version: 66.06
glider: 143
mission: 10
dive: 555
start: 1 5 110 6 17 55
data:
$ID,143
$MISSION,10
$DIVE,555
$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,-47807.246
$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,10
$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
$GPS1,061238,6739.379,-5631.397,9,1.1,10,-38.2
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-63.6
$GPS2,061737,6739.408,-5631.381,9,1.2,14,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6734.008,-5606.873
$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,159
$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,-100.00,0.000,2,0.000,0.000,127,2798,3282,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.5,-6.6,20,144,11.55,2.92,-2.92,0.000,4,0.299,0.100,2448,3924,3399,0,0,8,0,0,0
$GC,251,-0.78,-146.0,21.8,-9.4,43,257,0.00,2.72,0.00,0.000,6,0.000,0.061,2448,2802,3401,0,0,7,0,0,0
$GC,596,-0.84,-146.0,53.2,-9.1,104,602,0.00,2.88,0.00,0.000,4,0.000,0.087,2448,3931,3401,0,0,8,0,0,0
$GC,676,-0.90,-146.0,60.8,-9.2,118,682,0.15,2.75,0.00,0.000,6,0.116,0.061,2400,2799,3401,0,0,7,0,0,0
$GC,1021,-0.81,-146.0,98.1,-10.6,179,1026,0.00,2.92,0.00,0.000,4,0.000,0.088,2399,3933,3400,0,0,7,0,0,0
$GC,1213,-0.72,-146.0,118.8,-10.1,198,1218,0.22,2.75,0.00,0.000,6,0.199,0.061,2453,2797,3400,0,0,7,0,0,0
$GC,1539,-0.81,-146.0,143.5,-8.3,228,1543,0.00,2.92,0.00,0.000,4,0.000,0.087,2454,3939,3400,0,0,6,0,0,0
$GC,1663,-0.89,-146.0,153.9,-8.4,238,1670,0.17,2.72,0.00,0.000,6,0.107,0.061,2395,2800,3400,0,0,7,0,0,0
$STATE,1720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1720,begin apogee
$GC,1727,-0.16,0.0,160.2,11.0,244,1848,0.88,0.00,116.32,0.847,6,0.196,0.000,2630,2397,2799,0,0,0,0,0,0
$STATE,1849,end apogee,CONTROL_FINISHED_OK
$STATE,1849,begin climb
$GC,1851,0.73,146.0,164.5,0.0,256,1980,0.95,1.92,118.80,0.801,4,0.140,0.085,2920,797,2203,0,0,0,0,0,0
$GC,2037,0.73,146.0,151.5,9.7,273,2040,0.00,1.85,0.00,0.000,6,0.000,0.061,2920,2421,2199,0,0,0,0,0,0
$GC,2366,0.73,146.0,119.8,9.7,304,2376,0.00,3.92,0.00,0.000,4,0.000,0.081,2920,3918,2195,0,0,7,0,0,0
$GC,2495,0.64,146.0,106.0,10.7,315,2502,0.17,3.85,0.00,0.000,6,0.202,0.068,2899,2405,2195,0,0,7,0,0,0
$GC,2835,0.74,160.7,78.0,8.5,370,2856,0.00,3.97,11.95,0.732,4,0.000,0.081,2899,3920,2143,0,0,8,0,0,0
$GC,2950,0.74,160.7,67.0,10.6,390,2956,0.00,3.85,0.00,0.000,6,0.000,0.067,2914,2395,2143,0,0,8,0,0,0
$GC,3294,0.84,175.4,36.9,8.5,451,3316,0.15,3.97,13.82,0.726,4,0.101,0.081,2970,3918,2083,0,0,7,0,0,0
$GC,3413,0.67,175.4,21.9,14.3,472,3423,0.32,3.85,0.00,0.000,6,0.202,0.068,2909,2395,2081,0,0,8,0,0,0
$FREEZE,8.77,0.738,-1.853,0,1,0
$FREEZE,8.52,0.741,-1.852,0,1,0
$FREEZE,8.30,0.737,-1.852,0,1,0
$FREEZE,7.91,0.736,-1.851,0,1,0
$FREEZE,7.48,0.735,-1.851,0,1,0
$FREEZE,6.98,0.733,-1.850,0,1,0
$FREEZE,6.42,0.798,-1.849,0,1,0
$FREEZE,6.01,0.754,-1.849,0,1,0
$FREEZE,5.53,0.748,-1.849,0,1,0
$FREEZE,5.07,0.741,-1.849,0,1,0
$FREEZE,4.62,0.741,-1.848,0,1,0
$FREEZE,4.21,0.740,-1.848,0,1,0
$FREEZE,3.84,0.742,-1.847,0,1,0
$FREEZE,3.58,0.738,-1.847,0,1,0
$FREEZE,3.17,0.740,-1.847,0,1,0
$FREEZE,2.68,0.743,-1.846,0,1,0
$FREEZE,2.09,0.754,-1.846,0,1,0
$FREEZE,1.67,0.759,-1.845,0,1,0
$STATE,3641,end climb,SURFACE_DEPTH_REACHED
$STATE,3641,begin surface coast
$FREEZE,1.07,0.763,-1.845,0,1,0
$FREEZE,0.52,0.762,-1.845,0,1,0
$FREEZE,0.36,0.778,-1.840,0,1,0
$FREEZE,0.57,0.844,-1.839,0,1,0
$FINISH,0.6,1.026883
$STATE,3665,end surface coast,CONTROL_FINISHED_OK
$STATE,3666,begin surface
$SM_CCo,3685,84.20,0.717,0,0,1474,325.02
$SM_GC,1.19,0.00,0.00,84.20,0.000,0.000,0.717,124,2799,1474,-8.02,-0.03,325.02
$RAFOS_CLK,230
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5631.12,010499,050532
$TT8_MAMPS,0.027612
$HUMID,48.77
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,17.50
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,19.7
$24V_AH,23.0,86.198
$10V_AH,10.0,43.583
$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,22.725,51.950,260.900,84.200,0.000,28.226,29.656,128.616,1.000,0.000,16.171,857.007,1631.715,432.921,841.258,311.041,0.000,902.269,0.000,827.981,0.000,2.622,0.000
$DEVICE_MAMPS,299.130,99.710,846.768,717.145,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,375.944,347.243,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152568
$DATA_FILE_SIZE,19050,517
$CAP_FILE_SIZE,58823,0
$CFSIZE,260165632,213639168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,103,0,0
$SOUNDSPEED,1460.5
$GPS,050110,072207,6739.289,-5630.533,36,0.8,37,-38.2