version: 66.06
glider: 143
mission: 10
dive: 521
start: 1 3 110 16 23 20
data:
$ID,143
$MISSION,10
$DIVE,521
$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,-47010.023
$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,18
$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
$GPS1,161822,6740.990,-5621.323,13,99.0,33,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-69.9
$GPS2,162301,6741.034,-5621.363,10,1.6,15,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6735.635,-5556.827
$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,130
$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,-95.80,0.000,2,0.000,0.000,128,2797,3214,0,0,0,0,0,0
$GC,117,-0.73,-146.0,3.3,-5.2,19,143,11.48,2.92,-4.93,0.000,4,0.298,0.100,2444,3923,3396,0,0,8,0,0,0
$GC,233,-0.73,-146.0,19.0,-9.7,40,239,0.00,2.75,0.00,0.000,6,0.000,0.062,2444,2804,3399,0,0,7,0,0,0
$GC,577,-0.73,-146.0,52.8,-10.0,101,584,0.00,2.85,0.00,0.000,4,0.000,0.090,2445,3917,3399,0,0,8,0,0,0
$GC,737,-0.73,-146.0,69.8,-11.2,129,743,0.00,2.72,0.00,0.000,6,0.000,0.062,2444,2799,3399,0,0,7,0,0,0
$GC,1085,-0.73,-146.0,103.1,-8.8,188,1090,0.00,2.92,0.00,0.000,4,0.000,0.090,2444,3930,3398,0,0,7,0,0,0
$GC,1263,-0.73,-146.0,120.1,-9.2,203,1269,0.00,2.78,0.00,0.000,6,0.000,0.063,2445,2798,3398,0,0,5,0,0,0
$STATE,1363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1363,begin apogee
$GC,1369,-0.16,0.0,130.2,10.4,213,1489,0.65,0.00,115.45,0.831,6,0.189,0.000,2628,2388,2800,0,0,0,0,0,0
$STATE,1490,end apogee,CONTROL_FINISHED_OK
$STATE,1490,begin climb
$GC,1494,0.73,146.0,135.3,0.0,225,1621,0.98,1.95,118.35,0.790,4,0.147,0.089,2920,810,2202,0,0,0,0,0,0
$GC,1707,0.73,146.0,122.1,9.3,245,1711,0.00,1.80,0.00,0.000,6,0.000,0.062,2920,2415,2198,0,0,0,0,0,0
$GC,2036,0.73,148.2,92.3,9.1,283,2042,0.00,3.92,0.00,0.000,4,0.000,0.082,2920,3909,2195,0,0,8,0,0,0
$GC,2205,0.66,148.2,74.2,11.0,313,2212,0.15,3.85,0.00,0.000,6,0.207,0.071,2906,2406,2193,0,0,8,0,0,0
$GC,2551,0.80,186.7,45.5,7.5,374,2593,0.15,4.03,32.90,0.752,4,0.120,0.082,2955,3909,2037,0,0,6,0,0,0
$GC,2661,0.66,186.7,33.2,12.2,394,2671,0.28,3.90,0.00,0.000,6,0.199,0.070,2907,2400,2035,0,0,7,0,0,0
$FREEZE,8.60,1.087,-1.855,0,1,0
$FREEZE,8.12,1.076,-1.855,0,1,0
$FREEZE,7.68,1.063,-1.854,0,1,0
$FREEZE,7.20,1.062,-1.853,0,1,0
$FREEZE,6.72,1.060,-1.853,0,1,0
$FREEZE,6.21,1.070,-1.852,0,1,0
$FREEZE,5.72,1.079,-1.852,0,1,0
$FREEZE,5.28,1.052,-1.852,0,1,0
$FREEZE,4.83,1.042,-1.851,0,1,0
$FREEZE,4.38,1.076,-1.851,0,1,0
$FREEZE,3.85,1.067,-1.850,0,1,0
$FREEZE,3.30,1.066,-1.850,0,1,0
$FREEZE,2.66,1.075,-1.849,0,1,0
$FREEZE,2.04,1.052,-1.849,0,1,0
$GC,3011,0.82,212.3,4.4,8.1,456,3041,0.15,3.97,21.08,0.727,4,0.120,0.083,2957,3924,1933,0,0,10,0,0,0
$FREEZE,0.67,1.037,-1.848,0,1,0
$STATE,3046,end climb,SURFACE_DEPTH_REACHED
$STATE,3046,begin surface coast
$FREEZE,0.46,1.020,-0.966,0,1,0
$FREEZE,0.54,1.033,-0.210,0,1,0
$FREEZE,0.46,1.135,-0.665,0,1,0
$FINISH,0.5,1.009809
$STATE,3063,end surface coast,CONTROL_FINISHED_OK
$STATE,3063,begin surface
$SM_CCo,3084,62.50,0.716,0,0,1474,325.02
$SM_GC,1.40,0.00,0.00,62.50,0.000,0.000,0.716,126,2800,1474,-8.02,0.03,325.02
$RAFOS_CLK,188
$RAFOS,6,1262537343,16.833334,16.817499,67,58,57,0,0,0,210,188,147,0,0,0
$RAFOS,5,1262536861,16.700001,16.683611,59,59,56,0,0,0,214,893,903,0,0,0
$RAFOS,4,1262536381,16.566668,16.550278,58,58,55,0,0,0,161,202,119,0,0,0
$RAFOS,3,1262535901,16.433332,16.416945,56,53,51,0,0,0,210,219,197,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5617.03,300399,151539
$TT8_MAMPS,0.027612
$HUMID,48.97
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.30
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.9,19.5
$24V_AH,23.0,83.187
$10V_AH,9.9,42.520
$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,22.300,44.325,287.775,62.500,0.000,23.424,33.992,108.985,1.250,0.000,17.239,731.915,1260.852,419.440,740.757,278.977,0.000,844.681,0.000,725.281,1440.000,2.617,0.000
$DEVICE_MAMPS,297.596,100.477,831.428,715.611,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,338.101,311.053,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152552
$DATA_FILE_SIZE,15919,465
$CAP_FILE_SIZE,51135,0
$CFSIZE,260165632,214794240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,87,0,0
$SOUNDSPEED,1457.5
$GPS,030110,171704,6741.264,-5621.425,11,99.0,31,-38.2