version: 66.06
glider: 143
mission: 10
dive: 546
start: 1 4 110 19 9 50
data:
$ID,143
$MISSION,10
$DIVE,546
$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,-47587.477
$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,10
$R_STBD_OVSHOOT,19
$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
$GPS1,190407,6740.835,-5638.502,30,1.0,31,-38.3
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-66.3
$GPS2,190932,6740.858,-5638.530,9,1.6,9,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6735.458,-5613.997
$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,158.3,20000,-16.9,-9.167
$D_GRID,189
$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,-146.0,0.0,0.0,0,118,0.00,0.00,-99.85,0.000,2,0.000,0.000,122,2809,3303,0,0,0,0,0,0
$GC,123,-0.73,-146.0,3.7,-7.4,20,144,11.32,2.83,-2.22,0.000,4,0.291,0.097,2433,3920,3398,0,0,8,0,0,0
$GC,335,-0.73,-146.0,32.5,-10.7,58,341,0.00,2.67,0.00,0.000,6,0.000,0.060,2434,2796,3401,0,0,6,0,0,0
$GC,678,-0.73,-146.0,68.0,-9.5,119,684,0.00,2.83,0.00,0.000,4,0.000,0.087,2434,3918,3401,0,0,7,0,0,0
$GC,825,-0.73,-146.0,82.7,-9.8,145,831,0.00,2.65,0.00,0.000,6,0.000,0.060,2434,2801,3401,0,0,6,0,0,0
$GC,1166,-0.73,-146.0,115.4,-9.5,192,1171,0.00,2.83,0.00,0.000,4,0.000,0.087,2434,3926,3399,0,0,7,0,0,0
$GC,1244,-0.73,-146.0,122.8,-9.3,198,1249,0.00,2.67,0.00,0.000,6,0.000,0.060,2434,2800,3399,0,0,6,0,0,0
$GC,1568,-0.73,-146.0,153.7,-10.0,229,1573,0.00,2.83,0.00,0.000,4,0.000,0.086,2433,3926,3399,0,0,7,0,0,0
$GC,1715,-0.78,-146.0,168.1,-8.8,241,1721,0.00,2.67,0.00,0.000,6,0.000,0.060,2434,2800,3398,0,0,6,0,0,0
$STATE,1942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1942,begin apogee
$GC,1949,-0.16,0.0,189.4,8.6,263,2070,0.70,0.00,116.43,0.858,6,0.182,0.000,2630,2397,2799,0,0,0,0,0,0
$STATE,2071,end apogee,CONTROL_FINISHED_OK
$STATE,2071,begin climb
$GC,2073,0.73,146.0,193.1,0.0,275,2203,0.95,1.98,119.30,0.816,4,0.138,0.084,2921,788,2201,0,0,0,0,0,0
$GC,2304,0.73,146.0,173.8,10.8,296,2308,0.00,1.88,0.00,0.000,6,0.000,0.060,2921,2400,2198,0,0,0,0,0,0
$GC,2635,0.73,150.7,143.8,9.0,327,2646,0.00,3.92,4.12,0.555,4,0.000,0.079,2921,3930,2184,0,0,7,0,0,0
$GC,2714,0.62,150.7,135.6,11.5,334,2725,0.20,3.83,0.00,0.000,6,0.200,0.067,2892,2404,2183,0,0,7,0,0,0
$GC,3043,0.74,168.9,108.1,8.4,365,3068,0.12,3.92,16.33,0.755,4,0.126,0.079,2933,3913,2110,0,0,8,0,0,0
$GC,3147,0.62,168.9,96.0,12.2,377,3158,0.25,3.80,0.00,0.000,6,0.197,0.067,2891,2398,2108,0,0,8,0,0,0
$GC,3498,0.77,177.7,64.3,8.8,439,3515,0.15,3.92,8.60,0.696,4,0.114,0.079,2943,3923,2074,0,0,6,0,0,0
$GC,3606,0.68,177.7,50.0,13.9,458,3613,0.20,3.80,0.00,0.000,6,0.198,0.067,2914,2402,2074,0,0,7,0,0,0
$GC,3952,0.78,181.6,16.8,9.0,519,3964,0.00,3.90,4.90,0.585,4,0.000,0.079,2914,3933,2059,0,0,7,0,0,0
$FREEZE,8.84,0.749,-1.851,0,1,0
$GC,4042,0.78,182.2,8.8,9.1,534,4048,0.00,3.80,0.00,0.000,6,0.000,0.067,2929,2395,2059,0,0,8,0,0,0
$FREEZE,7.09,0.758,-1.850,0,1,0
$FREEZE,6.54,0.751,-1.850,0,1,0
$FREEZE,5.95,0.758,-1.849,0,1,0
$FREEZE,5.25,0.752,-1.849,0,1,0
$FREEZE,4.81,0.750,-1.848,0,1,0
$FREEZE,4.18,0.749,-1.848,0,1,0
$FREEZE,3.67,0.749,-1.847,0,1,0
$FREEZE,3.21,0.747,-1.847,0,1,0
$FREEZE,2.64,0.751,-1.847,0,1,0
$FREEZE,2.22,0.751,-1.846,0,1,0
$FREEZE,1.76,0.780,-1.846,0,1,0
$STATE,4109,end climb,SURFACE_DEPTH_REACHED
$STATE,4109,begin surface coast
$FREEZE,1.33,0.817,-1.845,0,1,0
$FREEZE,0.64,0.794,-1.845,0,1,0
$FREEZE,0.56,0.799,-1.844,0,1,0
$FREEZE,0.44,0.661,-1.801,0,1,0
$FINISH,0.4,1.026349
$STATE,4132,end surface coast,CONTROL_FINISHED_OK
$STATE,4132,begin surface
$SM_CCo,4150,79.85,0.716,0,0,1475,325.02
$SM_GC,1.11,0.00,0.00,79.85,0.000,0.000,0.716,130,2799,1475,-8.00,0.00,325.02
$RAFOS_CLK,257
$RAFOS,1,1262635742,20.166666,20.150555,66,60,59,0,0,0,168,155,132,0,0,0
$RAFOS,0,1262635262,20.033333,20.017221,71,60,59,0,0,0,204,192,175,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6715.07,-5642.17,310399,181822
$TT8_MAMPS,0.029913
$HUMID,48.18
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.50
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.9,19.4
$24V_AH,23.0,85.391
$10V_AH,10.0,43.283
$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,22.075,58.900,269.675,79.850,0.000,25.989,35.305,155.642,1.250,0.000,10.946,890.699,2001.677,438.914,884.133,344.494,0.000,934.419,0.000,875.421,1080.000,2.620,0.000
$DEVICE_MAMPS,291.460,96.642,858.273,715.611,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,401.551,370.532,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152544
$DATA_FILE_SIZE,19048,550
$CAP_FILE_SIZE,62712,0
$CFSIZE,260165632,213950464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,111,0,0
$SOUNDSPEED,1461.6
$GPS,040110,202120,6740.239,-5638.057,11,1.8,12,-38.3