version: 66.06
glider: 143
mission: 10
dive: 478
start: 1 1 110 14 31 2
data:
$ID,143
$MISSION,10
$DIVE,478
$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,-46156.027
$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,19
$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
$GPS1,142619,6739.663,-5646.547,9,1.6,10,-38.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-69.3
$GPS2,143043,6739.735,-5646.552,12,1.5,12,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6734.335,-5622.039
$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,188
$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,13,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,113,0.00,0.00,-94.72,0.000,2,0.000,0.000,125,2807,3197,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.5,-6.7,19,142,11.48,2.55,-5.15,0.000,4,0.298,0.095,2445,1195,3398,0,0,1,0,0,0
$GC,338,-0.73,-146.0,33.0,-10.8,59,344,0.00,2.40,0.00,0.000,6,0.000,0.071,2445,2797,3400,0,0,0,0,0,0
$GC,681,-0.73,-146.0,69.1,-11.4,120,686,0.00,2.92,0.00,0.000,4,0.000,0.092,2445,3919,3400,0,0,6,0,0,0
$GC,890,-0.78,-146.0,92.2,-11.6,157,896,0.00,2.78,0.00,0.000,6,0.000,0.064,2445,2794,3399,0,0,6,0,0,0
$GC,1224,-0.86,-146.0,127.8,-9.8,194,1229,0.00,2.90,0.00,0.000,4,0.000,0.091,2445,3923,3398,0,0,8,0,0,0
$GC,1367,-0.94,-146.0,141.5,-9.6,206,1372,0.17,2.75,0.00,0.000,6,0.114,0.063,2388,2799,3397,0,0,6,0,0,0
$GC,1691,-0.83,-146.0,178.4,-10.5,236,1697,0.12,2.88,0.00,0.000,4,0.215,0.087,2413,3918,3397,0,0,8,0,0,0
$STATE,1790,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1790,begin apogee
$GC,1801,-0.16,0.0,188.5,9.8,244,1922,0.80,0.00,116.30,0.871,6,0.193,0.000,2630,2404,2799,0,0,0,0,0,0
$STATE,1923,end apogee,CONTROL_FINISHED_OK
$STATE,1923,begin climb
$GC,1925,0.73,146.0,191.6,0.0,256,2054,0.95,2.00,119.72,0.821,4,0.140,0.087,2920,794,2202,0,0,0,0,0,0
$GC,2127,0.73,146.0,175.7,11.0,274,2133,0.00,1.85,0.00,0.000,6,0.000,0.061,2920,2405,2198,0,0,0,0,0,0
$GC,2451,0.73,146.0,143.3,9.9,305,2461,0.00,3.90,0.00,0.000,4,0.000,0.081,2920,3913,2194,0,0,7,0,0,0
$GC,2598,0.62,146.0,126.8,11.6,318,2609,0.20,3.85,0.00,0.000,6,0.199,0.070,2891,2393,2194,0,0,6,0,0,0
$GC,2928,0.80,205.5,100.7,6.7,349,2985,0.17,4.03,48.33,0.778,4,0.110,0.081,2950,3923,1961,0,0,7,0,0,0
$GC,3092,0.68,205.5,82.4,12.4,378,3098,0.22,3.88,0.00,0.000,6,0.192,0.069,2914,2400,1956,0,0,6,0,0,0
$GC,3437,0.85,241.1,52.3,7.7,439,3479,0.15,3.95,30.20,0.746,4,0.117,0.081,2965,3918,1816,0,0,7,0,0,0
$GC,3610,0.76,241.1,30.5,13.2,470,3616,0.17,3.85,0.00,0.000,6,0.187,0.070,2942,2400,1814,0,0,6,0,0,0
$FREEZE,8.56,-0.205,-1.836,0,1,0
$FREEZE,7.98,-0.202,-1.836,0,1,0
$FREEZE,7.34,-0.200,-1.835,0,1,0
$FREEZE,6.69,-0.208,-1.835,0,1,0
$FREEZE,6.14,-0.211,-1.834,0,1,0
$FREEZE,5.52,-0.218,-1.834,0,1,0
$FREEZE,5.04,-0.218,-1.834,0,1,0
$FREEZE,4.46,-0.208,-1.833,0,1,0
$FREEZE,3.85,-0.217,-1.833,0,1,0
$FREEZE,3.30,-0.220,-1.832,0,1,0
$FREEZE,2.69,-0.235,-1.832,0,1,0
$FREEZE,2.08,-0.228,-1.832,0,1,0
$FREEZE,1.59,-0.235,-1.831,0,1,0
$STATE,3873,end climb,SURFACE_DEPTH_REACHED
$STATE,3873,begin surface coast
$FREEZE,0.76,-0.236,-1.830,0,1,0
$FREEZE,0.34,-0.235,-1.829,0,1,0
$FREEZE,0.39,-0.395,-1.821,0,1,0
$FINISH,0.4,1.026687
$STATE,3892,end surface coast,CONTROL_FINISHED_OK
$STATE,3892,begin surface
$SM_CCo,3910,53.10,0.725,0,0,1474,325.02
$SM_GC,1.19,0.00,0.00,53.10,0.000,0.000,0.725,128,2805,1474,-8.01,0.14,325.02
$RAFOS_CLK,238
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6715.07,-5642.17,280399,131323
$TT8_MAMPS,0.027612
$HUMID,48.03
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,19.1
$24V_AH,22.9,79.304
$10V_AH,10.1,41.147
$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,22.750,51.350,314.550,53.100,0.000,25.140,30.211,104.267,1.000,0.000,14.003,830.793,1848.846,440.846,843.390,272.538,0.000,918.636,0.000,832.404,0.000,2.619,0.000
$DEVICE_MAMPS,297.596,95.108,871.312,724.815,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,379.564,349.137,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152528
$DATA_FILE_SIZE,19091,520
$CAP_FILE_SIZE,57280,0
$CFSIZE,260165632,216268800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,80,0,0
$SOUNDSPEED,1457.5
$GPS,010110,153822,6740.257,-5646.266,9,99.0,29,-38.3