version: 66.06
glider: 143
mission: 10
dive: 556
start: 1 5 110 7 34 49
data:
$ID,143
$MISSION,10
$DIVE,556
$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,-47822.875
$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,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
$GPS1,072207,6739.289,-5630.533,36,0.8,37,-38.2
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-64.0
$GPS2,073431,6739.308,-5630.479,13,0.9,13,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.908,-5605.973
$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,154
$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,16,-0.73,-146.0,0.0,0.0,0,118,0.00,0.00,-99.30,0.000,2,0.000,0.000,124,2801,3239,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.7,-7.2,20,144,11.62,2.97,-3.88,0.000,4,0.299,0.100,2448,3926,3397,0,0,6,0,0,0
$GC,387,-0.79,-146.0,37.7,-10.4,67,392,0.00,2.75,0.00,0.000,6,0.000,0.061,2448,2803,3399,0,0,7,0,0,0
$GC,731,-0.85,-146.0,73.4,-10.4,128,736,0.00,2.88,0.00,0.000,4,0.000,0.089,2448,3922,3399,0,0,8,0,0,0
$GC,907,-0.91,-146.0,90.9,-9.2,159,914,0.17,2.72,0.00,0.000,6,0.112,0.061,2391,2800,3399,0,0,7,0,0,0
$GC,1243,-0.80,-146.0,131.3,-12.4,197,1249,0.17,2.90,0.00,0.000,4,0.203,0.087,2428,3929,3399,0,0,8,0,0,0
$GC,1389,-0.80,-146.0,147.1,-9.9,209,1395,0.00,2.78,0.00,0.000,6,0.000,0.061,2428,2799,3398,0,0,6,0,0,0
$STATE,1467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1467,begin apogee
$GC,1474,-0.16,0.0,154.5,9.0,217,1594,0.73,0.00,116.10,0.851,6,0.189,0.000,2627,2384,2799,0,0,0,0,0,0
$STATE,1595,end apogee,CONTROL_FINISHED_OK
$STATE,1595,begin climb
$GC,1598,0.73,146.0,158.0,0.0,229,1726,0.98,1.90,118.75,0.805,4,0.144,0.086,2922,808,2202,0,0,0,0,0,0
$GC,1777,0.73,146.0,146.1,10.2,245,1783,0.00,1.83,0.00,0.000,6,0.000,0.061,2923,2413,2199,0,0,0,0,0,0
$GC,2102,0.74,156.1,116.9,8.7,276,2117,0.00,3.95,8.65,0.709,4,0.000,0.082,2923,3926,2162,0,0,9,0,0,0
$GC,2227,0.66,156.1,104.2,10.1,286,2234,0.15,3.90,0.00,0.000,6,0.204,0.068,2909,2410,2161,0,0,6,0,0,0
$GC,2570,0.76,178.0,74.5,8.2,343,2596,0.00,3.95,18.98,0.752,4,0.000,0.081,2908,3914,2074,0,0,8,0,0,0
$GC,2690,0.76,178.0,62.5,10.7,364,2696,0.00,3.90,0.00,0.000,6,0.000,0.068,2924,2386,2072,0,0,7,0,0,0
$GC,3034,0.86,201.2,32.2,8.2,425,3066,0.12,3.95,20.67,0.740,4,0.105,0.081,2970,3922,1977,0,0,9,0,0,0
$GC,3167,0.69,201.2,18.0,10.7,449,3178,0.30,3.88,0.00,0.000,6,0.200,0.069,2916,2406,1975,0,0,7,0,0,0
$FREEZE,8.88,0.813,-1.853,0,1,0
$FREEZE,8.37,0.792,-1.852,0,1,0
$FREEZE,8.04,0.779,-1.852,0,1,0
$FREEZE,7.64,0.773,-1.851,0,1,0
$FREEZE,7.05,0.779,-1.851,0,1,0
$FREEZE,6.86,0.779,-1.850,0,1,0
$FREEZE,6.42,0.773,-1.850,0,1,0
$FREEZE,6.00,0.779,-1.850,0,1,0
$FREEZE,5.66,0.779,-1.849,0,1,0
$FREEZE,5.01,0.778,-1.849,0,1,0
$FREEZE,4.49,0.778,-1.848,0,1,0
$FREEZE,3.88,0.777,-1.848,0,1,0
$FREEZE,3.27,0.767,-1.847,0,1,0
$FREEZE,2.82,0.760,-1.847,0,1,0
$FREEZE,2.13,0.760,-1.847,0,1,0
$FREEZE,1.62,0.764,-1.846,0,1,0
$STATE,3351,end climb,SURFACE_DEPTH_REACHED
$STATE,3351,begin surface coast
$FREEZE,1.23,0.755,-1.846,0,1,0
$FREEZE,0.60,0.756,-1.846,0,1,0
$FREEZE,0.42,0.738,-1.125,0,1,0
$FINISH,0.4,1.016622
$STATE,3369,end surface coast,CONTROL_FINISHED_OK
$STATE,3369,begin surface
$SM_CCo,3388,70.40,0.722,0,0,1474,325.02
$SM_GC,1.27,0.00,0.00,70.40,0.000,0.000,0.722,125,2793,1474,-8.01,-0.20,325.02
$RAFOS_CLK,232
$RAFOS,2,1262679426,8.300000,8.285000,62,60,59,0,0,0,213,158,190,0,0,0
$RAFOS,1,1262678946,8.166667,8.151667,67,63,55,0,0,0,187,199,122,0,0,0
$RAFOS,0,1262678467,8.033334,8.018611,61,60,59,0,0,0,153,190,211,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5635.83,010499,070748
$TT8_MAMPS,0.029146
$HUMID,48.22
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.50
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.8,19.3
$24V_AH,23.0,86.304
$10V_AH,9.9,43.618
$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,22.475,46.375,283.150,70.400,0.000,87.586,94.886,315.153,1.250,0.000,15.000,787.444,1586.799,427.204,773.972,632.686,0.000,869.294,0.000,762.154,1440.000,2.623,0.000
$DEVICE_MAMPS,299.130,100.477,850.603,721.747,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,353.264,324.896,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152548
$DATA_FILE_SIZE,19004,485
$CAP_FILE_SIZE,61589,0
$CFSIZE,260165632,213602304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,89,0,0
$SOUNDSPEED,1459.7
$GPS,050110,083326,6738.937,-5629.694,11,1.9,12,-38.2