version: 66.06
glider: 143
mission: 10
dive: 519
start: 1 3 110 14 25 39
data:
$ID,143
$MISSION,10
$DIVE,519
$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,-46979.109
$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,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
$GPS1,142050,6740.014,-5620.812,10,1.2,11,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-69.7
$GPS2,142520,6740.067,-5620.847,13,1.2,13,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6734.667,-5556.328
$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,13,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,-94.43,0.000,2,0.000,0.000,124,2801,3185,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.1,-4.6,19,137,11.32,0.00,-5.93,0.000,6,0.292,0.000,2447,2800,3397,0,0,0,0,0,0
$GC,474,-0.73,-146.0,41.0,-9.4,83,479,0.00,2.90,0.00,0.000,4,0.000,0.091,2447,3919,3400,0,0,6,0,0,0
$GC,727,-0.78,-146.0,64.4,-9.0,128,733,0.00,2.72,0.00,0.000,6,0.000,0.063,2448,2798,3400,0,0,7,0,0,0
$GC,1072,-0.83,-146.0,94.9,-9.0,189,1078,0.00,2.88,0.00,0.000,4,0.000,0.090,2448,3933,3400,0,0,8,0,0,0
$GC,1175,-0.90,-146.0,104.3,-9.1,203,1181,0.15,2.78,0.00,0.000,6,0.120,0.063,2399,2794,3400,0,0,5,0,0,0
$STATE,1370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1372,begin apogee
$GC,1378,-0.16,0.0,126.0,11.0,221,1499,0.85,0.00,115.80,0.828,6,0.194,0.000,2630,2398,2800,0,0,0,0,0,0
$STATE,1500,end apogee,CONTROL_FINISHED_OK
$STATE,1500,begin climb
$GC,1503,0.73,146.0,131.5,0.0,233,1630,0.98,1.95,118.12,0.787,4,0.153,0.090,2921,794,2203,0,0,0,0,0,0
$GC,1766,0.73,152.8,113.9,8.9,257,1777,0.00,1.83,6.12,0.638,6,0.000,0.063,2921,2420,2177,0,0,0,0,0,0
$GC,2106,0.78,190.2,85.0,7.6,304,2147,0.00,3.97,31.85,0.762,4,0.000,0.082,2921,3909,2023,0,0,9,0,0,0
$GC,2248,0.78,190.2,71.4,10.6,330,2254,0.00,3.90,0.00,0.000,6,0.000,0.070,2938,2406,2020,0,0,6,0,0,0
$GC,2591,0.78,190.2,37.4,10.3,391,2597,0.00,3.92,0.00,0.000,4,0.000,0.083,2938,3914,2019,0,0,8,0,0,0
$GC,2654,0.71,190.2,30.2,12.2,402,2661,0.15,3.80,0.00,0.000,6,0.203,0.070,2924,2388,2018,0,0,8,0,0,0
$FREEZE,8.50,1.087,-1.854,0,1,0
$FREEZE,7.98,1.081,-1.854,0,1,0
$FREEZE,7.43,1.089,-1.853,0,1,0
$FREEZE,6.94,1.084,-1.852,0,1,0
$FREEZE,6.39,1.081,-1.852,0,1,0
$FREEZE,5.79,1.039,-1.852,0,1,0
$FREEZE,5.40,1.026,-1.852,0,1,0
$FREEZE,4.79,1.014,-1.851,0,1,0
$FREEZE,4.36,1.018,-1.851,0,1,0
$FREEZE,3.83,1.023,-1.850,0,1,0
$FREEZE,3.32,1.033,-1.850,0,1,0
$FREEZE,2.81,1.059,-1.849,0,1,0
$FREEZE,2.39,1.059,-1.849,0,1,0
$FREEZE,1.89,1.045,-1.849,0,1,0
$STATE,2957,end climb,SURFACE_DEPTH_REACHED
$STATE,2957,begin surface coast
$FREEZE,1.39,1.045,-1.848,0,1,0
$FREEZE,0.87,1.029,-1.848,0,1,0
$FREEZE,0.61,1.023,-1.848,0,1,0
$FREEZE,0.52,0.978,-1.796,0,1,0
$FINISH,0.5,1.026270
$STATE,2980,end surface coast,CONTROL_FINISHED_OK
$STATE,2980,begin surface
$SM_CCo,2999,76.22,0.726,0,0,1475,325.02
$SM_GC,1.48,0.00,0.00,76.22,0.000,0.000,0.726,125,2798,1475,-8.02,-0.06,325.02
$RAFOS_CLK,186
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5624.88,300399,131305
$TT8_MAMPS,0.026845
$HUMID,49.52
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.20
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.8,19.3
$24V_AH,23.0,83.015
$10V_AH,10.0,42.462
$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,21.650,32.825,271.900,76.225,0.000,27.648,31.443,100.214,1.250,0.000,15.152,733.859,1231.129,407.867,718.581,262.268,0.000,814.318,0.000,707.672,0.000,2.617,0.000
$DEVICE_MAMPS,292.227,91.273,827.593,726.349,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,335.431,308.438,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152568
$DATA_FILE_SIZE,15949,460
$CAP_FILE_SIZE,47940,0
$CFSIZE,260165632,214863872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,58,0,0
$SOUNDSPEED,1457.3
$GPS,030110,151810,6740.524,-5620.993,7,2.5,27,-38.2