version: 66.06
glider: 143
mission: 10
dive: 507
start: 1 3 110 2 11 3
data:
$ID,143
$MISSION,10
$DIVE,507
$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,-46776.305
$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,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
$GPS1,020608,6739.842,-5630.486,28,1.6,31,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-69.8
$GPS2,021044,6739.912,-5630.513,10,1.7,10,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6734.512,-5605.997
$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,154
$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,-94.70,0.000,2,0.000,0.000,124,2800,3216,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.1,-4.6,19,138,11.18,2.53,-4.97,0.000,4,0.289,0.094,2445,1178,3396,0,0,0,0,0,0
$GC,391,-0.73,-146.0,37.5,-10.8,68,396,0.00,2.42,0.00,0.000,6,0.000,0.071,2445,2803,3399,0,0,1,0,0,0
$GC,733,-0.73,-146.0,72.5,-10.3,129,739,0.00,2.90,0.00,0.000,4,0.000,0.089,2445,3924,3399,0,0,6,0,0,0
$GC,825,-0.78,-146.0,82.3,-11.1,145,831,0.00,2.72,0.00,0.000,6,0.000,0.061,2445,2801,3399,0,0,7,0,0,0
$GC,1166,-0.83,-146.0,116.6,-10.4,191,1171,0.00,2.92,0.00,0.000,4,0.000,0.087,2445,3940,3400,0,0,6,0,0,0
$GC,1251,-0.90,-146.0,125.2,-9.9,198,1256,0.15,2.75,0.00,0.000,6,0.118,0.061,2397,2801,3399,0,0,7,0,0,0
$STATE,1500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1500,begin apogee
$GC,1506,-0.16,0.0,154.2,11.5,221,1627,0.82,0.00,115.80,0.838,6,0.184,0.000,2626,2396,2799,0,0,0,0,0,0
$STATE,1628,end apogee,CONTROL_FINISHED_OK
$STATE,1628,begin climb
$GC,1631,0.73,146.0,158.7,0.0,233,1758,0.98,1.92,118.40,0.796,4,0.141,0.088,2921,803,2202,0,0,0,0,0,0
$GC,1855,0.74,157.6,144.1,8.7,254,1870,0.00,1.85,10.40,0.710,6,0.000,0.061,2922,2412,2157,0,0,0,0,0,0
$GC,2189,0.77,185.8,116.7,8.0,285,2221,0.00,3.97,24.35,0.765,4,0.000,0.081,2922,3926,2041,0,0,8,0,0,0
$GC,2373,0.77,185.8,98.4,11.5,302,2379,0.00,3.90,0.00,0.000,6,0.000,0.068,2940,2404,2036,0,0,6,0,0,0
$GC,2716,0.77,185.8,63.5,10.5,363,2722,0.00,3.92,0.00,0.000,4,0.000,0.081,2940,3922,2036,0,0,8,0,0,0
$GC,2751,0.71,185.8,59.5,11.9,369,2757,0.17,3.85,0.00,0.000,6,0.204,0.068,2917,2397,2036,0,0,7,0,0,0
$GC,3098,0.79,185.8,26.2,9.3,430,3104,0.00,3.90,0.00,0.000,4,0.000,0.081,2917,3913,2036,0,0,8,0,0,0
$GC,3217,0.79,185.8,12.7,11.3,451,3223,0.00,3.83,0.00,0.000,6,0.000,0.069,2933,2399,2036,0,0,7,0,0,0
$FREEZE,8.61,1.772,-1.862,0,1,0
$FREEZE,8.03,1.774,-1.861,0,1,0
$FREEZE,7.50,1.775,-1.861,0,1,0
$FREEZE,6.97,1.776,-1.860,0,1,0
$FREEZE,6.40,1.773,-1.860,0,1,0
$FREEZE,5.93,1.772,-1.860,0,1,0
$FREEZE,5.35,1.770,-1.859,0,1,0
$FREEZE,4.89,1.773,-1.859,0,1,0
$FREEZE,4.25,1.769,-1.858,0,1,0
$FREEZE,3.69,1.767,-1.858,0,1,0
$FREEZE,3.20,1.765,-1.858,0,1,0
$FREEZE,2.64,1.768,-1.857,0,1,0
$FREEZE,2.03,1.771,-1.857,0,1,0
$FREEZE,1.41,1.766,-1.856,0,1,0
$STATE,3329,end climb,SURFACE_DEPTH_REACHED
$STATE,3329,begin surface coast
$FREEZE,0.95,1.765,-1.856,0,1,0
$FREEZE,0.48,1.767,-0.955,0,1,0
$FREEZE,0.55,1.735,-1.851,0,1,0
$FINISH,0.5,1.026991
$STATE,3347,end surface coast,CONTROL_FINISHED_OK
$STATE,3347,begin surface
$SM_CCo,3366,78.05,0.723,0,0,1475,325.02
$SM_GC,1.38,0.00,0.00,78.05,0.000,0.000,0.723,126,2793,1475,-8.01,-0.20,325.02
$RAFOS_CLK,208
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5635.83,300399,010155
$TT8_MAMPS,0.027612
$HUMID,49.13
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.30
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,19.1
$24V_AH,23.0,81.966
$10V_AH,10.2,42.110
$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,21.500,45.525,268.950,78.050,0.000,31.437,32.637,105.423,1.000,0.000,12.195,786.490,1482.313,415.163,762.869,277.996,0.000,845.583,0.000,751.379,0.000,2.621,0.000
$DEVICE_MAMPS,289.159,93.574,838.331,723.281,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,342.340,318.600,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152564
$DATA_FILE_SIZE,15900,474
$CAP_FILE_SIZE,51826,0
$CFSIZE,260165632,215252992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,71,0,0
$SOUNDSPEED,1459.8
$GPS,030110,030920,6740.472,-5629.682,7,1.2,8,-38.2