version: 66.06
glider: 143
mission: 10
dive: 513
start: 1 3 110 8 33 32
data:
$ID,143
$MISSION,10
$DIVE,513
$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,-46867.066
$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,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
$GPS1,082537,6740.411,-5623.727,9,1.1,10,-38.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-68.9
$GPS2,083314,6740.376,-5623.521,13,1.1,13,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6734.977,-5558.997
$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,128
$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,12,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,113,0.00,0.00,-95.47,0.000,2,0.000,0.000,126,2797,3222,0,0,0,0,0,0
$GC,117,-0.73,-146.0,3.2,-4.9,19,139,11.15,2.92,-4.65,0.000,4,0.288,0.100,2445,3930,3396,0,0,8,0,0,0
$GC,393,-0.73,-146.0,34.4,-9.5,68,399,0.00,2.78,0.00,0.000,6,0.000,0.062,2445,2798,3400,0,0,6,0,0,0
$GC,735,-0.73,-146.0,69.4,-9.5,129,741,0.00,2.90,0.00,0.000,4,0.000,0.088,2445,3920,3400,0,0,6,0,0,0
$GC,949,-0.78,-146.0,88.1,-8.4,167,955,0.00,2.72,0.00,0.000,6,0.000,0.061,2445,2796,3399,0,0,7,0,0,0
$GC,1284,-0.78,-146.0,114.3,-8.0,211,1289,0.00,2.90,0.00,0.000,4,0.000,0.087,2445,3928,3399,0,0,6,0,0,0
$GC,1386,-0.86,-146.0,123.8,-8.7,219,1391,0.00,2.72,0.00,0.000,6,0.000,0.061,2446,2798,3399,0,0,7,0,0,0
$STATE,1432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1432,begin apogee
$GC,1439,-0.16,0.0,128.3,9.0,224,1558,0.65,0.00,115.38,0.826,6,0.183,0.000,2629,2387,2800,0,0,0,0,0,0
$STATE,1559,end apogee,CONTROL_FINISHED_OK
$STATE,1559,begin climb
$GC,1561,0.73,146.0,131.9,0.0,236,1689,0.95,1.95,117.85,0.783,4,0.143,0.088,2919,804,2202,0,0,0,0,0,0
$GC,1756,0.74,158.8,119.3,8.6,254,1773,0.00,1.85,11.45,0.709,6,0.000,0.061,2919,2411,2151,0,0,0,0,0,0
$GC,2098,0.74,158.8,85.5,9.8,298,2104,0.00,3.95,0.00,0.000,4,0.000,0.081,2919,3922,2148,0,0,7,0,0,0
$GC,2196,0.67,158.8,74.5,11.7,315,2202,0.12,3.88,0.00,0.000,6,0.209,0.068,2911,2407,2146,0,0,6,0,0,0
$GC,2542,0.79,187.7,42.9,7.9,376,2573,0.00,3.95,24.40,0.741,4,0.000,0.081,2911,3918,2033,0,0,9,0,0,0
$GC,2668,0.79,187.7,31.2,9.4,399,2674,0.00,3.90,0.00,0.000,6,0.000,0.068,2926,2399,2030,0,0,6,0,0,0
$FREEZE,8.99,1.158,-1.855,0,1,0
$FREEZE,8.46,1.161,-1.854,0,1,0
$FREEZE,7.98,1.156,-1.854,0,1,0
$FREEZE,7.46,1.147,-1.853,0,1,0
$FREEZE,6.88,1.142,-1.853,0,1,0
$FREEZE,6.44,1.140,-1.853,0,1,0
$FREEZE,5.90,1.140,-1.852,0,1,0
$FREEZE,5.31,1.140,-1.852,0,1,0
$FREEZE,4.76,1.140,-1.851,0,1,0
$FREEZE,4.29,1.136,-1.851,0,1,0
$FREEZE,3.82,1.141,-1.851,0,1,0
$FREEZE,3.31,1.141,-1.850,0,1,0
$FREEZE,2.80,1.135,-1.850,0,1,0
$FREEZE,2.24,1.134,-1.850,0,1,0
$FREEZE,1.72,1.135,-1.849,0,1,0
$STATE,3000,end climb,SURFACE_DEPTH_REACHED
$STATE,3000,begin surface coast
$FREEZE,1.24,1.125,-1.849,0,1,0
$FREEZE,0.79,1.143,-1.848,0,1,0
$FREEZE,0.62,1.092,-1.696,0,1,0
$FREEZE,0.58,1.082,-1.848,0,1,0
$FINISH,0.6,1.026989
$STATE,3023,end surface coast,CONTROL_FINISHED_OK
$STATE,3024,begin surface
$SM_CCo,3042,77.57,0.723,0,0,1474,325.02
$SM_GC,1.41,0.00,0.00,77.57,0.000,0.000,0.723,128,2807,1474,-8.01,0.23,325.02
$RAFOS_CLK,193
$RAFOS,6,1262508542,8.833333,8.817223,68,58,56,0,0,0,147,208,187,0,0,0
$RAFOS,5,1262508065,8.700000,8.684722,58,55,55,0,0,0,135,166,197,0,0,0
$RAFOS,4,1262507637,8.566667,8.565833,64,61,54,0,0,0,232,213,195,0,0,0
$RAFOS,2,1262506622,8.300000,8.283889,58,55,55,0,0,0,201,188,160,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5624.88,300399,070758
$TT8_MAMPS,0.026845
$HUMID,48.62
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,17.30
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.4,19.0
$24V_AH,23.1,82.495
$10V_AH,9.9,42.289
$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,21.075,38.600,269.075,77.575,0.000,59.723,119.469,107.433,1.000,0.000,14.797,743.823,1317.629,408.795,720.653,392.388,0.000,818.529,0.000,709.482,1080.000,2.618,0.000
$DEVICE_MAMPS,288.392,99.710,826.059,722.514,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,336.885,309.962,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152564
$DATA_FILE_SIZE,15901,462
$CAP_FILE_SIZE,49894,0
$CFSIZE,260165632,215056384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,70,0,0
$SOUNDSPEED,1459.1
$GPS,030110,092649,6739.842,-5622.551,12,1.3,30,-38.2