version: 66.06
glider: 143
mission: 10
dive: 510
start: 1 3 110 5 23 33
data:
$ID,143
$MISSION,10
$DIVE,510
$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,120
$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,-46822.715
$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,24
$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
$GPS1,051837,6741.313,-5627.595,32,1.2,33,-38.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-68.9
$GPS2,052314,6741.350,-5627.544,13,1.6,13,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6735.950,-5603.003
$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,158.3,20000,-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,12,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,-99.65,0.000,2,0.000,0.000,124,2798,3325,0,0,0,0,0,0
$GC,121,-0.73,-146.0,3.6,-6.1,20,142,11.23,2.50,-1.75,0.000,4,0.291,0.093,2444,1201,3399,0,0,1,0,0,0
$GC,395,-0.73,-146.0,37.9,-10.7,69,401,0.00,2.40,0.00,0.000,6,0.000,0.070,2444,2791,3401,0,0,0,0,0,0
$GC,738,-0.73,-146.0,72.2,-9.6,130,744,0.00,2.92,0.00,0.000,4,0.000,0.089,2445,3930,3402,0,0,6,0,0,0
$GC,873,-0.73,-146.0,85.0,-9.2,154,879,0.00,2.72,0.00,0.000,6,0.000,0.061,2445,2803,3401,0,0,7,0,0,0
$GC,1208,-0.78,-146.0,114.2,-8.1,200,1213,0.00,2.90,0.00,0.000,4,0.000,0.087,2445,3935,3400,0,0,6,0,0,0
$GC,1452,-0.85,-146.0,134.0,-8.8,221,1456,0.00,2.72,0.00,0.000,6,0.000,0.062,2445,2800,3400,0,0,7,0,0,0
$STATE,1615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1615,begin apogee
$GC,1622,-0.16,0.0,148.2,8.1,236,1742,0.65,0.00,115.85,0.834,6,0.179,0.000,2630,2398,2799,0,0,0,0,0,0
$STATE,1743,end apogee,CONTROL_FINISHED_OK
$STATE,1743,begin climb
$GC,1745,0.73,146.0,152.0,0.0,248,1873,0.95,1.92,118.25,0.791,4,0.135,0.087,2924,801,2202,0,0,0,0,0,0
$GC,1926,0.74,156.8,141.4,8.7,265,1940,0.00,1.85,9.98,0.699,6,0.000,0.061,2924,2417,2160,0,0,0,0,0,0
$GC,2265,0.74,156.8,109.2,9.6,297,2275,0.00,3.90,0.00,0.000,4,0.000,0.081,2924,3920,2156,0,0,8,0,0,0
$GC,2347,0.64,156.8,99.6,12.2,304,2354,0.17,3.88,0.00,0.000,6,0.204,0.068,2903,2401,2154,0,0,6,0,0,0
$GC,2693,0.80,220.4,73.7,6.5,365,2755,0.15,4.03,52.45,0.757,4,0.119,0.081,2952,3915,1900,0,0,8,0,0,0
$GC,2926,0.70,220.4,48.5,12.2,407,2932,0.20,3.90,0.00,0.000,6,0.197,0.068,2924,2394,1895,0,0,6,0,0,0
$GC,3271,0.79,220.4,18.1,9.6,468,3277,0.00,3.92,0.00,0.000,4,0.000,0.081,2924,3918,1893,0,0,8,0,0,0
$FREEZE,8.45,1.396,-1.858,0,1,0
$FREEZE,7.79,1.397,-1.857,0,1,0
$FREEZE,7.16,1.394,-1.857,0,1,0
$FREEZE,6.53,1.399,-1.856,0,1,0
$FREEZE,5.88,1.399,-1.856,0,1,0
$FREEZE,5.30,1.394,-1.855,0,1,0
$FREEZE,4.65,1.373,-1.855,0,1,0
$FREEZE,4.07,1.382,-1.854,0,1,0
$GC,3398,0.79,220.4,4.1,11.0,490,3404,0.00,3.80,0.00,0.000,6,0.000,0.068,2939,2399,1893,0,0,9,0,0,0
$FREEZE,2.46,1.378,-1.853,0,1,0
$FREEZE,1.92,1.387,-1.853,0,1,0
$STATE,3414,end climb,SURFACE_DEPTH_REACHED
$STATE,3415,begin surface coast
$FREEZE,1.35,1.386,-1.852,0,1,0
$FREEZE,0.71,1.385,-1.852,0,1,0
$FREEZE,0.45,1.405,-0.916,0,1,0
$FINISH,0.5,1.013526
$STATE,3432,end surface coast,CONTROL_FINISHED_OK
$STATE,3432,begin surface
$SM_CCo,3450,59.97,0.719,0,0,1474,325.02
$SM_GC,1.34,0.00,0.00,59.97,0.000,0.000,0.719,132,2803,1474,-8.00,0.08,325.02
$RAFOS_CLK,206
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5632.72,300399,040408
$TT8_MAMPS,0.026845
$HUMID,49.29
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,17.40
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.8,19.6
$24V_AH,23.0,82.234
$10V_AH,9.9,42.201
$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,21.575,45.525,296.525,59.975,0.000,25.486,33.364,108.362,1.250,0.000,15.392,801.387,1495.328,422.618,797.846,278.688,0.000,875.258,0.000,785.656,0.000,2.620,0.000
$DEVICE_MAMPS,290.693,92.807,833.729,718.679,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,359.833,332.672,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152548
$DATA_FILE_SIZE,19014,496
$CAP_FILE_SIZE,53280,0
$CFSIZE,260165632,215146496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,73,0,0
$SOUNDSPEED,1460.3
$GPS,030110,062302,6741.283,-5626.300,11,1.1,12,-38.2