version: 66.06
glider: 143
mission: 10
dive: 527
start: 1 3 110 22 25 10
data:
$ID,143
$MISSION,10
$DIVE,527
$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,220
$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,-47144.039
$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,12
$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
$GPS1,221946,6739.529,-5625.447,8,2.8,28,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-68.5
$GPS2,222452,6739.493,-5625.418,15,2.9,34,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6731.220,-5643.573
$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,258.2,20000,-16.9,-9.167
$D_GRID,135
$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,-94.88,0.000,2,0.000,0.000,123,2794,3170,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.0,-4.6,19,142,11.40,2.60,-6.45,0.000,4,0.295,0.096,2445,1190,3398,0,0,1,0,0,0
$GC,177,-0.73,-146.0,12.8,-10.7,30,183,0.00,2.50,0.00,0.000,6,0.000,0.072,2445,2800,3399,0,0,1,0,0,0
$GC,521,-0.73,-146.0,46.1,-9.7,91,526,0.00,2.83,0.00,0.000,4,0.000,0.092,2445,3933,3400,0,0,7,0,0,0
$GC,712,-0.73,-146.0,64.6,-9.8,125,718,0.00,2.65,0.00,0.000,6,0.000,0.062,2445,2806,3400,0,0,4,0,0,0
$GC,1056,-0.73,-146.0,94.3,-8.5,186,1062,0.00,2.75,0.00,0.000,4,0.000,0.091,2445,3920,3400,0,0,7,0,0,0
$GC,1281,-0.78,-146.0,114.4,-9.7,212,1286,0.00,2.67,0.00,0.000,6,0.000,0.063,2445,2801,3399,0,0,4,0,0,0
$STATE,1518,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1518,begin apogee
$GC,1526,-0.16,0.0,135.7,8.9,234,1646,0.65,0.00,115.80,0.838,6,0.188,0.000,2627,2392,2799,0,0,0,0,0,0
$STATE,1647,end apogee,CONTROL_FINISHED_OK
$STATE,1647,begin climb
$GC,1650,0.73,146.0,139.6,0.0,246,1778,0.98,2.03,118.50,0.793,4,0.146,0.089,2922,792,2202,0,0,0,0,0,0
$GC,1824,0.73,147.1,129.4,9.1,262,1828,0.00,1.95,0.00,0.000,6,0.000,0.063,2922,2417,2199,0,0,0,0,0,0
$GC,2153,0.75,168.9,101.5,8.3,293,2180,0.00,3.88,18.98,0.756,4,0.000,0.084,2922,3917,2110,0,0,8,0,0,0
$GC,2243,0.67,168.9,93.0,10.3,307,2250,0.12,3.85,0.00,0.000,6,0.206,0.069,2914,2399,2108,0,0,5,0,0,0
$GC,2590,0.75,175.8,62.7,8.9,368,2606,0.00,3.92,6.72,0.669,4,0.000,0.083,2914,3918,2083,0,0,7,0,0,0
$GC,2758,0.75,175.8,44.7,11.2,398,2764,0.00,3.80,0.00,0.000,6,0.000,0.069,2929,2394,2082,0,0,6,0,0,0
$GC,3104,0.82,186.4,12.9,8.7,459,3125,0.00,3.88,10.40,0.708,4,0.000,0.082,2928,3916,2039,0,0,7,0,0,0
$FREEZE,8.97,0.865,-1.852,0,1,0
$FREEZE,8.27,0.842,-1.851,0,1,0
$FREEZE,7.67,0.810,-1.851,0,1,0
$FREEZE,7.17,0.800,-1.850,0,1,0
$FREEZE,6.38,0.772,-1.850,0,1,0
$FREEZE,5.82,0.769,-1.849,0,1,0
$FREEZE,5.20,0.774,-1.848,0,1,0
$FREEZE,4.67,0.776,-1.848,0,1,0
$GC,3184,0.77,186.4,4.7,11.0,473,3190,0.00,3.80,0.00,0.000,6,0.000,0.070,2946,2396,2038,0,0,6,0,0,0
$FREEZE,3.06,0.765,-1.847,0,1,0
$FREEZE,2.53,0.767,-1.846,0,1,0
$FREEZE,1.92,0.762,-1.846,0,1,0
$STATE,3206,end climb,SURFACE_DEPTH_REACHED
$STATE,3206,begin surface coast
$FREEZE,1.42,0.763,-1.845,0,1,0
$FREEZE,0.85,0.757,-1.845,0,1,0
$FREEZE,0.44,0.755,-1.845,0,1,0
$FINISH,0.4,1.026965
$STATE,3223,end surface coast,CONTROL_FINISHED_OK
$STATE,3224,begin surface
$SM_CCo,3242,79.07,0.726,0,0,1475,325.02
$SM_GC,1.42,0.00,0.00,79.07,0.000,0.000,0.726,125,2792,1475,-8.02,-0.23,325.02
$RAFOS_CLK,202
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5628.00,300399,212156
$TT8_MAMPS,0.027612
$HUMID,49.25
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,17.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,19.4
$24V_AH,23.0,83.715
$10V_AH,10.1,42.695
$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,21.425,45.275,270.400,79.075,0.000,30.694,35.137,107.933,1.000,0.000,37.167,757.454,1393.015,424.346,774.892,284.412,0.000,853.965,0.000,742.510,0.000,2.618,0.000
$DEVICE_MAMPS,294.528,95.875,837.564,725.582,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,350.277,321.925,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152552
$DATA_FILE_SIZE,18998,480
$CAP_FILE_SIZE,51612,0
$CFSIZE,260165632,214593536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,63,0,0
$SOUNDSPEED,1457.3
$GPS,030110,232146,6739.135,-5625.759,8,99.0,28,-38.2