version: 66.06
glider: 143
mission: 10
dive: 525
start: 1 3 110 20 24 2
data:
$ID,143
$MISSION,10
$DIVE,525
$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,-47090
$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,18
$R_STBD_OVSHOOT,14
$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
$GPS1,201906,6740.675,-5624.553,28,0.9,29,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-69.1
$GPS2,202343,6740.657,-5624.526,13,1.1,13,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6732.384,-5642.695
$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,139
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,118,0.00,0.00,-100.00,0.000,2,0.000,0.000,125,2789,3308,0,0,0,0,0,0
$GC,123,-0.73,-146.0,3.8,-7.3,20,144,11.57,2.50,-2.15,0.000,4,0.300,0.096,2448,1205,3399,0,0,2,0,0,0
$GC,242,-0.73,-146.0,22.9,-10.5,41,248,0.00,2.42,0.00,0.000,6,0.000,0.072,2448,2807,3401,0,0,2,0,0,0
$GC,586,-0.73,-146.0,56.8,-9.3,102,591,0.00,2.92,0.00,0.000,4,0.000,0.092,2448,3931,3401,0,0,6,0,0,0
$GC,828,-0.73,-146.0,80.4,-8.4,145,833,0.00,2.75,0.00,0.000,6,0.000,0.064,2448,2803,3401,0,0,7,0,0,0
$GC,1164,-0.79,-146.0,110.4,-6.9,194,1169,0.00,2.92,0.00,0.000,4,0.000,0.090,2448,3926,3401,0,0,6,0,0,0
$GC,1372,-0.87,-146.0,125.8,-7.2,212,1378,0.12,2.75,0.00,0.000,6,0.127,0.064,2409,2800,3400,0,0,7,0,0,0
$STATE,1514,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1514,begin apogee
$GC,1521,-0.16,0.0,139.1,9.8,225,1641,0.80,0.00,116.15,0.836,6,0.190,0.000,2627,2389,2800,0,0,0,0,0,0
$STATE,1642,end apogee,CONTROL_FINISHED_OK
$STATE,1642,begin climb
$GC,1644,0.73,146.0,142.9,0.0,237,1772,0.98,1.92,118.50,0.794,4,0.145,0.089,2922,791,2203,0,0,0,0,0,0
$GC,1789,0.77,185.1,135.0,7.5,250,1829,0.00,1.90,34.35,0.756,6,0.000,0.062,2921,2414,2044,0,0,0,0,0,0
$GC,2155,0.78,194.2,103.1,8.8,285,2170,0.00,3.97,7.62,0.685,4,0.000,0.083,2922,3918,2007,0,0,10,0,0,0
$GC,2268,0.73,194.2,90.4,12.1,302,2274,0.00,3.92,0.00,0.000,6,0.000,0.069,2940,2407,2006,0,0,6,0,0,0
$GC,2611,0.73,194.2,52.1,10.0,363,2617,0.00,3.92,0.00,0.000,4,0.000,0.083,2940,3917,2005,0,0,9,0,0,0
$GC,2760,0.65,194.2,35.8,11.3,389,2771,0.22,3.88,0.00,0.000,6,0.197,0.070,2904,2398,2006,0,0,7,0,0,0
$FREEZE,8.67,0.739,-1.850,0,1,0
$FREEZE,8.21,0.738,-1.850,0,1,0
$FREEZE,7.71,0.739,-1.850,0,1,0
$FREEZE,7.22,0.738,-1.849,0,1,0
$FREEZE,6.63,0.737,-1.849,0,1,0
$FREEZE,6.06,0.740,-1.848,0,1,0
$GC,3110,0.83,211.7,7.7,8.4,451,3135,0.15,3.95,15.90,0.723,4,0.117,0.083,2954,3918,1935,0,0,10,0,0,0
$FREEZE,4.52,0.736,-1.847,0,1,0
$FREEZE,3.86,0.736,-1.847,0,1,0
$FREEZE,3.03,0.736,-1.846,0,1,0
$FREEZE,2.47,0.733,-1.846,0,1,0
$FREEZE,1.68,0.730,-1.845,0,1,0
$STATE,3164,end climb,SURFACE_DEPTH_REACHED
$STATE,3164,begin surface coast
$FREEZE,0.88,0.730,-1.845,0,1,0
$FREEZE,0.55,0.782,-1.734,0,1,0
$FREEZE,0.53,0.736,-1.384,0,1,0
$FINISH,0.5,1.020383
$STATE,3181,end surface coast,CONTROL_FINISHED_OK
$STATE,3181,begin surface
$SM_CCo,3202,64.93,0.723,0,0,1475,325.02
$SM_GC,1.24,0.00,0.00,64.93,0.000,0.000,0.723,126,2798,1475,-8.01,-0.06,325.02
$RAFOS_CLK,196
$RAFOS,6,1262551745,20.833334,20.818056,56,56,55,0,0,0,119,198,159,0,0,0
$RAFOS,5,1262551264,20.700001,20.684444,60,57,56,0,0,0,216,186,109,0,0,0
$RAFOS,4,1262550786,20.566668,20.551666,58,58,53,0,0,0,192,219,167,0,0,0
$RAFOS,3,1262550302,20.433332,20.417223,63,62,59,0,0,0,169,189,217,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6715.07,-5621.74,300399,191920
$TT8_MAMPS,0.027612
$HUMID,49.17
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,17.20
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.9,19.4
$24V_AH,22.9,83.540
$10V_AH,10.0,42.637
$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,22.200,43.700,292.525,64.925,0.000,29.247,37.410,102.334,1.250,0.000,15.071,736.307,1374.072,423.849,737.675,279.730,0.000,848.312,0.000,725.761,1440.000,2.617,0.000
$DEVICE_MAMPS,299.897,95.875,836.030,723.281,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,338.774,310.301,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152568
$DATA_FILE_SIZE,15883,463
$CAP_FILE_SIZE,51556,0
$CFSIZE,260165632,214663168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,78,0,0
$SOUNDSPEED,1457.4
$GPS,030110,211926,6740.114,-5625.132,9,1.5,10,-38.2