version: 66.06
glider: 143
mission: 10
dive: 551
start: 1 5 110 1 31 32
data:
$ID,143
$MISSION,10
$DIVE,551
$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,-47718.484
$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,17
$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
$GPS1,012538,6738.087,-5634.625,11,2.0,12,-38.2
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-65.6
$GPS2,013114,6738.113,-5634.560,8,1.3,14,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6732.714,-5610.075
$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,175
$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,-99.93,0.000,2,0.000,0.000,129,2799,3288,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.4,-6.6,20,144,11.52,2.90,-2.67,0.000,4,0.297,0.100,2448,3918,3398,0,0,8,0,0,0
$GC,318,-0.73,-146.0,30.7,-10.7,55,324,0.00,2.70,0.00,0.000,6,0.000,0.060,2448,2802,3400,0,0,5,0,0,0
$GC,662,-0.78,-146.0,62.1,-9.2,116,667,0.00,2.83,0.00,0.000,4,0.000,0.087,2449,3920,3401,0,0,7,0,0,0
$GC,923,-0.85,-146.0,85.5,-9.1,162,928,0.00,2.67,0.00,0.000,6,0.000,0.061,2448,2801,3400,0,0,5,0,0,0
$GC,1263,-0.94,-146.0,117.0,-8.9,207,1269,0.20,2.83,0.00,0.000,4,0.105,0.084,2367,3927,3399,0,0,7,0,0,0
$GC,1432,-0.76,-146.0,138.2,-12.5,221,1438,0.30,2.67,0.00,0.000,6,0.207,0.061,2439,2801,3399,0,0,5,0,0,0
$GC,1757,-0.81,-146.0,166.1,-7.6,252,1762,0.00,2.80,0.00,0.000,4,0.000,0.086,2439,3916,3399,0,0,7,0,0,0
$GC,1853,-0.86,-146.0,174.5,-8.8,260,1858,0.00,2.15,0.00,0.000,3,0.000,0.058,2439,2943,3399,0,0,4,0,0,0
$STATE,1858,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1858,begin apogee
$GC,1865,-0.16,0.0,175.3,9.2,260,1986,0.68,0.00,116.40,0.854,6,0.184,0.000,2628,2400,2799,0,0,0,0,0,0
$STATE,1987,end apogee,CONTROL_FINISHED_OK
$STATE,1987,begin climb
$GC,1989,0.73,146.0,178.7,0.0,272,2118,0.95,1.98,119.03,0.810,4,0.141,0.085,2919,790,2202,0,0,0,0,0,0
$GC,2152,0.73,146.0,168.1,10.9,287,2156,0.00,1.88,0.00,0.000,6,0.000,0.060,2919,2406,2200,0,0,0,0,0,0
$GC,2482,0.74,155.4,136.4,8.8,318,2497,0.00,3.95,8.00,0.702,4,0.000,0.080,2919,3923,2165,0,0,6,0,0,0
$GC,2588,0.67,155.4,124.1,12.4,327,2595,0.12,3.88,0.00,0.000,6,0.209,0.068,2912,2398,2163,0,0,6,0,0,0
$GC,2917,0.74,164.5,93.3,8.8,364,2933,0.00,3.90,8.85,0.712,4,0.000,0.081,2912,3921,2128,0,0,9,0,0,0
$GC,3001,0.74,164.5,84.2,11.1,379,3007,0.00,3.85,0.00,0.000,6,0.000,0.068,2927,2394,2128,0,0,7,0,0,0
$GC,3344,0.74,164.5,53.0,9.4,440,3350,0.00,3.90,0.00,0.000,4,0.000,0.081,2927,3921,2127,0,0,8,0,0,0
$GC,3430,0.66,164.5,43.5,11.7,455,3437,0.17,3.80,0.00,0.000,6,0.199,0.067,2905,2396,2127,0,0,8,0,0,0
$GC,3777,0.80,210.7,16.5,7.2,516,3824,0.15,4.00,39.30,0.738,4,0.122,0.081,2953,3923,1939,0,0,7,0,0,0
$FREEZE,8.67,0.891,-1.852,0,1,0
$FREEZE,7.99,0.893,-1.852,0,1,0
$FREEZE,7.32,0.891,-1.851,0,1,0
$FREEZE,6.59,0.890,-1.851,0,1,0
$FREEZE,5.76,0.893,-1.850,0,1,0
$FREEZE,4.99,0.889,-1.849,0,1,0
$FREEZE,4.30,0.885,-1.849,0,1,0
$FREEZE,3.84,0.886,-1.848,0,1,0
$FREEZE,3.07,0.883,-1.848,0,1,0
$FREEZE,2.30,0.883,-1.847,0,1,0
$FREEZE,1.40,0.881,-1.847,0,1,0
$STATE,3903,end climb,SURFACE_DEPTH_REACHED
$STATE,3903,begin surface coast
$FREEZE,0.55,0.881,-1.846,0,1,0
$FREEZE,0.31,0.921,-1.842,0,1,0
$FINISH,0.3,1.026924
$STATE,3915,end surface coast,CONTROL_FINISHED_OK
$STATE,3915,begin surface
$SM_CCo,3936,64.35,0.710,0,0,1474,325.02
$SM_GC,1.10,0.00,0.00,64.35,0.000,0.000,0.710,126,2801,1474,-8.01,0.03,325.02
$RAFOS_CLK,243
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5638.94,010499,000032
$TT8_MAMPS,0.027612
$HUMID,48.46
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,17.30
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.9,19.6
$24V_AH,23.0,85.840
$10V_AH,9.9,43.452
$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,22.425,57.050,291.575,64.350,0.000,30.882,32.254,158.968,1.250,0.000,16.290,885.341,1805.080,432.447,871.228,345.302,0.000,917.237,0.000,852.836,0.000,2.623,0.000
$DEVICE_MAMPS,296.829,99.710,853.671,710.242,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,390.378,363.609,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152552
$DATA_FILE_SIZE,19045,541
$CAP_FILE_SIZE,60366,0
$CFSIZE,260165632,213778432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,107,0,0
$SOUNDSPEED,1459.7
$GPS,050110,023928,6738.297,-5633.730,9,3.3,29,-38.2