version: 66.06
glider: 143
mission: 10
dive: 515
start: 1 3 110 10 35 32
data:
$ID,143
$MISSION,10
$DIVE,515
$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,-46899.719
$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
$GPS1,102637,6739.413,-5621.709,36,1.4,37,-38.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-69.9
$GPS2,103514,6739.377,-5621.590,14,1.5,14,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.977,-5557.083
$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,126
$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,-94.97,0.000,2,0.000,0.000,127,2792,3194,0,0,0,0,0,0
$GC,117,-0.73,-146.0,3.1,-4.8,19,143,10.65,2.95,-5.68,0.000,4,0.274,0.100,2445,3928,3397,0,0,7,0,0,0
$GC,190,-0.77,-146.0,14.0,-10.3,32,196,0.00,2.78,0.00,0.000,6,0.000,0.061,2445,2799,3399,0,0,6,0,0,0
$GC,533,-0.77,-146.0,49.9,-9.9,93,538,0.00,2.92,0.00,0.000,4,0.000,0.088,2445,3928,3399,0,0,7,0,0,0
$GC,775,-0.82,-146.0,72.6,-9.6,136,780,0.00,2.72,0.00,0.000,6,0.000,0.062,2445,2802,3400,0,0,7,0,0,0
$GC,1120,-0.87,-146.0,106.5,-9.4,192,1126,0.12,2.90,0.00,0.000,4,0.120,0.087,2400,3928,3399,0,0,7,0,0,0
$GC,1223,-0.77,-146.0,118.4,-12.3,200,1229,0.15,2.72,0.00,0.000,6,0.207,0.062,2433,2796,3399,0,0,7,0,0,0
$STATE,1300,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1301,begin apogee
$GC,1308,-0.16,0.0,126.0,8.6,208,1427,0.68,0.00,115.45,0.829,6,0.183,0.000,2625,2386,2800,0,0,0,0,0,0
$STATE,1428,end apogee,CONTROL_FINISHED_OK
$STATE,1428,begin climb
$GC,1430,0.73,146.0,129.7,0.0,220,1555,0.98,0.00,117.90,0.785,6,0.141,0.000,2914,2386,2203,0,0,0,0,0,0
$GC,1872,0.81,171.6,97.4,8.1,264,1904,0.10,4.10,21.27,0.755,4,0.131,0.081,2950,3923,2097,0,0,8,0,0,0
$GC,2011,0.67,171.6,80.4,13.7,289,2022,0.25,3.90,0.00,0.000,6,0.201,0.070,2910,2409,2095,0,0,7,0,0,0
$GC,2361,0.76,171.6,46.8,9.9,351,2367,0.00,3.92,0.00,0.000,4,0.000,0.082,2910,3933,2095,0,0,9,0,0,0
$GC,2441,0.76,171.6,38.3,11.1,365,2447,0.00,3.90,0.00,0.000,6,0.000,0.069,2925,2396,2095,0,0,6,0,0,0
$FREEZE,8.81,1.118,-1.854,0,1,0
$FREEZE,8.42,1.126,-1.854,0,1,0
$FREEZE,7.79,1.123,-1.854,0,1,0
$FREEZE,7.28,1.118,-1.853,0,1,0
$FREEZE,6.75,1.120,-1.853,0,1,0
$FREEZE,6.28,1.123,-1.852,0,1,0
$FREEZE,5.86,1.114,-1.852,0,1,0
$GC,2788,0.83,174.4,5.9,9.1,426,2793,0.00,3.92,0.00,0.000,4,0.000,0.082,2925,3927,2094,0,0,9,0,0,0
$FREEZE,4.31,1.109,-1.851,0,1,0
$FREEZE,3.68,1.102,-1.850,0,1,0
$FREEZE,3.14,1.111,-1.850,0,1,0
$FREEZE,2.49,1.099,-1.850,0,1,0
$FREEZE,1.91,1.096,-1.849,0,1,0
$STATE,2821,end climb,SURFACE_DEPTH_REACHED
$STATE,2821,begin surface coast
$FREEZE,1.32,1.100,-1.848,0,1,0
$FREEZE,0.66,1.082,-1.848,0,1,0
$FREEZE,0.48,1.038,-1.383,0,1,0
$FINISH,0.5,1.020368
$STATE,2839,end surface coast,CONTROL_FINISHED_OK
$STATE,2839,begin surface
$SM_CCo,2859,85.30,0.724,0,0,1474,325.02
$SM_GC,1.34,0.00,0.00,85.30,0.000,0.000,0.724,131,2803,1474,-8.00,0.06,325.02
$RAFOS_CLK,187
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5628.00,300399,101003
$TT8_MAMPS,0.026845
$HUMID,48.70
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.30
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.6,19.1
$24V_AH,23.0,82.674
$10V_AH,10.0,42.348
$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,21.125,40.650,254.625,85.300,0.000,61.951,97.476,178.124,1.000,0.000,16.226,698.587,1232.093,418.319,670.337,448.437,0.000,804.003,0.000,660.939,0.000,2.617,0.000
$DEVICE_MAMPS,273.819,100.477,829.127,724.048,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,316.909,291.247,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152552
$DATA_FILE_SIZE,15894,435
$CAP_FILE_SIZE,50249,0
$CFSIZE,260165632,214990848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,86,0,0
$SOUNDSPEED,1457.8
$GPS,030110,112532,6739.190,-5621.004,9,1.1,10,-38.2