version: 66.06
glider: 143
mission: 10
dive: 517
start: 1 3 110 12 27 54
data:
$ID,143
$MISSION,10
$DIVE,517
$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,-46945.605
$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,14
$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
$GPS1,122258,6739.227,-5620.608,9,2.1,29,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-69.8
$GPS2,122736,6739.251,-5620.612,16,1.6,26,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.852,-5556.107
$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,-146.0,0.0,0.0,0,118,0.00,0.00,-99.65,0.000,2,0.000,0.000,125,2803,3321,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.7,-6.6,20,144,11.40,2.53,-1.80,0.000,4,0.295,0.095,2446,1186,3399,0,0,3,0,0,0
$GC,156,0.49,-146.0,13.5,-25.6,26,163,1.45,2.42,0.00,0.000,6,0.185,0.071,2841,2797,3401,0,0,2,0,0,0
$GC,502,-0.63,-146.0,33.5,-6.1,87,508,1.05,2.50,0.00,0.000,4,0.102,0.081,2488,1184,3402,0,0,0,0,0,0
$GC,571,-0.76,-146.0,39.1,-9.1,99,578,0.12,2.42,0.00,0.000,6,0.121,0.070,2443,2812,3402,0,0,2,0,0,0
$GC,915,-0.76,-146.0,76.8,-10.5,160,920,0.00,2.88,0.00,0.000,4,0.000,0.088,2443,3936,3401,0,0,6,0,0,0
$GC,1162,-0.76,-146.0,99.4,-8.4,204,1168,0.00,2.75,0.00,0.000,6,0.000,0.062,2443,2798,3401,0,0,7,0,0,0
$STATE,1469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1469,begin apogee
$GC,1476,-0.16,0.0,126.6,8.9,234,1596,0.65,0.00,115.70,0.828,6,0.181,0.000,2626,2386,2799,0,0,0,0,0,0
$STATE,1596,end apogee,CONTROL_FINISHED_OK
$STATE,1596,begin climb
$GC,1599,0.73,146.0,130.2,0.0,246,1726,0.95,1.98,117.95,0.785,4,0.139,0.088,2919,800,2202,0,0,0,0,0,0
$GC,1871,0.74,154.2,110.7,8.8,271,1883,0.00,1.83,7.40,0.672,6,0.000,0.062,2918,2414,2171,0,0,0,0,0,0
$GC,2213,0.74,157.7,79.0,9.0,322,2225,0.00,3.95,4.32,0.568,4,0.000,0.082,2919,3910,2156,0,0,7,0,0,0
$GC,2358,0.67,157.7,64.3,9.9,347,2365,0.12,3.85,0.00,0.000,6,0.211,0.070,2911,2407,2154,0,0,7,0,0,0
$GC,2706,0.78,191.0,36.4,7.8,408,2742,0.00,3.95,28.73,0.748,4,0.000,0.083,2910,3913,2019,0,0,10,0,0,0
$GC,2817,0.78,191.0,25.9,10.6,428,2823,0.00,3.92,0.00,0.000,6,0.000,0.070,2926,2391,2017,0,0,6,0,0,0
$FREEZE,8.98,1.060,-1.854,0,1,0
$FREEZE,8.47,1.066,-1.854,0,1,0
$FREEZE,8.11,1.067,-1.853,0,1,0
$FREEZE,7.50,1.084,-1.853,0,1,0
$FREEZE,7.02,1.076,-1.852,0,1,0
$FREEZE,6.42,1.069,-1.852,0,1,0
$FREEZE,5.96,1.070,-1.851,0,1,0
$FREEZE,5.42,1.090,-1.851,0,1,0
$FREEZE,4.86,1.093,-1.851,0,1,0
$FREEZE,4.35,1.090,-1.851,0,1,0
$FREEZE,3.80,1.095,-1.850,0,1,0
$FREEZE,3.29,1.070,-1.850,0,1,0
$FREEZE,2.83,1.076,-1.849,0,1,0
$FREEZE,2.26,1.076,-1.849,0,1,0
$FREEZE,1.69,1.078,-1.848,0,1,0
$STATE,3080,end climb,SURFACE_DEPTH_REACHED
$STATE,3080,begin surface coast
$FREEZE,1.24,1.075,-1.848,0,1,0
$FREEZE,0.78,1.062,-1.848,0,1,0
$FREEZE,0.55,0.999,-1.363,0,1,0
$FREEZE,0.59,0.553,-0.919,0,1,0
$FINISH,0.6,1.013582
$STATE,3104,end surface coast,CONTROL_FINISHED_OK
$STATE,3104,begin surface
$SM_CCo,3123,76.22,0.723,0,0,1474,325.02
$SM_GC,1.40,0.00,0.00,76.22,0.000,0.000,0.723,125,2799,1474,-8.02,-0.03,325.02
$RAFOS_CLK,192
$RAFOS,6,1262522941,12.833333,12.816944,62,56,54,0,0,0,193,961,183,0,0,0
$RAFOS,5,1262522463,12.700000,12.684167,64,55,54,0,0,0,215,189,174,0,0,0
$RAFOS,4,1262521983,12.566667,12.550834,62,59,59,0,0,0,211,199,182,0,0,0
$RAFOS,2,1262521025,12.300000,12.284722,64,60,60,0,0,0,185,160,202,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6715.07,-5621.74,300399,111152
$TT8_MAMPS,0.027612
$HUMID,49.25
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.30
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.6,18.9
$24V_AH,23.0,82.844
$10V_AH,10.0,42.405
$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,24.000,37.150,274.100,76.225,0.000,24.942,30.366,101.882,1.250,0.000,27.756,763.240,1287.447,414.469,751.677,266.525,0.000,833.735,0.000,728.629,1080.000,2.618,0.000
$DEVICE_MAMPS,294.528,95.108,828.360,723.281,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,350.043,321.237,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152564
$DATA_FILE_SIZE,19075,479
$CAP_FILE_SIZE,51078,0
$CFSIZE,260165632,214921216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,52,0,0
$SOUNDSPEED,1457.5
$GPS,030110,132234,6739.566,-5620.650,13,99.0,33,-38.2