version: 66.06
glider: 143
mission: 10
dive: 552
start: 1 5 110 2 45 16
data:
$ID,143
$MISSION,10
$DIVE,552
$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,-47753.855
$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,15
$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
$GPS1,023928,6738.297,-5633.730,9,3.3,29,-38.2
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-61.0
$GPS2,024459,6738.350,-5633.640,13,99.0,32,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6732.950,-5609.150
$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,170
$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,-100.22,0.000,2,0.000,0.000,126,2801,3309,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.8,-7.4,20,144,11.52,2.88,-2.15,0.000,4,0.297,0.099,2437,3923,3400,0,0,9,0,0,0
$GC,318,-0.73,-146.0,28.9,-9.4,55,324,0.00,2.72,0.00,0.000,6,0.000,0.061,2437,2794,3402,0,0,7,0,0,0
$GC,662,-0.73,-146.0,56.7,-8.2,116,667,0.00,2.85,0.00,0.000,4,0.000,0.088,2437,3919,3401,0,0,8,0,0,0
$GC,807,-0.73,-146.0,68.4,-8.0,141,812,0.00,2.70,0.00,0.000,6,0.000,0.061,2437,2799,3401,0,0,6,0,0,0
$GC,1152,-0.73,-146.0,96.1,-8.4,202,1157,0.00,2.88,0.00,0.000,4,0.000,0.087,2437,3918,3400,0,0,7,0,0,0
$GC,1389,-0.73,-146.0,115.7,-8.2,228,1393,0.00,2.70,0.00,0.000,6,0.000,0.061,2437,2799,3400,0,0,6,0,0,0
$GC,1713,-0.73,-146.0,141.7,-8.0,258,1718,0.00,2.85,0.00,0.000,4,0.000,0.087,2437,3925,3400,0,0,7,0,0,0
$GC,1916,-0.77,-146.0,158.3,-8.3,275,1921,0.00,2.70,0.00,0.000,6,0.000,0.061,2437,2799,3400,0,0,6,0,0,0
$STATE,2068,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2068,begin apogee
$GC,2075,-0.16,0.0,170.5,8.2,290,2195,0.70,0.00,116.55,0.850,6,0.188,0.000,2630,2397,2799,0,0,0,0,0,0
$STATE,2196,end apogee,CONTROL_FINISHED_OK
$STATE,2196,begin climb
$GC,2199,0.73,146.0,173.5,0.0,302,2327,0.95,1.95,118.68,0.805,4,0.143,0.086,2919,795,2203,0,0,0,0,0,0
$GC,2423,0.73,146.0,156.7,10.4,322,2428,0.00,1.83,0.00,0.000,6,0.000,0.061,2919,2408,2199,0,0,0,0,0,0
$GC,2747,0.73,151.0,127.1,9.0,353,2759,0.00,3.95,4.57,0.591,4,0.000,0.080,2919,3927,2184,0,0,7,0,0,0
$GC,2850,0.65,151.0,116.3,11.0,362,2861,0.15,3.88,0.00,0.000,6,0.209,0.068,2905,2402,2183,0,0,6,0,0,0
$GC,3189,0.72,155.3,85.2,9.0,407,3205,0.00,3.90,5.32,0.627,4,0.000,0.080,2904,3913,2164,0,0,8,0,0,0
$GC,3295,0.72,155.3,74.7,9.9,426,3301,0.00,3.80,0.00,0.000,6,0.000,0.068,2920,2395,2164,0,0,9,0,0,0
$GC,3639,0.79,213.2,49.3,6.7,487,3695,0.00,4.00,48.53,0.755,4,0.000,0.081,2920,3915,1928,0,0,8,0,0,0
$GC,3774,0.79,213.2,38.7,10.0,512,3780,0.00,3.90,0.00,0.000,6,0.000,0.067,2937,2399,1926,0,0,6,0,0,0
$FREEZE,8.74,0.828,-1.852,0,1,0
$FREEZE,8.20,0.832,-1.851,0,1,0
$FREEZE,7.64,0.838,-1.851,0,1,0
$FREEZE,7.15,0.846,-1.850,0,1,0
$FREEZE,6.59,0.844,-1.850,0,1,0
$FREEZE,6.28,0.841,-1.850,0,1,0
$FREEZE,6.05,0.837,-1.850,0,1,0
$FREEZE,5.76,0.839,-1.849,0,1,0
$FREEZE,5.07,0.839,-1.849,0,1,0
$FREEZE,4.55,0.838,-1.849,0,1,0
$FREEZE,3.93,0.835,-1.848,0,1,0
$FREEZE,3.17,0.841,-1.847,0,1,0
$FREEZE,2.36,0.854,-1.847,0,1,0
$FREEZE,1.69,0.862,-1.846,0,1,0
$GC,4121,0.93,276.8,5.8,6.5,573,4159,0.15,0.00,34.97,0.726,2,0.114,0.000,2987,2401,1760,0,0,0,0,0,0
$STATE,4160,end climb,SURFACE_DEPTH_REACHED
$STATE,4160,begin surface coast
$FREEZE,0.55,0.861,-1.846,0,1,0
$FREEZE,0.46,0.855,-0.394,0,1,0
$FREEZE,0.43,0.887,-1.225,0,1,0
$FINISH,0.4,1.018072
$STATE,4178,end surface coast,CONTROL_FINISHED_OK
$STATE,4179,begin surface
$SM_CCo,4197,41.65,0.705,0,0,1474,325.02
$SM_GC,1.47,0.00,0.00,41.65,0.000,0.000,0.705,129,2796,1474,-8.00,-0.11,325.02
$RAFOS_CLK,259
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5631.12,010499,010112
$TT8_MAMPS,0.027612
$HUMID,48.38
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,17.40
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.8,19.9
$24V_AH,23.0,85.934
$10V_AH,9.9,43.488
$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,21.950,51.625,328.625,41.650,0.000,29.386,33.787,133.763,1.250,0.000,34.742,933.939,1902.647,440.634,968.511,327.532,0.000,964.270,0.000,930.994,0.000,2.622,0.000
$DEVICE_MAMPS,296.829,98.943,849.836,704.873,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,420.129,390.559,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152544
$DATA_FILE_SIZE,22208,582
$CAP_FILE_SIZE,62243,0
$CFSIZE,260165632,213733376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,102,0,0
$SOUNDSPEED,1460.0
$GPS,050110,035713,6738.745,-5632.898,25,1.2,32,-38.2