,0.000
$DEVICE_MAMPS,296.829,95.108,838.331,716.378,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,358.449,331.313,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152564
$DATA_FILE_SIZE,19006,494
$CAP_FILE_SIZE,53684,0
$CFSIZE,260165632,214327296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,72,0,0
$SOUNDSPEED,1459.2
$GPS,040110,074508,6740.847,-5626.591,12,1.9,13,-38.2