version: 66.06
glider: 143
mission: 10
dive: 506
start: 1 3 110 1 3 21
data:
$ID,143
$MISSION,10
$DIVE,506
$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,-46763.484
$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,15
$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
$GPS1,005836,6739.288,-5631.247,11,1.6,22,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-69.2
$GPS2,010302,6739.286,-5631.264,12,1.6,12,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.886,-5606.758
$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,158
$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,-146.0,0.0,0.0,0,113,0.00,0.00,-94.50,0.000,2,0.000,0.000,122,2806,3197,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.0,-4.4,19,142,11.23,2.55,-5.60,0.000,4,0.290,0.094,2445,1196,3399,0,0,2,0,0,0
$GC,395,-0.73,-146.0,34.2,-10.3,69,400,0.00,2.42,0.00,0.000,6,0.000,0.071,2444,2804,3400,0,0,1,0,0,0
$GC,739,-0.73,-146.0,64.1,-8.3,130,745,0.00,2.90,0.00,0.000,4,0.000,0.091,2444,3926,3400,0,0,6,0,0,0
$GC,797,-0.78,-146.0,69.1,-8.8,140,802,0.00,2.72,0.00,0.000,6,0.000,0.062,2445,2800,3400,0,0,7,0,0,0
$GC,1141,-0.83,-146.0,97.4,-8.5,201,1147,0.00,2.90,0.00,0.000,4,0.000,0.088,2445,3923,3400,0,0,6,0,0,0
$GC,1212,-0.89,-146.0,103.4,-8.7,210,1217,0.12,2.72,0.00,0.000,6,0.127,0.062,2405,2800,3400,0,0,7,0,0,0
$GC,1537,-0.80,-146.0,136.6,-9.7,240,1541,0.00,2.90,0.00,0.000,4,0.000,0.087,2405,3928,3400,0,0,6,0,0,0
$GC,1633,-0.73,-146.0,146.3,-9.2,248,1639,0.20,2.75,0.00,0.000,6,0.199,0.062,2452,2793,3399,0,0,7,0,0,0
$STATE,1785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1785,begin apogee
$GC,1792,-0.16,0.0,158.7,8.1,262,1913,0.62,0.00,116.12,0.844,6,0.176,0.000,2632,2394,2800,0,0,0,0,0,0
$STATE,1913,end apogee,CONTROL_FINISHED_OK
$STATE,1914,begin climb
$GC,1916,0.73,146.0,161.1,0.0,274,2044,0.95,1.92,118.80,0.798,4,0.138,0.087,2924,798,2202,0,0,0,0,0,0
$GC,2083,0.73,146.0,149.0,9.9,289,2089,0.00,1.88,0.00,0.000,6,0.000,0.061,2924,2405,2199,0,0,0,0,0,0
$GC,2408,0.73,146.0,116.7,9.8,320,2418,0.00,3.92,0.00,0.000,4,0.000,0.081,2924,3913,2195,0,0,8,0,0,0
$GC,2575,0.64,146.0,96.3,12.5,337,2582,0.17,3.85,0.00,0.000,6,0.203,0.070,2903,2405,2193,0,0,7,0,0,0
$GC,2921,0.73,152.1,65.2,8.9,398,2933,0.00,3.92,5.03,0.608,4,0.000,0.081,2903,3921,2178,0,0,8,0,0,0
$GC,2956,0.73,152.1,61.5,9.9,404,2962,0.00,3.85,0.00,0.000,6,0.000,0.068,2919,2398,2178,0,0,7,0,0,0
$GC,3299,0.78,192.3,31.3,7.5,465,3341,0.00,4.00,34.15,0.744,4,0.000,0.082,2918,3920,2016,0,0,8,0,0,0
$GC,3431,0.78,192.3,16.8,12.1,489,3437,0.00,3.92,0.00,0.000,6,0.000,0.069,2936,2393,2012,0,0,6,0,0,0
$FREEZE,8.89,1.783,-1.862,0,1,0
$FREEZE,8.42,1.787,-1.862,0,1,0
$FREEZE,7.85,1.791,-1.862,0,1,0
$FREEZE,7.38,1.782,-1.861,0,1,0
$FREEZE,6.79,1.788,-1.861,0,1,0
$FREEZE,6.14,1.786,-1.860,0,1,0
$FREEZE,5.64,1.788,-1.860,0,1,0
$FREEZE,4.94,1.783,-1.859,0,1,0
$FREEZE,4.30,1.783,-1.859,0,1,0
$FREEZE,3.70,1.794,-1.858,0,1,0
$FREEZE,3.12,1.791,-1.858,0,1,0
$FREEZE,2.52,1.783,-1.858,0,1,0
$FREEZE,1.81,1.776,-1.857,0,1,0
$STATE,3577,end climb,SURFACE_DEPTH_REACHED
$STATE,3577,begin surface coast
$FREEZE,1.34,1.769,-1.857,0,1,0
$FREEZE,0.78,1.777,-1.856,0,1,0
$FREEZE,0.54,1.772,-0.937,0,1,0
$FINISH,0.5,1.013827
$STATE,3597,end surface coast,CONTROL_FINISHED_OK
$STATE,3597,begin surface
$SM_CCo,3615,75.65,0.717,0,0,1475,325.02
$SM_GC,1.44,0.00,0.00,75.65,0.000,0.000,0.717,124,2800,1475,-8.02,0.00,325.02
$RAFOS_CLK,224
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5628.00,300399,000047
$TT8_MAMPS,0.027612
$HUMID,49.21
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,17.40
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,18.7
$24V_AH,23.0,81.879
$10V_AH,9.9,42.080
$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,21.550,51.275,274.100,75.650,0.000,23.512,32.148,102.781,0.750,0.000,14.395,849.313,1591.162,430.308,822.164,271.815,0.000,891.843,0.000,808.220,0.000,2.618,0.000
$DEVICE_MAMPS,289.926,93.574,843.700,717.145,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,374.375,347.708,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152556
$DATA_FILE_SIZE,19018,518
$CAP_FILE_SIZE,56545,0
$CFSIZE,260165632,215277568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,88,0,0
$SOUNDSPEED,1459.3
$GPS,030110,020608,6739.842,-5630.486,28,1.6,31,-38.2