version: 66.06
glider: 143
mission: 10
dive: 524
start: 1 3 110 19 23 3
data:
$ID,143
$MISSION,10
$DIVE,524
$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,220
$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,-47074.301
$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,14
$R_STBD_OVSHOOT,25
$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
$GPS1,191755,6741.134,-5623.727,12,1.5,30,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-69.1
$GPS2,192245,6741.129,-5623.734,14,1.3,33,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6732.856,-5641.909
$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,258.2,20000,-16.9,-9.167
$D_GRID,135
$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,12,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,113,0.00,0.00,-94.65,0.000,2,0.000,0.000,126,2806,3183,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.1,-4.9,19,142,11.70,2.53,-5.93,0.000,4,0.304,0.095,2450,1189,3398,0,0,2,0,0,0
$GC,260,-0.73,-146.0,22.7,-10.6,45,266,0.00,2.40,0.00,0.000,6,0.000,0.071,2450,2790,3400,0,0,1,0,0,0
$GC,605,-0.73,-146.0,55.2,-8.8,106,610,0.00,2.92,0.00,0.000,4,0.000,0.091,2450,3930,3400,0,0,8,0,0,0
$GC,785,-0.78,-146.0,71.3,-8.6,138,791,0.00,2.78,0.00,0.000,6,0.000,0.064,2451,2794,3400,0,0,7,0,0,0
$GC,1130,-0.83,-146.0,99.7,-7.7,199,1135,0.00,2.90,0.00,0.000,4,0.000,0.089,2450,3922,3400,0,0,8,0,0,0
$GC,1295,-0.91,-146.0,113.5,-8.6,214,1301,0.17,2.75,0.00,0.000,6,0.110,0.064,2392,2794,3399,0,0,7,0,0,0
$STATE,1489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1490,begin apogee
$GC,1498,-0.16,0.0,136.0,11.5,233,1618,0.88,0.00,115.68,0.838,6,0.195,0.000,2631,2389,2799,0,0,0,0,0,0
$STATE,1619,end apogee,CONTROL_FINISHED_OK
$STATE,1619,begin climb
$GC,1622,0.73,146.0,139.8,0.0,245,1749,0.98,1.92,118.38,0.795,4,0.147,0.090,2923,797,2203,0,0,0,0,0,0
$GC,1834,0.73,146.0,125.2,9.8,265,1838,0.00,1.83,0.00,0.000,6,0.000,0.062,2924,2418,2198,0,0,0,0,0,0
$GC,2161,0.73,149.2,95.0,9.0,300,2167,0.00,3.92,0.00,0.000,4,0.000,0.082,2924,3908,2195,0,0,8,0,0,0
$GC,2321,0.64,149.2,78.0,11.0,328,2327,0.17,3.85,0.00,0.000,6,0.202,0.071,2901,2396,2194,0,0,9,0,0,0
$GC,2666,0.81,194.6,51.3,7.3,389,2714,0.15,3.95,39.30,0.758,4,0.119,0.083,2951,3918,2005,0,0,11,0,0,0
$GC,2826,0.70,194.6,32.8,12.9,418,2836,0.22,3.95,0.00,0.000,6,0.196,0.070,2916,2390,2001,0,0,6,0,0,0
$FREEZE,8.83,0.943,-1.853,0,1,0
$FREEZE,8.31,0.943,-1.853,0,1,0
$FREEZE,7.81,0.943,-1.852,0,1,0
$FREEZE,7.37,0.944,-1.852,0,1,0
$FREEZE,6.82,0.944,-1.852,0,1,0
$FREEZE,6.28,0.945,-1.851,0,1,0
$FREEZE,5.77,0.946,-1.851,0,1,0
$FREEZE,5.19,0.949,-1.850,0,1,0
$FREEZE,4.75,0.946,-1.850,0,1,0
$FREEZE,4.14,0.949,-1.849,0,1,0
$FREEZE,3.71,0.936,-1.849,0,1,0
$FREEZE,3.21,0.943,-1.849,0,1,0
$FREEZE,2.73,0.933,-1.849,0,1,0
$FREEZE,2.25,0.942,-1.848,0,1,0
$FREEZE,1.76,0.936,-1.848,0,1,0
$STATE,3171,end climb,SURFACE_DEPTH_REACHED
$STATE,3171,begin surface coast
$FREEZE,1.29,0.937,-1.847,0,1,0
$FREEZE,0.91,0.942,-1.847,0,1,0
$FREEZE,0.50,0.946,-1.847,0,1,0
$FREEZE,0.52,0.920,-1.783,0,1,0
$FINISH,0.5,1.026080
$STATE,3193,end surface coast,CONTROL_FINISHED_OK
$STATE,3193,begin surface
$SM_CCo,3212,73.85,0.725,0,0,1474,325.02
$SM_GC,1.33,0.00,0.00,73.85,0.000,0.000,0.725,125,2789,1474,-8.02,-0.31,325.02
$RAFOS_CLK,195
$RAFOS,1,1262549345,20.166666,20.151388,67,57,55,0,0,0,225,206,197,0,0,0
$RAFOS,0,1262548866,20.033333,20.018333,64,59,56,0,0,0,212,171,120,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6715.07,-5624.88,300399,181843
$TT8_MAMPS,0.027612
$HUMID,49.44
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,19.4
$24V_AH,23.0,83.450
$10V_AH,10.1,42.608
$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,22.500,37.825,273.350,73.850,0.000,27.056,29.757,105.288,0.750,0.000,34.569,769.257,1352.524,414.710,776.708,270.391,0.000,842.109,0.000,746.244,720.000,2.617,0.000
$DEVICE_MAMPS,303.732,95.108,837.564,724.815,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,351.898,323.762,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152528
$DATA_FILE_SIZE,19036,483
$CAP_FILE_SIZE,51015,0
$CFSIZE,260165632,214691840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,69,0,0
$SOUNDSPEED,1457.2
$GPS,030110,201906,6740.675,-5624.553,28,0.9,29,-38.2