version: 66.06
glider: 143
mission: 10
dive: 511
start: 1 3 110 6 27 57
data:
$ID,143
$MISSION,10
$DIVE,511
$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,-46836.785
$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
$GPS1,062302,6741.283,-5626.300,11,1.1,12,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-69.4
$GPS2,062738,6741.291,-5626.199,11,1.4,11,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6735.892,-5601.659
$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,158.2,20000,-16.9,-9.167
$D_GRID,143
$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,-146.0,0.0,0.0,0,113,0.00,0.00,-94.62,0.000,2,0.000,0.000,132,2804,3219,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.1,-4.7,19,138,11.40,2.53,-4.88,0.000,4,0.295,0.092,2446,1196,3396,0,0,0,0,0,0
$GC,390,-0.73,-146.0,36.7,-10.6,68,396,0.00,2.42,0.00,0.000,6,0.000,0.070,2446,2802,3399,0,0,1,0,0,0
$GC,734,-0.73,-146.0,68.8,-8.2,129,739,0.00,2.88,0.00,0.000,4,0.000,0.089,2446,3920,3399,0,0,6,0,0,0
$GC,894,-0.77,-146.0,81.2,-7.8,157,900,0.00,2.72,0.00,0.000,6,0.000,0.061,2446,2791,3399,0,0,7,0,0,0
$GC,1237,-0.82,-146.0,109.8,-8.3,208,1242,0.00,2.92,0.00,0.000,4,0.000,0.089,2446,3930,3398,0,0,8,0,0,0
$GC,1385,-0.90,-146.0,122.9,-9.2,220,1391,0.15,2.72,0.00,0.000,6,0.117,0.062,2397,2799,3398,0,0,7,0,0,0
$STATE,1579,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1580,begin apogee
$GC,1586,-0.16,0.0,143.4,11.2,239,1706,0.85,0.00,115.30,0.834,6,0.187,0.000,2631,2399,2800,0,0,0,0,0,0
$STATE,1707,end apogee,CONTROL_FINISHED_OK
$STATE,1707,begin climb
$GC,1709,0.73,146.0,147.6,0.0,251,1837,0.95,1.95,118.28,0.791,4,0.143,0.088,2920,787,2202,0,0,0,0,0,0
$GC,1926,0.73,146.0,132.4,9.5,271,1932,0.00,1.85,0.00,0.000,6,0.000,0.061,2921,2404,2198,0,0,0,0,0,0
$GC,2251,0.73,146.0,101.9,10.2,302,2260,0.00,3.92,0.00,0.000,4,0.000,0.081,2920,3913,2195,0,0,7,0,0,0
$GC,2362,0.64,146.0,89.0,12.0,320,2369,0.17,3.85,0.00,0.000,6,0.203,0.069,2899,2400,2193,0,0,7,0,0,0
$GC,2706,0.74,146.0,53.6,10.7,381,2712,0.00,3.92,0.00,0.000,4,0.000,0.081,2898,3923,2193,0,0,7,0,0,0
$GC,2809,0.74,146.0,42.4,10.8,399,2815,0.00,3.85,0.00,0.000,6,0.000,0.068,2914,2401,2193,0,0,6,0,0,0
$GC,3155,0.84,173.5,11.7,8.0,460,3187,0.12,3.90,22.20,0.727,4,0.107,0.081,2961,3913,2091,0,0,10,0,0,0
$FREEZE,7.68,1.297,-1.856,0,1,0
$FREEZE,7.03,1.286,-1.856,0,1,0
$FREEZE,6.28,1.287,-1.855,0,1,0
$FREEZE,5.59,1.273,-1.854,0,1,0
$FREEZE,4.95,1.271,-1.854,0,1,0
$FREEZE,4.28,1.272,-1.853,0,1,0
$FREEZE,3.46,1.288,-1.852,0,1,0
$FREEZE,2.87,1.277,-1.852,0,1,0
$FREEZE,2.14,1.273,-1.852,0,1,0
$FREEZE,1.39,1.273,-1.851,0,1,0
$STATE,3242,end climb,SURFACE_DEPTH_REACHED
$STATE,3242,begin surface coast
$FREEZE,0.72,1.267,-1.850,0,1,0
$FREEZE,0.54,1.233,-1.052,0,1,0
$FREEZE,0.53,1.250,-1.229,0,1,0
$FINISH,0.5,1.018126
$STATE,3261,end surface coast,CONTROL_FINISHED_OK
$STATE,3261,begin surface
$SM_CCo,3282,84.70,0.716,0,0,1475,325.02
$SM_GC,1.39,0.00,0.00,84.70,0.000,0.000,0.716,130,2802,1475,-8.00,0.06,325.02
$RAFOS_CLK,204
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5632.72,300399,050501
$TT8_MAMPS,0.027612
$HUMID,48.66
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,17.30
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,19.7
$24V_AH,23.0,82.319
$10V_AH,10.0,42.230
$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,22.050,43.325,255.775,84.700,0.000,31.320,34.231,104.063,1.000,0.000,13.443,774.006,1428.720,416.934,754.140,276.172,0.000,841.100,0.000,743.155,0.000,2.619,0.000
$DEVICE_MAMPS,294.528,92.040,834.496,715.611,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,346.583,321.583,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152540
$DATA_FILE_SIZE,18995,479
$CAP_FILE_SIZE,50456,0
$CFSIZE,260165632,215117824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,72,0,0
$SOUNDSPEED,1459.1
$GPS,030110,072531,6740.959,-5624.897,40,1.3,41,-38.2