version: 66.06
glider: 143
mission: 10
dive: 475
start: 1 1 110 10 43 2
data:
$ID,143
$MISSION,10
$DIVE,475
$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,-46113.867
$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,17
$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
$GPS1,103801,6737.604,-5647.625,10,1.5,29,-38.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-69.8
$GPS2,104243,6737.631,-5647.692,10,1.4,15,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6732.231,-5623.215
$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,158.3,20000,-16.9,-9.167
$D_GRID,187
$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,-146.0,0.0,0.0,0,113,0.00,0.00,-94.80,0.000,2,0.000,0.000,126,2806,3159,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.2,-5.4,19,137,11.68,0.00,-6.47,0.000,6,0.303,0.000,2448,2806,3396,0,0,0,0,0,0
$GC,474,-0.73,-146.0,43.8,-10.5,83,480,0.00,2.90,0.00,0.000,4,0.000,0.093,2448,3922,3400,0,0,6,0,0,0
$GC,611,-0.73,-146.0,58.6,-11.3,107,617,0.00,2.75,0.00,0.000,6,0.000,0.064,2448,2795,3400,0,0,6,0,0,0
$GC,956,-0.79,-146.0,95.0,-9.8,168,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2796,3400,0,0,0,0,0,0
$GC,1283,-0.88,-146.0,127.2,-9.6,203,1288,0.12,2.90,0.00,0.000,4,0.122,0.090,2400,3917,3399,0,0,7,0,0,0
$GC,1474,-0.82,-146.0,149.7,-11.6,219,1479,0.00,2.72,0.00,0.000,6,0.000,0.064,2400,2799,3398,0,0,6,0,0,0
$GC,1799,-0.75,-146.0,183.7,-10.0,250,1805,0.17,2.88,0.00,0.000,4,0.210,0.087,2430,3921,3398,0,0,7,0,0,0
$STATE,1830,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1830,begin apogee
$GC,1840,-0.16,0.0,187.0,9.3,252,1960,0.73,0.00,116.35,0.873,6,0.187,0.000,2629,2402,2800,0,0,0,0,0,0
$STATE,1961,end apogee,CONTROL_FINISHED_OK
$STATE,1961,begin climb
$GC,1964,0.73,146.0,190.6,0.0,264,2093,0.95,2.00,119.65,0.824,4,0.140,0.087,2919,786,2202,0,0,0,0,0,0
$GC,2172,0.73,146.0,176.3,10.7,283,2176,0.00,1.88,0.00,0.000,6,0.000,0.062,2919,2407,2199,0,0,0,0,0,0
$GC,2502,0.73,146.0,141.9,10.4,314,2511,0.00,3.90,0.00,0.000,4,0.000,0.082,2919,3916,2196,0,0,7,0,0,0
$GC,2625,0.63,146.0,127.8,11.5,325,2635,0.17,3.85,0.00,0.000,6,0.201,0.070,2898,2401,2194,0,0,6,0,0,0
$GC,2956,0.73,146.0,96.2,10.1,359,2962,0.00,3.90,0.00,0.000,4,0.000,0.081,2897,3928,2194,0,0,7,0,0,0
$GC,3035,0.73,146.0,87.1,11.4,373,3041,0.00,3.83,0.00,0.000,6,0.000,0.069,2913,2401,2194,0,0,6,0,0,0
$GC,3380,0.86,200.7,56.5,6.9,434,3432,0.15,4.00,44.40,0.754,4,0.101,0.082,2967,3918,1980,0,0,7,0,0,0
$GC,3462,0.75,200.7,48.5,11.5,449,3469,0.22,3.88,0.00,0.000,6,0.195,0.068,2932,2400,1977,0,0,6,0,0,0
$GC,3808,0.84,209.4,17.9,8.8,510,3824,0.00,3.92,8.07,0.676,4,0.000,0.082,2932,3923,1946,0,0,8,0,0,0
$FREEZE,8.65,-0.166,-1.838,0,1,0
$GC,3899,0.84,209.4,8.7,11.0,526,3905,0.00,3.85,0.00,0.000,6,0.000,0.070,2948,2401,1944,0,0,6,0,0,0
$FREEZE,7.17,-0.184,-1.836,0,1,0
$FREEZE,6.63,-0.176,-1.836,0,1,0
$FREEZE,6.07,-0.182,-1.835,0,1,0
$FREEZE,5.60,-0.176,-1.835,0,1,0
$FREEZE,5.01,-0.177,-1.834,0,1,0
$FREEZE,4.54,-0.177,-1.834,0,1,0
$FREEZE,3.86,-0.180,-1.833,0,1,0
$FREEZE,3.50,-0.169,-1.833,0,1,0
$FREEZE,2.90,-0.163,-1.832,0,1,0
$FREEZE,2.28,-0.172,-1.832,0,1,0
$FREEZE,1.67,-0.189,-1.832,0,1,0
$STATE,3965,end climb,SURFACE_DEPTH_REACHED
$STATE,3966,begin surface coast
$FREEZE,1.18,-0.232,-1.832,0,1,0
$FREEZE,0.61,-0.190,-1.830,0,1,0
$FREEZE,0.42,-0.200,-1.830,0,1,0
$FREEZE,0.47,-0.189,-1.117,0,1,0
$FINISH,0.5,1.016512
$STATE,3988,end surface coast,CONTROL_FINISHED_OK
$STATE,3988,begin surface
$SM_CCo,4007,67.62,0.723,0,0,1475,325.02
$SM_GC,1.25,0.00,0.00,67.62,0.000,0.000,0.723,131,2798,1475,-8.00,-0.06,325.02
$RAFOS_CLK,249
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6720.65,-5342.01,280399,090945
$TT8_MAMPS,0.027612
$HUMID,47.79
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,18.9
$24V_AH,22.9,79.028
$10V_AH,10.1,41.047
$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,22.500,54.025,288.475,67.625,0.000,25.691,34.148,109.609,0.750,0.000,17.225,876.394,1892.480,438.005,872.971,281.945,0.000,924.401,0.000,857.697,0.000,2.619,0.000
$DEVICE_MAMPS,302.965,92.807,872.846,723.281,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,394.046,364.709,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152584
$DATA_FILE_SIZE,19035,542
$CAP_FILE_SIZE,58897,0
$CFSIZE,260165632,216375296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,91,0,0
$SOUNDSPEED,1457.3
$GPS,010110,115155,6738.020,-5647.089,6,1.6,12,-38.3