version: 66.06
glider: 143
mission: 10
dive: 539
start: 1 4 110 11 2 3
data:
$ID,143
$MISSION,10
$DIVE,539
$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,-47459.328
$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,13
$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
$GPS1,105710,6739.210,-5627.970,10,2.5,30,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-69.2
$GPS2,110144,6739.186,-5627.925,14,1.2,14,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6730.913,-5646.076
$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,-146.0,0.0,0.0,0,113,0.00,0.00,-94.55,0.000,2,0.000,0.000,125,2798,3182,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.1,-5.0,19,142,11.52,2.85,-5.93,0.000,4,0.298,0.102,2446,3924,3398,0,0,9,0,0,0
$GC,288,-0.73,-146.0,25.4,-10.9,50,294,0.00,2.62,0.00,0.000,6,0.000,0.061,2447,2806,3400,0,0,6,0,0,0
$GC,633,-0.73,-146.0,57.6,-8.0,111,639,0.00,2.78,0.00,0.000,4,0.000,0.089,2447,3924,3400,0,0,7,0,0,0
$GC,792,-0.73,-146.0,69.6,-7.1,139,798,0.00,2.65,0.00,0.000,6,0.000,0.061,2447,2799,3400,0,0,6,0,0,0
$GC,1136,-0.80,-146.0,99.4,-9.8,200,1142,0.00,2.80,0.00,0.000,4,0.000,0.089,2447,3925,3400,0,0,7,0,0,0
$GC,1298,-0.87,-146.0,115.8,-10.0,215,1304,0.12,2.65,0.00,0.000,6,0.127,0.062,2407,2798,3399,0,0,6,0,0,0
$STATE,1588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1589,begin apogee
$GC,1596,-0.16,0.0,148.3,10.5,242,1716,0.80,0.00,116.00,0.840,6,0.194,0.000,2625,2393,2799,0,0,0,0,0,0
$STATE,1717,end apogee,CONTROL_FINISHED_OK
$STATE,1717,begin climb
$GC,1719,0.73,146.0,152.4,0.0,254,1848,0.98,2.00,118.65,0.796,4,0.146,0.086,2919,799,2201,0,0,0,0,0,0
$GC,1882,0.73,146.0,140.8,10.6,269,1886,0.00,1.92,0.00,0.000,6,0.000,0.061,2920,2410,2200,0,0,0,0,0,0
$GC,2213,0.74,159.8,109.8,8.6,300,2234,0.00,3.90,11.48,0.728,4,0.000,0.081,2920,3921,2147,0,0,8,0,0,0
$GC,2280,0.66,159.8,103.3,10.0,306,2291,0.15,3.83,0.00,0.000,6,0.205,0.067,2905,2399,2146,0,0,6,0,0,0
$GC,2627,0.78,192.3,76.2,7.8,364,2664,0.12,3.92,27.62,0.756,4,0.127,0.081,2946,3921,2016,0,0,7,0,0,0
$GC,2754,0.68,192.3,61.7,12.4,387,2761,0.22,3.80,0.00,0.000,6,0.194,0.068,2910,2394,2012,0,0,7,0,0,0
$GC,3101,0.80,192.3,30.0,9.5,448,3108,0.12,3.88,0.00,0.000,4,0.126,0.081,2951,3916,2011,0,0,7,0,0,0
$GC,3182,0.70,192.3,19.9,12.9,462,3189,0.20,3.75,0.00,0.000,6,0.193,0.069,2920,2401,2011,0,0,7,0,0,0
$FREEZE,8.57,0.396,-1.847,0,1,0
$FREEZE,8.17,0.393,-1.846,0,1,0
$FREEZE,7.63,0.368,-1.846,0,1,0
$FREEZE,7.08,0.294,-1.845,0,1,0
$FREEZE,6.64,0.270,-1.845,0,1,0
$FREEZE,6.20,0.274,-1.845,0,1,0
$FREEZE,5.71,0.276,-1.844,0,1,0
$FREEZE,5.20,0.272,-1.843,0,1,0
$FREEZE,4.72,0.277,-1.843,0,1,0
$FREEZE,4.36,0.277,-1.843,0,1,0
$FREEZE,3.81,0.275,-1.842,0,1,0
$FREEZE,3.34,0.278,-1.842,0,1,0
$FREEZE,2.94,0.278,-1.841,0,1,0
$FREEZE,2.37,0.274,-1.841,0,1,0
$FREEZE,1.91,0.278,-1.840,0,1,0
$STATE,3380,end climb,SURFACE_DEPTH_REACHED
$STATE,3380,begin surface coast
$FREEZE,1.40,0.273,-1.840,0,1,0
$FREEZE,0.98,0.257,-1.840,0,1,0
$FREEZE,0.45,0.279,-1.839,0,1,0
$FREEZE,0.31,0.184,-1.844,0,1,0
$FINISH,0.3,1.026992
$STATE,3403,end surface coast,CONTROL_FINISHED_OK
$STATE,3405,begin surface
$SM_CCo,3423,74.78,0.722,0,0,1475,325.02
$SM_GC,1.31,0.00,0.00,74.78,0.000,0.000,0.722,129,2800,1475,-8.00,0.00,325.02
$RAFOS_CLK,204
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6715.07,-5624.88,310399,101010
$TT8_MAMPS,0.027612
$HUMID,48.70
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.40
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.9,20.1
$24V_AH,23.0,84.767
$10V_AH,10.2,43.057
$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,22.450,45.500,273.750,74.775,0.000,23.480,32.438,104.522,1.250,0.000,15.757,810.882,1475.562,425.194,786.530,280.972,0.000,868.964,0.000,775.304,0.000,2.621,0.000
$DEVICE_MAMPS,297.596,102.011,839.865,721.747,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,366.053,336.453,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152552
$DATA_FILE_SIZE,19074,501
$CAP_FILE_SIZE,54113,0
$CFSIZE,260165632,214196224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,83,0,0
$SOUNDSPEED,1459.3
$GPS,040110,120119,6738.924,-5629.000,5,1.1,11,-38.2