version: 66.06
glider: 143
mission: 10
dive: 523
start: 1 3 110 18 21 14
data:
$ID,143
$MISSION,10
$DIVE,523
$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,240
$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,-47039.102
$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,13
$R_STBD_OVSHOOT,24
$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
$GPS1,181614,6741.326,-5622.630,11,1.3,12,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-69.4
$GPS2,182055,6741.342,-5622.641,8,1.3,13,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6735.943,-5647.183
$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,278.2,20000,-16.9,-9.167
$D_GRID,138
$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,-94.50,0.000,2,0.000,0.000,128,2806,3181,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.1,-4.9,19,142,11.68,2.53,-6.03,0.000,4,0.303,0.096,2447,1184,3399,0,0,2,0,0,0
$GC,266,-0.73,-146.0,21.6,-9.6,46,271,0.00,2.40,0.00,0.000,6,0.000,0.071,2448,2791,3400,0,0,1,0,0,0
$GC,611,-0.73,-146.0,54.0,-9.5,107,617,0.00,2.90,0.00,0.000,4,0.000,0.091,2448,3918,3400,0,0,8,0,0,0
$GC,842,-0.78,-146.0,75.5,-8.2,148,848,0.00,2.75,0.00,0.000,6,0.000,0.063,2448,2795,3400,0,0,7,0,0,0
$GC,1183,-0.83,-146.0,106.0,-8.7,203,1188,0.00,2.92,0.00,0.000,4,0.000,0.090,2448,3919,3400,0,0,6,0,0,0
$GC,1301,-0.83,-146.0,117.1,-8.4,213,1306,0.00,2.78,0.00,0.000,6,0.000,0.062,2448,2799,3400,0,0,5,0,0,0
$STATE,1539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1539,begin apogee
$GC,1547,-0.16,0.0,138.7,9.2,235,1668,0.65,0.00,115.85,0.837,6,0.181,0.000,2633,2388,2800,0,0,0,0,0,0
$STATE,1668,end apogee,CONTROL_FINISHED_OK
$STATE,1669,begin climb
$GC,1671,0.73,146.0,142.6,0.0,247,1798,0.95,1.92,118.50,0.794,4,0.143,0.089,2921,797,2202,0,0,0,0,0,0
$GC,1872,0.73,146.0,129.6,9.6,266,1876,0.00,1.83,0.00,0.000,6,0.000,0.062,2921,2412,2199,0,0,0,0,0,0
$GC,2198,0.73,151.0,99.5,9.0,297,2209,0.00,3.97,4.40,0.574,4,0.000,0.082,2921,3911,2184,0,0,7,0,0,0
$GC,2324,0.65,151.0,85.2,11.5,319,2330,0.17,3.88,0.00,0.000,6,0.206,0.071,2900,2407,2182,0,0,7,0,0,0
$GC,2669,0.81,193.8,56.3,7.4,380,2716,0.15,4.00,36.15,0.759,4,0.120,0.083,2950,3908,2008,0,0,10,0,0,0
$GC,2773,0.69,193.8,44.7,12.9,399,2783,0.22,3.92,0.00,0.000,6,0.198,0.069,2915,2387,2005,0,0,7,0,0,0
$GC,3123,0.81,198.5,13.3,9.0,461,3135,0.12,4.00,4.72,0.586,4,0.127,0.083,2956,3924,1990,0,0,8,0,0,0
$FREEZE,8.50,0.796,-1.851,0,1,0
$FREEZE,7.77,0.795,-1.850,0,1,0
$FREEZE,7.07,0.793,-1.850,0,1,0
$FREEZE,6.31,0.807,-1.849,0,1,0
$FREEZE,5.59,0.789,-1.849,0,1,0
$FREEZE,4.84,0.779,-1.848,0,1,0
$FREEZE,4.20,0.780,-1.848,0,1,0
$FREEZE,3.49,0.787,-1.847,0,1,0
$FREEZE,2.76,0.801,-1.846,0,1,0
$FREEZE,2.08,0.800,-1.846,0,1,0
$FREEZE,1.31,0.775,-1.846,0,1,0
$STATE,3218,end climb,SURFACE_DEPTH_REACHED
$STATE,3219,begin surface coast
$FREEZE,0.67,0.754,-1.845,0,1,0
$FREEZE,0.42,0.699,-1.036,0,1,0
$FINISH,0.4,1.015309
$STATE,3231,end surface coast,CONTROL_FINISHED_OK
$STATE,3231,begin surface
$SM_CCo,3252,73.20,0.725,0,0,1474,325.02
$SM_GC,1.43,0.00,0.00,73.20,0.000,0.000,0.725,127,2806,1474,-8.01,0.17,325.02
$RAFOS_CLK,203
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5620.16,300399,171732
$TT8_MAMPS,0.027612
$HUMID,49.09
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,17.20
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.9,19.7
$24V_AH,23.0,83.363
$10V_AH,10.1,42.578
$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,22.300,43.725,279.625,73.200,0.000,22.489,40.381,107.914,1.500,0.000,14.819,759.546,1400.701,422.955,747.088,282.298,0.000,850.868,0.000,738.521,0.000,2.619,0.000
$DEVICE_MAMPS,302.965,95.875,836.797,724.815,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,350.951,321.654,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152564
$DATA_FILE_SIZE,19030,480
$CAP_FILE_SIZE,51496,0
$CFSIZE,260165632,214724608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,74,0,0
$SOUNDSPEED,1457.6
$GPS,030110,191755,6741.134,-5623.727,12,1.5,30,-38.2