version: 66.06
glider: 143
mission: 10
dive: 538
start: 1 4 110 9 59 38
data:
$ID,143
$MISSION,10
$DIVE,538
$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,-47442.945
$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,15
$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
$GPS1,095436,6739.712,-5627.347,8,2.0,25,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-68.7
$GPS2,095919,6739.678,-5627.258,9,1.3,14,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6731.405,-5645.415
$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,148
$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,-99.55,0.000,2,0.000,0.000,130,2792,3304,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.7,-7.4,20,144,11.55,2.85,-2.28,0.000,4,0.299,0.099,2438,3932,3400,0,0,7,0,0,0
$GC,301,-0.73,-146.0,30.4,-11.6,52,307,0.00,2.60,0.00,0.000,6,0.000,0.061,2438,2809,3401,0,0,6,0,0,0
$GC,645,-0.73,-146.0,69.8,-10.4,113,650,0.00,2.75,0.00,0.000,4,0.000,0.089,2438,3923,3402,0,0,7,0,0,0
$GC,752,-0.73,-146.0,80.6,-10.4,132,757,0.00,2.62,0.00,0.000,6,0.000,0.061,2438,2801,3401,0,0,6,0,0,0
$GC,1094,-0.73,-146.0,110.6,-8.9,183,1099,0.00,2.78,0.00,0.000,4,0.000,0.089,2438,3918,3400,0,0,7,0,0,0
$GC,1284,-0.78,-146.0,127.7,-9.4,199,1290,0.00,2.62,0.00,0.000,6,0.000,0.061,2438,2799,3400,0,0,6,0,0,0
$STATE,1522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1522,begin apogee
$GC,1528,-0.16,0.0,148.2,8.2,222,1649,0.68,0.00,116.15,0.839,6,0.188,0.000,2626,2383,2799,0,0,0,0,0,0
$STATE,1650,end apogee,CONTROL_FINISHED_OK
$STATE,1650,begin climb
$GC,1653,0.73,146.0,151.2,0.0,234,1780,0.98,2.00,118.38,0.795,4,0.143,0.087,2922,801,2203,0,0,0,0,0,0
$GC,1833,0.73,146.0,139.2,10.5,251,1837,0.00,1.90,0.00,0.000,6,0.000,0.061,2922,2405,2200,0,0,0,0,0,0
$GC,2162,0.73,146.0,108.1,10.1,282,2172,0.00,3.90,0.00,0.000,4,0.000,0.081,2922,3924,2196,0,0,5,0,0,0
$GC,2258,0.63,146.0,97.1,11.8,292,2264,0.20,3.83,0.00,0.000,6,0.198,0.068,2894,2398,2194,0,0,5,0,0,0
$GC,2604,0.74,146.0,64.4,9.7,353,2611,0.12,3.88,0.00,0.000,4,0.127,0.081,2935,3920,2194,0,0,5,0,0,0
$GC,2721,0.63,146.0,50.0,12.4,373,2728,0.22,3.75,0.00,0.000,6,0.197,0.067,2898,2395,2194,0,0,7,0,0,0
$GC,3067,0.83,205.8,24.1,6.6,434,3124,0.17,3.92,48.47,0.739,4,0.114,0.081,2957,3915,1959,0,0,7,0,0,0
$FREEZE,8.32,0.795,-1.851,0,1,0
$FREEZE,7.55,0.727,-1.851,0,1,0
$FREEZE,6.90,0.677,-1.850,0,1,0
$GC,3218,0.73,205.8,6.9,13.1,461,3225,0.20,3.80,0.00,0.000,6,0.194,0.067,2928,2393,1954,0,0,7,0,0,0
$FREEZE,5.14,0.611,-1.847,0,1,0
$FREEZE,4.57,0.547,-1.846,0,1,0
$FREEZE,3.99,0.528,-1.846,0,1,0
$FREEZE,3.44,0.485,-1.845,0,1,0
$FREEZE,3.01,0.394,-1.845,0,1,0
$FREEZE,2.43,0.368,-1.844,0,1,0
$FREEZE,1.84,0.325,-1.843,0,1,0
$STATE,3263,end climb,SURFACE_DEPTH_REACHED
$STATE,3263,begin surface coast
$FREEZE,1.43,0.364,-1.842,0,1,0
$FREEZE,0.85,0.314,-1.841,0,1,0
$FREEZE,0.45,0.306,-1.841,0,1,0
$FREEZE,0.39,0.215,-0.884,0,1,0
$FINISH,0.4,1.013062
$STATE,3289,end surface coast,CONTROL_FINISHED_OK
$STATE,3289,begin surface
$SM_CCo,3307,67.70,0.711,0,0,1475,325.02
$SM_GC,1.24,0.00,0.00,67.70,0.000,0.000,0.711,126,2798,1475,-8.02,-0.06,325.02
$RAFOS_CLK,202
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5632.72,310399,080846
$TT8_MAMPS,0.027612
$HUMID,48.03
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.40
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,19.1
$24V_AH,23.0,84.680
$10V_AH,9.9,43.027
$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,22.425,45.400,283.000,67.700,0.000,30.239,35.319,104.907,0.750,0.000,16.259,761.506,1442.544,420.256,754.516,284.519,0.000,852.456,0.000,743.719,0.000,2.628,0.000
$DEVICE_MAMPS,299.130,98.943,839.098,711.009,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,344.475,317.005,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152548
$DATA_FILE_SIZE,15833,473
$CAP_FILE_SIZE,51892,0
$CFSIZE,260165632,214237184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,75,0,0
$SOUNDSPEED,1459.5
$GPS,040110,105710,6739.210,-5627.970,10,2.5,30,-38.2