version: 66.06
glider: 143
mission: 10
dive: 553
start: 1 5 110 4 2 26
data:
$ID,143
$MISSION,10
$DIVE,553
$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,-47777.766
$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,14
$R_STBD_OVSHOOT,14
$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
$GPS1,035713,6738.745,-5632.898,25,1.2,32,-38.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-65.0
$GPS2,040208,6738.804,-5632.826,20,1.8,20,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.404,-5608.328
$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,165
$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,-99.80,0.000,2,0.000,0.000,128,2797,3262,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.1,-4.6,20,144,12.30,2.90,-3.47,0.000,4,0.316,0.101,2446,3919,3397,0,0,8,0,0,0
$GC,233,-0.73,-146.0,19.8,-9.8,39,238,0.00,2.72,0.00,0.000,6,0.000,0.060,2446,2794,3399,0,0,7,0,0,0
$GC,577,-0.77,-146.0,54.9,-9.9,100,582,0.00,2.88,0.00,0.000,4,0.000,0.088,2447,3932,3399,0,0,8,0,0,0
$GC,747,-0.83,-146.0,73.2,-11.5,130,753,0.00,2.72,0.00,0.000,6,0.000,0.061,2446,2796,3399,0,0,7,0,0,0
$GC,1087,-0.90,-146.0,108.8,-9.6,183,1092,0.15,2.85,0.00,0.000,4,0.114,0.087,2388,3929,3398,0,0,9,0,0,0
$GC,1239,-0.76,-146.0,127.7,-12.4,196,1245,0.22,2.72,0.00,0.000,6,0.212,0.061,2440,2791,3398,0,0,5,0,0,0
$GC,1565,-0.82,-146.0,157.9,-8.7,226,1570,0.00,2.85,0.00,0.000,4,0.000,0.087,2440,3921,3398,0,0,8,0,0,0
$STATE,1647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1647,begin apogee
$GC,1657,-0.16,0.0,165.4,8.5,233,1777,0.68,0.00,115.88,0.853,6,0.193,0.000,2627,2401,2799,0,0,0,0,0,0
$STATE,1778,end apogee,CONTROL_FINISHED_OK
$STATE,1778,begin climb
$GC,1782,0.73,146.0,169.2,0.0,245,1909,0.98,1.92,118.53,0.808,4,0.143,0.086,2924,801,2204,0,0,0,0,0,0
$GC,2035,0.73,146.0,149.6,10.8,268,2040,0.00,1.80,0.00,0.000,6,0.000,0.061,2924,2409,2199,0,0,0,0,0,0
$GC,2359,0.73,146.0,115.6,10.9,299,2368,0.00,3.90,0.00,0.000,4,0.000,0.081,2924,3915,2196,0,0,8,0,0,0
$GC,2517,0.62,146.0,96.3,12.2,315,2527,0.20,3.85,0.00,0.000,6,0.202,0.069,2896,2396,2195,0,0,7,0,0,0
$GC,2868,0.79,187.4,66.8,7.4,377,2910,0.15,3.97,33.62,0.759,4,0.119,0.081,2946,3926,2035,0,0,9,0,0,0
$GC,3007,0.70,187.4,50.6,12.7,402,3017,0.20,3.90,0.00,0.000,6,0.199,0.067,2918,2398,2031,0,0,6,0,0,0
$GC,3355,0.78,187.4,17.9,10.2,464,3361,0.00,3.92,0.00,0.000,4,0.000,0.081,2918,3926,2030,0,0,8,0,0,0
$GC,3434,0.78,187.4,9.5,10.3,478,3440,0.00,3.85,0.00,0.000,6,0.000,0.068,2934,2400,2030,0,0,7,0,0,0
$FREEZE,8.25,0.860,-1.851,0,1,0
$FREEZE,7.55,0.868,-1.851,0,1,0
$FREEZE,7.03,0.857,-1.851,0,1,0
$FREEZE,6.29,0.856,-1.850,0,1,0
$FREEZE,5.69,0.858,-1.850,0,1,0
$FREEZE,5.05,0.855,-1.849,0,1,0
$FREEZE,4.46,0.858,-1.849,0,1,0
$FREEZE,4.01,0.852,-1.848,0,1,0
$FREEZE,3.39,0.850,-1.848,0,1,0
$FREEZE,2.80,0.846,-1.847,0,1,0
$FREEZE,2.18,0.846,-1.847,0,1,0
$FREEZE,1.59,0.848,-1.846,0,1,0
$STATE,3507,end climb,SURFACE_DEPTH_REACHED
$STATE,3507,begin surface coast
$FREEZE,0.85,0.851,-1.846,0,1,0
$FREEZE,0.33,0.890,-1.842,0,1,0
$FREEZE,0.36,0.788,-1.766,0,1,0
$FINISH,0.4,1.025847
$STATE,3525,end surface coast,CONTROL_FINISHED_OK
$STATE,3526,begin surface
$SM_CCo,3544,76.78,0.723,0,0,1475,325.02
$SM_GC,1.23,0.00,0.00,76.78,0.000,0.000,0.723,125,2799,1475,-8.02,-0.06,325.02
$RAFOS_CLK,221
$RAFOS,6,1262666946,4.833333,4.818333,59,59,58,0,0,0,175,218,117,0,0,0
$RAFOS,5,1262666471,4.700000,4.686389,57,57,55,0,0,0,157,209,191,0,0,0
$RAFOS,4,1262665982,4.566667,4.550556,69,58,58,0,0,0,158,171,203,0,0,0
$RAFOS,3,1262665505,4.433333,4.418056,66,60,57,0,0,0,216,205,126,0,0,0
$RAFOS,2,1262665022,4.300000,4.283889,60,58,57,0,0,0,182,202,153,0,0,0
$RAFOS,1,1262664546,4.166667,4.151667,65,63,60,0,0,0,212,170,201,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5631.12,010499,020200
$TT8_MAMPS,0.027612
$HUMID,48.62
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.40
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,19.2
$24V_AH,23.0,86.023
$10V_AH,9.9,43.520
$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,23.150,51.725,268.025,76.775,0.000,24.561,29.822,120.899,1.000,0.000,23.280,805.182,1569.884,428.654,817.983,299.753,0.000,885.360,0.000,795.775,2160.000,2.619,0.000
$DEVICE_MAMPS,316.004,101.244,852.904,723.281,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,358.526,331.294,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152564
$DATA_FILE_SIZE,19021,494
$CAP_FILE_SIZE,56363,0
$CFSIZE,260165632,213708800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,104,0,0
$SOUNDSPEED,1458.9
$GPS,050110,050404,6739.181,-5632.181,7,3.1,27,-38.2