version: 66.06
glider: 143
mission: 10
dive: 534
start: 1 4 110 5 42 16
data:
$ID,143
$MISSION,10
$DIVE,534
$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,-47345.754
$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,15
$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
$GPS1,053707,6741.091,-5626.324,25,1.4,26,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-69.4
$GPS2,054156,6741.094,-5626.325,16,1.4,16,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6732.822,-5644.500
$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,147
$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,14,-0.73,-146.0,0.0,0.0,0,113,0.00,0.00,-95.43,0.000,2,0.000,0.000,123,2796,3199,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.1,-5.0,19,143,11.43,2.90,-5.43,0.000,4,0.295,0.102,2445,3944,3399,0,0,10,0,0,0
$GC,395,-0.73,-146.0,36.6,-10.0,69,401,0.00,2.70,0.00,0.000,6,0.000,0.061,2446,2806,3401,0,0,5,0,0,0
$GC,738,-0.73,-146.0,67.9,-9.4,130,744,0.00,2.80,0.00,0.000,4,0.000,0.090,2445,3926,3401,0,0,8,0,0,0
$GC,999,-0.78,-146.0,91.4,-8.8,176,1005,0.00,2.67,0.00,0.000,6,0.000,0.063,2446,2796,3401,0,0,6,0,0,0
$GC,1332,-0.85,-146.0,118.6,-8.2,216,1336,0.00,2.83,0.00,0.000,4,0.000,0.090,2446,3918,3400,0,0,7,0,0,0
$GC,1467,-0.92,-146.0,130.2,-9.9,227,1473,0.17,2.65,0.00,0.000,6,0.114,0.061,2388,2799,3400,0,0,6,0,0,0
$STATE,1619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1619,begin apogee
$GC,1626,-0.16,0.0,147.0,10.8,242,1747,0.88,0.00,116.22,0.841,6,0.194,0.000,2626,2393,2800,0,0,0,0,0,0
$STATE,1748,end apogee,CONTROL_FINISHED_OK
$STATE,1748,begin climb
$GC,1750,0.73,146.0,151.2,0.0,254,1879,0.98,2.00,118.90,0.795,4,0.147,0.086,2920,788,2202,0,0,0,0,0,0
$GC,1940,0.73,146.0,138.4,9.9,271,1946,0.00,1.92,0.00,0.000,6,0.000,0.061,2920,2401,2198,0,0,0,0,0,0
$GC,2265,0.73,146.0,105.5,10.8,302,2274,0.00,3.92,0.00,0.000,4,0.000,0.082,2920,3932,2195,0,0,6,0,0,0
$GC,2400,0.66,146.0,88.9,12.4,321,2407,0.15,3.83,0.00,0.000,6,0.204,0.069,2905,2396,2194,0,0,7,0,0,0
$GC,2746,0.75,149.2,55.8,9.0,382,2752,0.00,3.90,0.00,0.000,4,0.000,0.081,2904,3931,2194,0,0,6,0,0,0
$GC,2791,0.75,149.2,51.1,10.4,390,2797,0.00,3.80,0.00,0.000,6,0.000,0.068,2920,2391,2194,0,0,7,0,0,0
$GC,3135,0.82,168.6,20.9,8.3,451,3165,0.10,3.90,18.35,0.729,4,0.125,0.081,2961,3917,2110,0,0,7,0,0,0
$FREEZE,8.88,1.168,-1.856,0,1,0
$GC,3239,0.66,168.6,8.9,12.6,469,3246,0.30,3.80,0.00,0.000,6,0.201,0.069,2906,2394,2108,0,0,7,0,0,0
$FREEZE,7.37,1.111,-1.855,0,1,0
$FREEZE,6.89,1.064,-1.854,0,1,0
$FREEZE,6.30,1.057,-1.853,0,1,0
$FREEZE,5.93,1.046,-1.853,0,1,0
$FREEZE,5.40,1.049,-1.852,0,1,0
$FREEZE,5.04,1.019,-1.852,0,1,0
$FREEZE,4.51,0.999,-1.852,0,1,0
$FREEZE,4.20,0.957,-1.851,0,1,0
$FREEZE,3.77,0.911,-1.851,0,1,0
$FREEZE,3.27,0.910,-1.850,0,1,0
$FREEZE,2.89,0.893,-1.850,0,1,0
$FREEZE,2.39,0.873,-1.849,0,1,0
$FREEZE,1.96,0.854,-1.848,0,1,0
$STATE,3319,end climb,SURFACE_DEPTH_REACHED
$STATE,3320,begin surface coast
$FREEZE,1.49,0.788,-1.849,0,1,0
$FREEZE,1.11,0.718,-1.848,0,1,0
$FREEZE,0.71,0.693,-1.847,0,1,0
$FREEZE,0.46,0.732,-1.013,0,1,0
$FREEZE,0.46,0.705,-1.034,0,1,0
$FINISH,0.5,1.015275
$STATE,3348,end surface coast,CONTROL_FINISHED_OK
$STATE,3348,begin surface
$SM_CCo,3366,86.95,0.717,0,0,1475,325.02
$SM_GC,1.20,0.00,0.00,86.95,0.000,0.000,0.717,128,2800,1475,-8.01,0.00,325.02
$RAFOS_CLK,207
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5628.00,310399,040453
$TT8_MAMPS,0.027612
$HUMID,48.70
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,20.0,19.6
$24V_AH,23.0,84.330
$10V_AH,10.0,42.905
$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,22.225,45.775,253.475,86.950,0.000,30.585,32.461,112.853,0.750,0.000,18.460,795.229,1470.123,424.642,769.392,290.167,0.000,857.000,0.000,755.632,0.000,2.624,0.000
$DEVICE_MAMPS,295.295,102.011,840.632,717.145,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,354.500,327.833,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152544
$DATA_FILE_SIZE,19029,488
$CAP_FILE_SIZE,52628,0
$CFSIZE,260165632,214364160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,82,0,0
$SOUNDSPEED,1458.4
$GPS,040110,064104,6741.142,-5626.460,8,2.4,28,-38.2