version: 66.06
glider: 143
mission: 10
dive: 516
start: 1 3 110 11 30 14
data:
$ID,143
$MISSION,10
$DIVE,516
$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,-46917.219
$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,14
$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
$GPS1,112532,6739.190,-5621.004,9,1.1,10,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-69.1
$GPS2,112955,6739.197,-5620.969,10,1.1,15,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.798,-5556.465
$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,13,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,113,0.00,0.00,-94.60,0.000,2,0.000,0.000,131,2803,3204,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.2,-4.9,19,142,11.35,2.97,-5.28,0.000,4,0.295,0.100,2445,3928,3398,0,0,9,0,0,0
$GC,254,-0.73,-146.0,21.4,-10.7,44,260,0.00,2.78,0.00,0.000,6,0.000,0.061,2446,2798,3401,0,0,6,0,0,0
$GC,599,-0.73,-146.0,54.2,-9.8,105,604,0.00,2.92,0.00,0.000,4,0.000,0.088,2446,3934,3401,0,0,6,0,0,0
$GC,847,-0.78,-146.0,76.8,-8.7,149,853,0.00,2.75,0.00,0.000,6,0.000,0.062,2446,2797,3401,0,0,7,0,0,0
$GC,1187,-0.84,-146.0,105.8,-9.3,204,1192,0.00,2.92,0.00,0.000,4,0.000,0.087,2446,3929,3400,0,0,6,0,0,0
$GC,1272,-0.89,-146.0,113.9,-9.2,211,1278,0.15,2.78,0.00,0.000,6,0.117,0.061,2397,2798,3400,0,0,5,0,0,0
$STATE,1382,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1382,begin apogee
$GC,1388,-0.16,0.0,126.1,11.3,221,1508,0.85,0.00,115.62,0.825,6,0.190,0.000,2629,2388,2800,0,0,0,0,0,0
$STATE,1509,end apogee,CONTROL_FINISHED_OK
$STATE,1509,begin climb
$GC,1512,0.73,146.0,130.4,0.0,233,1639,0.95,1.95,118.00,0.783,4,0.143,0.088,2918,807,2203,0,0,0,0,0,0
$GC,1684,0.75,167.6,120.7,8.3,249,1710,0.00,1.83,19.25,0.735,6,0.000,0.061,2918,2413,2114,0,0,0,0,0,0
$GC,2037,0.75,167.6,86.8,10.0,294,2042,0.00,3.95,0.00,0.000,4,0.000,0.082,2918,3915,2109,0,0,7,0,0,0
$GC,2181,0.70,167.6,70.7,11.1,319,2188,0.00,3.80,0.00,0.000,6,0.000,0.069,2936,2405,2108,0,0,8,0,0,0
$GC,2526,0.70,167.6,37.7,10.0,380,2532,0.00,3.90,0.00,0.000,4,0.000,0.081,2936,3909,2108,0,0,8,0,0,0
$GC,2600,0.60,167.6,29.3,11.9,393,2610,0.28,3.80,0.00,0.000,6,0.196,0.069,2887,2400,2107,0,0,9,0,0,0
$FREEZE,8.84,1.103,-1.854,0,1,0
$FREEZE,8.52,1.101,-1.854,0,1,0
$FREEZE,8.04,1.103,-1.854,0,1,0
$FREEZE,7.58,1.101,-1.853,0,1,0
$FREEZE,7.11,1.104,-1.853,0,1,0
$FREEZE,6.74,1.104,-1.853,0,1,0
$FREEZE,6.39,1.102,-1.852,0,1,0
$FREEZE,6.06,1.101,-1.852,0,1,0
$FREEZE,5.58,1.098,-1.851,0,1,0
$FREEZE,5.22,1.080,-1.851,0,1,0
$FREEZE,4.86,1.080,-1.851,0,1,0
$FREEZE,4.45,1.074,-1.851,0,1,0
$FREEZE,4.01,1.076,-1.851,0,1,0
$FREEZE,3.68,1.073,-1.850,0,1,0
$FREEZE,3.23,1.086,-1.850,0,1,0
$FREEZE,2.66,1.094,-1.849,0,1,0
$FREEZE,2.13,1.094,-1.849,0,1,0
$FREEZE,1.67,1.088,-1.849,0,1,0
$GC,2950,0.84,217.9,3.2,7.1,455,2970,0.22,0.00,16.88,0.723,2,0.102,0.000,2964,2400,2033,0,0,0,0,0,0
$STATE,2971,end climb,SURFACE_DEPTH_REACHED
$STATE,2971,begin surface coast
$FREEZE,0.63,1.076,-1.848,0,1,0
$FREEZE,0.50,1.077,-1.844,0,1,0
$FREEZE,0.50,0.919,-1.425,0,1,0
$FREEZE,0.57,1.029,-0.967,0,1,0
$FREEZE,0.52,1.026,-0.932,0,1,0
$FINISH,0.5,1.013766
$STATE,2999,end surface coast,CONTROL_FINISHED_OK
$STATE,2999,begin surface
$SM_CCo,3017,70.40,0.718,0,0,1474,325.02
$SM_GC,1.45,0.00,0.00,70.40,0.000,0.000,0.718,125,2803,1474,-8.02,0.08,325.02
$RAFOS_CLK,185
$RAFOS,1,1262520542,12.166667,12.150556,59,58,53,0,0,0,207,142,190,0,0,0
$RAFOS,0,1262520070,12.033333,12.019444,60,59,51,0,0,0,203,186,158,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5623.29,300399,101015
$TT8_MAMPS,0.029913
$HUMID,48.81
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,19.0
$24V_AH,23.1,82.758
$10V_AH,10.1,42.376
$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,22.200,38.525,269.750,70.400,0.000,22.120,30.179,100.613,1.000,0.000,16.877,747.732,1224.801,408.975,720.769,256.072,0.000,820.325,0.000,707.957,1080.000,2.619,0.000
$DEVICE_MAMPS,294.528,100.477,825.292,717.912,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,336.990,310.538,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152568
$DATA_FILE_SIZE,15917,463
$CAP_FILE_SIZE,50091,0
$CFSIZE,260165632,214958080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,73,0,0
$SOUNDSPEED,1458.0
$GPS,030110,122258,6739.227,-5620.608,9,2.1,29,-38.2