version: 66.06
glider: 143
mission: 10
dive: 496
start: 1 2 110 13 23 14
data:
$ID,143
$MISSION,10
$DIVE,496
$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,-46544.598
$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,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
$GPS1,131806,6739.493,-5633.041,35,1.1,42,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-68.8
$GPS2,132255,6739.566,-5633.127,11,1.8,16,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6734.167,-5608.617
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,114,0.00,0.00,-95.43,0.000,2,0.000,0.000,126,2793,3198,0,0,0,0,0,0
$GC,117,-0.73,-146.0,3.3,-5.3,19,143,11.30,2.97,-5.30,0.000,4,0.291,0.102,2448,3931,3399,0,0,8,0,0,0
$GC,233,-0.73,-146.0,19.8,-10.5,40,239,0.00,2.75,0.00,0.000,6,0.000,0.062,2449,2800,3401,0,0,6,0,0,0
$GC,577,-0.73,-146.0,52.6,-9.5,101,583,0.00,2.85,0.00,0.000,4,0.000,0.090,2448,3924,3401,0,0,8,0,0,0
$GC,679,-0.78,-146.0,62.6,-9.7,119,685,0.00,2.72,0.00,0.000,6,0.000,0.062,2448,2793,3401,0,0,7,0,0,0
$GC,1023,-0.83,-146.0,94.0,-7.9,180,1029,0.00,2.88,0.00,0.000,4,0.000,0.090,2449,3935,3401,0,0,8,0,0,0
$GC,1058,-0.89,-146.0,96.7,-8.2,186,1064,0.15,2.72,0.00,0.000,6,0.117,0.062,2400,2796,3400,0,0,7,0,0,0
$GC,1386,-0.82,-146.0,130.3,-10.3,220,1391,0.00,2.90,0.00,0.000,4,0.000,0.089,2399,3937,3400,0,0,6,0,0,0
$GC,1582,-0.72,-146.0,151.8,-10.6,237,1588,0.22,2.72,0.00,0.000,6,0.199,0.064,2454,2799,3399,0,0,7,0,0,0
$STATE,1800,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1800,begin apogee
$GC,1806,-0.16,0.0,170.1,6.3,257,1926,0.60,0.00,116.40,0.856,6,0.176,0.000,2628,2392,2800,0,0,0,0,0,0
$STATE,1927,end apogee,CONTROL_FINISHED_OK
$STATE,1927,begin climb
$GC,1930,0.73,146.0,173.8,0.0,269,2058,0.95,1.95,119.32,0.812,4,0.140,0.087,2919,790,2202,0,0,0,0,0,0
$GC,2173,0.73,146.0,155.0,9.3,291,2177,0.00,1.83,0.00,0.000,6,0.000,0.062,2919,2410,2198,0,0,0,0,0,0
$GC,2504,0.73,149.6,123.5,9.0,322,2513,0.00,3.92,0.00,0.000,4,0.000,0.081,2919,3923,2195,0,0,7,0,0,0
$GC,2632,0.64,149.6,109.4,11.5,333,2639,0.17,3.85,0.00,0.000,6,0.202,0.069,2898,2403,2193,0,0,7,0,0,0
$GC,2970,0.77,163.9,78.9,8.6,385,2992,0.12,3.92,14.62,0.744,4,0.125,0.082,2939,3923,2130,0,0,8,0,0,0
$GC,3144,0.67,163.9,58.0,12.4,416,3150,0.20,3.85,0.00,0.000,6,0.198,0.070,2910,2399,2129,0,0,7,0,0,0
$GC,3490,0.81,198.0,28.6,7.7,477,3528,0.12,3.97,29.00,0.744,4,0.126,0.082,2952,3916,1992,0,0,7,0,0,0
$GC,3625,0.72,198.0,12.6,13.0,501,3632,0.20,3.90,0.00,0.000,6,0.193,0.070,2922,2392,1989,0,0,6,0,0,0
$FREEZE,8.96,0.914,-1.851,0,1,0
$FREEZE,8.39,0.915,-1.850,0,1,0
$FREEZE,7.93,0.915,-1.850,0,1,0
$FREEZE,7.49,0.915,-1.850,0,1,0
$FREEZE,6.93,0.915,-1.849,0,1,0
$FREEZE,6.41,0.915,-1.849,0,1,0
$FREEZE,5.86,0.916,-1.848,0,1,0
$FREEZE,5.44,0.916,-1.848,0,1,0
$FREEZE,4.84,0.915,-1.848,0,1,0
$FREEZE,4.40,0.914,-1.847,0,1,0
$FREEZE,3.85,0.915,-1.847,0,1,0
$FREEZE,3.31,0.916,-1.846,0,1,0
$FREEZE,2.88,0.916,-1.846,0,1,0
$FREEZE,2.31,0.916,-1.846,0,1,0
$FREEZE,1.81,0.915,-1.845,0,1,0
$STATE,3738,end climb,SURFACE_DEPTH_REACHED
$STATE,3738,begin surface coast
$FREEZE,1.26,0.917,-1.845,0,1,0
$FREEZE,0.65,0.916,-1.844,0,1,0
$FREEZE,0.64,0.919,-1.844,0,1,0
$FREEZE,0.49,0.922,-1.844,0,1,0
$FINISH,0.5,1.026941
$STATE,3762,end surface coast,CONTROL_FINISHED_OK
$STATE,3762,begin surface
$SM_CCo,3780,73.00,0.722,0,0,1474,325.02
$SM_GC,1.34,0.00,0.00,73.00,0.000,0.000,0.722,130,2792,1474,-8.00,-0.23,325.02
$RAFOS_CLK,232
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5631.12,290399,121230
$TT8_MAMPS,0.027612
$HUMID,48.42
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.3,18.5
$24V_AH,22.9,80.970
$10V_AH,10.1,41.759
$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,22.250,51.900,279.350,73.000,0.000,27.179,41.919,108.888,0.750,0.000,18.247,852.457,1723.882,429.599,848.732,295.078,0.000,903.687,0.000,834.064,0.000,3.893,0.000
$DEVICE_MAMPS,291.460,102.011,855.972,721.747,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,383.155,352.878,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152492
$DATA_FILE_SIZE,19083,525
$CAP_FILE_SIZE,58476,0
$CFSIZE,260165632,215613440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,100,0,0
$SOUNDSPEED,1458.0
$GPS,020110,142825,6740.285,-5633.048,11,1.1,12,-38.3