version: 66.06
glider: 143
mission: 10
dive: 504
start: 1 2 110 22 45 33
data:
$ID,143
$MISSION,10
$DIVE,504
$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,-46716.965
$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,17
$R_STBD_OVSHOOT,13
$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
$GPS1,224043,6739.162,-5632.234,7,1.2,8,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-68.6
$GPS2,224514,6739.139,-5632.229,11,1.3,11,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.739,-5607.727
$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,13,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,118,0.00,0.00,-99.60,0.000,2,0.000,0.000,126,2791,3309,0,0,0,0,0,0
$GC,121,-0.73,-146.0,3.8,-6.8,20,142,10.93,2.53,-2.20,0.000,4,0.282,0.096,2448,1202,3400,0,0,1,0,0,0
$GC,395,-0.73,-146.0,37.4,-10.7,69,400,0.00,2.42,0.00,0.000,6,0.000,0.072,2449,2804,3402,0,0,1,0,0,0
$GC,738,-0.77,-146.0,68.9,-9.2,130,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2803,3402,0,0,0,0,0,0
$GC,1081,-0.83,-146.0,98.4,-8.3,191,1087,0.00,2.90,0.00,0.000,4,0.000,0.091,2448,3928,3402,0,0,6,0,0,0
$GC,1342,-0.92,-146.0,121.2,-8.8,216,1348,0.17,2.72,0.00,0.000,6,0.112,0.063,2391,2803,3401,0,0,6,0,0,0
$GC,1667,-0.81,-146.0,155.6,-10.8,246,1673,0.15,2.88,0.00,0.000,4,0.202,0.088,2425,3925,3401,0,0,8,0,0,0
$STATE,1765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1765,begin apogee
$GC,1777,-0.16,0.0,165.5,10.3,254,1897,0.73,0.00,116.60,0.851,6,0.183,0.000,2627,2398,2800,0,0,0,0,0,0
$STATE,1898,end apogee,CONTROL_FINISHED_OK
$STATE,1898,begin climb
$GC,1901,0.73,146.0,169.5,0.0,266,2027,0.98,0.00,119.03,0.806,6,0.143,0.000,2916,2398,2203,0,0,0,0,0,0
$GC,2340,0.73,146.0,134.0,9.2,308,2350,0.00,3.97,0.00,0.000,4,0.000,0.081,2916,3924,2196,0,0,9,0,0,0
$GC,2491,0.66,146.0,118.4,10.3,321,2498,0.12,3.90,0.00,0.000,6,0.206,0.070,2908,2397,2195,0,0,6,0,0,0
$GC,2821,0.77,190.3,92.9,7.3,360,2867,0.00,4.00,35.83,0.773,4,0.000,0.081,2908,3928,2023,0,0,7,0,0,0
$GC,2901,0.77,190.3,86.2,9.6,375,2907,0.00,3.92,0.00,0.000,6,0.000,0.069,2923,2398,2022,0,0,6,0,0,0
$GC,3244,0.84,192.7,55.2,9.1,436,3251,0.10,3.95,0.00,0.000,4,0.125,0.082,2965,3926,2019,0,0,8,0,0,0
$GC,3360,0.69,192.7,40.2,13.2,456,3371,0.28,3.85,0.00,0.000,6,0.195,0.070,2915,2402,2017,0,0,7,0,0,0
$FREEZE,8.59,1.318,-1.857,0,1,0
$FREEZE,8.08,1.304,-1.856,0,1,0
$FREEZE,7.62,1.313,-1.855,0,1,0
$FREEZE,7.04,1.284,-1.855,0,1,0
$FREEZE,6.54,1.279,-1.854,0,1,0
$GC,3710,0.79,192.7,6.5,9.2,518,3716,0.00,3.90,0.00,0.000,4,0.000,0.081,2914,3920,2017,0,0,8,0,0,0
$FREEZE,5.36,1.272,-1.853,0,1,0
$FREEZE,4.76,1.276,-1.852,0,1,0
$FREEZE,4.26,1.254,-1.852,0,1,0
$FREEZE,3.57,1.240,-1.852,0,1,0
$FREEZE,2.97,1.236,-1.851,0,1,0
$FREEZE,2.43,1.232,-1.851,0,1,0
$FREEZE,1.82,1.232,-1.850,0,1,0
$STATE,3754,end climb,SURFACE_DEPTH_REACHED
$STATE,3754,begin surface coast
$FREEZE,1.37,1.227,-1.850,0,1,0
$FREEZE,0.77,1.226,-1.849,0,1,0
$FREEZE,0.52,1.220,-1.235,0,1,0
$FINISH,0.5,1.018205
$STATE,3774,end surface coast,CONTROL_FINISHED_OK
$STATE,3774,begin surface
$SM_CCo,3794,76.60,0.729,0,0,1474,325.02
$SM_GC,1.44,0.00,0.00,76.60,0.000,0.000,0.729,125,2800,1474,-8.02,0.00,325.02
$RAFOS_CLK,234
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5632.72,290399,212106
$TT8_MAMPS,0.027612
$HUMID,49.05
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.40
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,19.2
$24V_AH,23.0,81.704
$10V_AH,10.0,42.017
$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,21.650,47.650,271.450,76.600,0.000,24.486,34.146,105.873,1.000,0.000,12.561,834.722,1749.949,431.485,853.819,276.906,0.000,902.427,0.000,842.606,0.000,2.617,0.000
$DEVICE_MAMPS,282.256,95.875,850.603,729.417,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,385.451,355.300,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152548
$DATA_FILE_SIZE,18992,529
$CAP_FILE_SIZE,55667,0
$CFSIZE,260165632,215343104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,83,0,0
$SOUNDSPEED,1458.6
$GPS,020110,235124,6739.129,-5631.717,31,1.7,36,-38.2