version: 66.06
glider: 143
mission: 10
dive: 532
start: 1 4 110 3 40 1
data:
$ID,143
$MISSION,10
$DIVE,532
$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,-47309.355
$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,11
$R_STBD_OVSHOOT,18
$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
$GPS1,033456,6740.244,-5626.320,10,1.2,11,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-69.7
$GPS2,033943,6740.274,-5626.296,14,1.6,31,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6732.002,-5644.461
$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,145
$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,-94.72,0.000,2,0.000,0.000,126,2807,3180,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.0,-4.5,19,142,11.68,2.90,-6.15,0.000,4,0.303,0.101,2447,3913,3398,0,0,8,0,0,0
$GC,395,-0.73,-146.0,33.2,-10.0,69,401,0.00,2.67,0.00,0.000,6,0.000,0.062,2447,2797,3400,0,0,6,0,0,0
$GC,738,-0.73,-146.0,70.5,-11.4,130,744,0.00,2.83,0.00,0.000,4,0.000,0.091,2447,3921,3400,0,0,8,0,0,0
$GC,998,-0.80,-146.0,101.6,-12.3,175,1002,0.00,2.65,0.00,0.000,6,0.000,0.062,2447,2801,3400,0,0,6,0,0,0
$GC,1323,-0.86,-146.0,133.2,-8.2,205,1328,0.12,2.83,0.00,0.000,4,0.124,0.088,2400,3916,3399,0,0,7,0,0,0
$GC,1386,-0.77,-146.0,139.7,-11.2,210,1391,0.17,2.65,0.00,0.000,6,0.207,0.061,2439,2801,3399,0,0,6,0,0,0
$STATE,1443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1443,begin apogee
$GC,1449,-0.16,0.0,145.1,8.2,215,1570,0.68,0.00,115.97,0.842,6,0.184,0.000,2630,2393,2800,0,0,0,0,0,0
$STATE,1570,end apogee,CONTROL_FINISHED_OK
$STATE,1571,begin climb
$GC,1573,0.73,146.0,148.3,0.0,227,1700,0.95,2.03,118.50,0.796,4,0.139,0.088,2922,810,2203,0,0,0,0,0,0
$GC,1748,0.73,146.0,136.2,10.3,243,1753,0.00,1.88,0.00,0.000,6,0.000,0.062,2922,2400,2199,0,0,0,0,0,0
$GC,2072,0.73,146.0,99.8,11.8,274,2078,0.00,3.90,0.00,0.000,4,0.000,0.082,2922,3916,2196,0,0,7,0,0,0
$GC,2188,0.62,146.0,86.0,11.8,294,2195,0.20,3.78,0.00,0.000,6,0.202,0.069,2894,2405,2194,0,0,7,0,0,0
$GC,2537,0.75,158.3,54.0,8.7,355,2558,0.12,3.88,10.25,0.715,4,0.130,0.081,2934,3917,2153,0,0,6,0,0,0
$GC,2660,0.65,158.3,39.5,12.2,377,2666,0.20,3.78,0.00,0.000,6,0.199,0.069,2905,2394,2152,0,0,7,0,0,0
$FREEZE,8.77,1.113,-1.856,0,1,0
$FREEZE,8.19,1.092,-1.855,0,1,0
$GC,3006,0.78,179.7,10.3,8.3,438,3035,0.12,3.95,18.75,0.731,4,0.127,0.083,2946,3924,2066,0,0,7,0,0,0
$FREEZE,6.97,1.032,-1.854,0,1,0
$FREEZE,6.32,0.945,-1.853,0,1,0
$FREEZE,5.71,0.842,-1.852,0,1,0
$FREEZE,5.07,0.829,-1.851,0,1,0
$FREEZE,4.43,0.781,-1.851,0,1,0
$FREEZE,3.86,0.738,-1.849,0,1,0
$FREEZE,3.25,0.732,-1.848,0,1,0
$FREEZE,2.67,0.737,-1.848,0,1,0
$FREEZE,2.07,0.721,-1.847,0,1,0
$FREEZE,1.40,0.710,-1.846,0,1,0
$STATE,3089,end climb,SURFACE_DEPTH_REACHED
$STATE,3089,begin surface coast
$FREEZE,0.75,0.695,-1.846,0,1,0
$FREEZE,0.42,0.774,-1.130,0,1,0
$FREEZE,0.36,0.644,-0.859,0,1,0
$FINISH,0.4,1.012690
$STATE,3107,end surface coast,CONTROL_FINISHED_OK
$STATE,3107,begin surface
$SM_CCo,3128,81.50,0.721,0,0,1474,325.02
$SM_GC,1.28,0.00,0.00,81.50,0.000,0.000,0.721,127,2809,1474,-8.01,0.25,325.02
$RAFOS_CLK,198
$RAFOS,3,1262579105,4.433333,4.418056,69,61,56,0,0,0,212,200,178,0,0,0
$RAFOS,2,1262578622,4.300000,4.283889,62,59,55,0,0,0,214,194,141,0,0,0
$RAFOS,1,1262578144,4.166667,4.151111,59,57,56,0,0,0,119,218,193,0,0,0
$RAFOS,0,1262577668,4.033333,4.018889,59,56,55,0,0,0,195,224,162,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5645.28,310399,020231
$TT8_MAMPS,0.027612
$HUMID,49.25
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.30
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,19.3
$24V_AH,23.0,84.160
$10V_AH,10.0,42.846
$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,22.575,43.525,263.475,81.500,0.000,22.923,32.277,105.153,1.000,0.000,33.303,739.581,1350.316,420.493,724.747,268.256,0.000,825.188,0.000,694.634,1440.000,2.617,0.000
$DEVICE_MAMPS,302.965,101.244,842.166,720.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,331.808,305.779,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152548
$DATA_FILE_SIZE,15943,456
$CAP_FILE_SIZE,50767,0
$CFSIZE,260165632,214433792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,81,0,0
$SOUNDSPEED,1457.0
$GPS,040110,043425,6740.739,-5626.253,6,1.4,7,-38.2