version: 66.06
glider: 143
mission: 10
dive: 550
start: 1 5 110 0 13 22
data:
$ID,143
$MISSION,10
$DIVE,550
$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,-47701.57
$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,15
$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
$GPS1,000801,6738.127,-5635.526,9,1.3,10,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-68.1
$GPS2,001304,6738.129,-5635.497,12,99.0,31,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6732.729,-5611.011
$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,176
$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,-99.65,0.000,2,0.000,0.000,122,2800,3295,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.5,-6.4,20,144,11.62,2.50,-2.53,0.000,4,0.300,0.094,2450,1186,3400,0,0,3,0,0,0
$GC,157,0.47,-146.0,13.4,-25.7,26,163,1.38,2.42,0.00,0.000,6,0.176,0.071,2832,2798,3401,0,0,2,0,0,0
$GC,501,-0.50,-146.0,32.0,-5.9,87,508,1.02,2.53,0.00,0.000,4,0.163,0.081,2544,1184,3403,0,0,0,0,0,0
$GC,600,-0.88,-146.0,37.5,-5.2,104,606,0.40,2.42,0.00,0.000,6,0.075,0.069,2393,2799,3402,0,0,1,0,0,0
$GC,945,-0.76,-146.0,72.5,-10.6,165,951,0.20,2.50,0.00,0.000,4,0.212,0.083,2449,1194,3401,0,0,1,0,0,0
$GC,1205,-0.81,-146.0,96.9,-9.0,211,1210,0.00,2.45,0.00,0.000,6,0.000,0.072,2449,2802,3401,0,0,1,0,0,0
$GC,1532,-0.90,-146.0,123.4,-7.8,245,1537,0.15,2.83,0.00,0.000,4,0.117,0.087,2385,3925,3400,0,0,8,0,0,0
$GC,1617,-0.76,-146.0,132.7,-11.9,252,1622,0.22,2.70,0.00,0.000,6,0.207,0.062,2438,2801,3400,0,0,6,0,0,0
$GC,1942,-0.82,-146.0,162.1,-7.9,282,1947,0.00,2.85,0.00,0.000,4,0.000,0.087,2438,3934,3401,0,0,7,0,0,0
$GC,2085,-0.87,-146.0,174.5,-8.5,294,2090,0.00,2.70,0.00,0.000,6,0.000,0.061,2438,2800,3400,0,0,6,0,0,0
$STATE,2099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2099,begin apogee
$GC,2106,-0.16,0.0,176.2,9.0,295,2227,0.68,0.00,116.80,0.851,6,0.191,0.000,2625,2398,2799,0,0,0,0,0,0
$STATE,2227,end apogee,CONTROL_FINISHED_OK
$STATE,2227,begin climb
$GC,2230,0.73,146.0,180.1,0.0,307,2359,0.98,1.95,119.20,0.809,4,0.145,0.084,2920,802,2201,0,0,0,0,0,0
$GC,2382,0.73,146.0,171.6,9.3,321,2386,0.00,1.88,0.00,0.000,6,0.000,0.061,2920,2407,2200,0,0,0,0,0,0
$GC,2712,0.73,146.0,141.2,9.4,352,2721,0.00,3.92,0.00,0.000,4,0.000,0.080,2920,3932,2195,0,0,7,0,0,0
$GC,2858,0.64,146.0,125.1,11.9,365,2869,0.17,3.88,0.00,0.000,6,0.205,0.068,2899,2400,2194,0,0,6,0,0,0
$GC,3190,0.76,179.5,97.3,7.8,399,3227,0.12,3.97,26.92,0.766,4,0.127,0.081,2940,3912,2067,0,0,8,0,0,0
$GC,3300,0.64,179.5,84.6,12.7,419,3307,0.22,3.85,0.00,0.000,6,0.199,0.068,2904,2397,2065,0,0,7,0,0,0
$GC,3648,0.77,188.6,52.5,8.8,480,3665,0.12,3.92,8.50,0.693,4,0.123,0.081,2946,3916,2030,0,0,8,0,0,0
$GC,3717,0.66,188.6,44.3,12.8,492,3723,0.22,3.80,0.00,0.000,6,0.195,0.067,2910,2401,2030,0,0,8,0,0,0
$GC,4063,0.79,197.1,14.9,8.8,553,4080,0.10,3.90,8.98,0.686,4,0.137,0.081,2943,3916,1996,0,0,8,0,0,0
$FREEZE,8.49,0.955,-1.853,0,1,0
$FREEZE,7.76,0.951,-1.852,0,1,0
$FREEZE,7.02,0.952,-1.852,0,1,0
$FREEZE,6.38,0.951,-1.851,0,1,0
$FREEZE,5.71,0.949,-1.851,0,1,0
$FREEZE,5.00,0.951,-1.850,0,1,0
$FREEZE,4.19,0.951,-1.849,0,1,0
$FREEZE,3.48,0.946,-1.849,0,1,0
$FREEZE,2.86,0.935,-1.848,0,1,0
$FREEZE,2.21,0.931,-1.848,0,1,0
$FREEZE,1.65,0.938,-1.847,0,1,0
$STATE,4169,end climb,SURFACE_DEPTH_REACHED
$STATE,4169,begin surface coast
$FREEZE,1.07,0.948,-1.847,0,1,0
$FREEZE,0.50,0.957,-1.846,0,1,0
$FINISH,0.5,1.026965
$STATE,4181,end surface coast,CONTROL_FINISHED_OK
$STATE,4181,begin surface
$SM_CCo,4202,73.75,0.717,0,0,1474,325.02
$SM_GC,1.21,0.00,0.00,73.75,0.000,0.000,0.717,129,2798,1474,-8.00,-0.06,325.02
$RAFOS_CLK,262
$RAFOS,6,1262652542,0.833333,0.817222,58,54,51,0,0,0,190,207,169,0,0,0
$RAFOS,5,1262652065,0.700000,0.684722,63,61,58,0,0,0,164,131,210,0,0,0
$RAFOS,4,1262651581,0.566667,0.550278,61,61,58,0,0,0,173,198,123,0,0,0
$RAFOS,3,1262651103,0.433333,0.417500,66,58,57,0,0,0,211,177,197,0,0,0
$RAFOS,2,1262650625,0.300000,0.284722,67,61,61,0,0,0,164,177,217,0,0,0
$RAFOS,0,1262649665,0.033333,0.018056,66,58,55,0,0,0,219,184,125,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5628.00,310399,232308
$TT8_MAMPS,0.027612
$HUMID,48.74
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.40
$XPDR_PINGS,3
$ALTIM_TOP_PING,20.0,20.0
$24V_AH,23.0,85.747
$10V_AH,10.1,43.419
$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,26.075,60.750,280.400,73.750,0.000,29.394,32.882,107.416,1.000,0.000,33.946,943.052,1957.484,442.519,935.154,305.285,0.000,956.414,0.000,901.068,1800.000,2.623,0.000
$DEVICE_MAMPS,299.897,94.341,850.603,717.145,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,416.008,386.093,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152548
$DATA_FILE_SIZE,22191,574
$CAP_FILE_SIZE,66213,0
$CFSIZE,260165632,213798912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,93,0,0
$SOUNDSPEED,1460.4
$GPS,050110,012538,6738.087,-5634.625,11,2.0,12,-38.2