version: 66.06
glider: 143
mission: 10
dive: 467
start: 1 1 110 0 35 27
data:
$ID,143
$MISSION,10
$DIVE,467
$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,-45984.98
$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,16
$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
$GPS1,001837,6739.162,-5657.952,29,1.1,30,-38.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-63.6
$GPS2,003510,6739.376,-5657.754,61,99.0,80,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.977,-5633.247
$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,158.4,20000,-16.9,-9.167
$D_GRID,191
$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,-146.0,0.0,0.0,0,118,0.00,0.00,-100.35,0.000,2,0.000,0.000,123,2810,3156,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.1,-4.9,20,149,11.20,2.95,-6.70,0.000,4,0.290,0.107,2448,3908,3398,0,0,8,0,0,0
$GC,266,-0.73,-146.0,24.4,-10.3,46,272,0.00,2.75,0.00,0.000,6,0.000,0.065,2448,2797,3401,0,0,6,0,0,0
$GC,609,-0.73,-146.0,60.9,-10.8,107,615,0.00,2.92,0.00,0.000,4,0.000,0.093,2448,3917,3401,0,0,6,0,0,0
$GC,823,-0.73,-146.0,81.6,-9.0,145,829,0.00,2.75,0.00,0.000,6,0.000,0.067,2449,2801,3401,0,0,6,0,0,0
$GC,1160,-0.79,-146.0,110.9,-8.5,194,1165,0.00,2.92,0.00,0.000,4,0.000,0.094,2448,3926,3400,0,0,6,0,0,0
$GC,1285,-0.89,-146.0,122.6,-9.4,204,1291,0.15,2.75,0.00,0.000,6,0.124,0.066,2401,2801,3400,0,0,6,0,0,0
$GC,1610,-0.83,-146.0,157.7,-11.2,235,1615,0.00,2.90,0.00,0.000,4,0.000,0.092,2401,3920,3400,0,0,6,0,0,0
$GC,1721,-0.76,-146.0,170.1,-11.1,244,1728,0.17,2.75,0.00,0.000,6,0.208,0.066,2441,2797,3399,0,0,6,0,0,0
$STATE,1961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1961,begin apogee
$GC,1967,-0.16,0.0,191.3,8.8,267,2087,0.65,0.00,116.97,0.887,6,0.183,0.000,2625,2401,2800,0,0,0,0,0,0
$STATE,2088,end apogee,CONTROL_FINISHED_OK
$STATE,2088,begin climb
$GC,2090,0.73,146.0,195.0,0.0,279,2220,0.98,2.08,119.95,0.837,4,0.142,0.089,2921,801,2203,0,0,0,0,0,0
$GC,2281,0.73,146.0,181.3,10.5,296,2287,0.00,1.92,0.00,0.000,6,0.000,0.063,2921,2403,2200,0,0,0,0,0,0
$GC,2606,0.73,146.0,148.5,9.6,327,2615,0.00,3.92,0.00,0.000,4,0.000,0.082,2921,3923,2195,0,0,7,0,0,0
$GC,2763,0.62,146.0,130.5,11.8,341,2774,0.20,3.85,0.00,0.000,6,0.202,0.070,2892,2398,2195,0,0,6,0,0,0
$GC,3092,0.72,146.0,100.2,9.2,372,3102,0.00,3.90,0.00,0.000,4,0.000,0.081,2892,3931,2195,0,0,6,0,0,0
$GC,3170,0.72,146.0,92.3,10.4,385,3176,0.00,3.83,0.00,0.000,6,0.000,0.069,2908,2397,2196,0,0,6,0,0,0
$GC,3513,0.85,170.4,62.6,8.1,446,3545,0.17,3.92,20.20,0.755,4,0.096,0.081,2970,3932,2104,0,0,7,0,0,0
$GC,3691,0.67,170.4,41.9,11.6,478,3698,0.32,3.85,0.00,0.000,6,0.198,0.070,2909,2395,2103,0,0,6,0,0,0
$GC,4037,0.82,177.8,13.9,8.9,539,4053,0.15,3.95,7.70,0.677,4,0.112,0.082,2961,3931,2074,0,0,6,0,0,0
$FREEZE,8.99,-0.407,-1.833,0,3,0
$FREEZE,8.41,-0.412,-1.833,0,3,0
$FREEZE,7.88,-0.410,-1.833,0,3,0
$FREEZE,7.55,-0.418,-1.832,0,3,0
$FREEZE,7.11,-0.419,-1.832,0,3,0
$FREEZE,6.56,-0.416,-1.832,0,3,0
$FREEZE,6.14,-0.418,-1.831,0,3,0
$FREEZE,5.65,-0.424,-1.831,0,3,0
$FREEZE,5.22,-0.425,-1.831,0,3,0
$FREEZE,4.72,-0.417,-1.830,0,3,0
$FREEZE,4.17,-0.414,-1.830,0,3,0
$FREEZE,3.53,-0.413,-1.829,0,3,0
$FREEZE,2.79,-0.411,-1.829,0,3,0
$FREEZE,2.28,-0.409,-1.828,0,3,0
$FREEZE,1.34,-0.416,-1.828,0,3,0
$GC,4156,0.60,177.8,2.3,10.8,560,4164,0.35,3.85,0.00,0.000,4,0.189,0.070,2889,2391,2072,0,0,6,0,0,0
$STATE,4165,end climb,SURFACE_DEPTH_REACHED
$STATE,4165,begin surface coast
$FREEZE,0.47,-0.412,-1.827,0,3,0
$FREEZE,0.47,-0.395,-1.825,0,3,0
$FREEZE,0.47,-0.415,-1.744,0,3,0
$FINISH,0.5,1.025602
$STATE,4181,end surface coast,CONTROL_FINISHED_OK
$STATE,4182,begin surface
$SM_CCo,4199,84.15,0.730,0,0,1475,325.02
$SM_GC,1.14,0.00,0.00,84.15,0.000,0.000,0.730,131,2806,1475,-8.00,0.17,325.02
$RAFOS_CLK,302
$RAFOS,6,1262306942,0.833333,0.817222,63,61,57,0,0,0,206,189,135,0,0,0
$RAFOS,5,1262306465,0.700000,0.684722,60,59,59,0,0,0,144,171,219,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5656.20,280399,000022
$TT8_MAMPS,0.027612
$HUMID,47.75
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.6,19.4
$24V_AH,22.8,78.264
$10V_AH,10.0,40.776
$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,22.425,59.875,264.825,84.150,0.000,82.789,161.793,436.647,1.000,0.000,82.802,921.436,2116.616,452.669,975.917,814.161,0.000,956.264,0.000,892.474,720.000,2.617,0.000
$DEVICE_MAMPS,289.926,107.380,886.652,730.184,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,409.545,379.652,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152560
$DATA_FILE_SIZE,22210,564
$CAP_FILE_SIZE,70907,0
$CFSIZE,260165632,216645632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,100,0,0
$SOUNDSPEED,1456.3
$GPS,010110,014804,6739.876,-5656.701,7,2.1,27,-38.4