version: 66.06
glider: 143
mission: 10
dive: 544
start: 1 4 110 16 43 21
data:
$ID,143
$MISSION,10
$DIVE,544
$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,-47544.23
$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,12
$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
$GPS1,163806,6740.403,-5635.339,38,0.9,39,-38.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-68.8
$GPS2,164302,6740.465,-5635.400,14,1.1,14,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6732.192,-5653.567
$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,258.3,20000,-16.9,-9.167
$D_GRID,182
$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,-146.0,0.0,0.0,0,113,0.00,0.00,-94.30,0.000,2,0.000,0.000,129,2805,3173,0,0,0,0,0,0
$GC,117,-0.73,-146.0,3.1,-5.0,19,144,11.48,2.90,-6.03,0.000,4,0.296,0.100,2447,3923,3398,0,0,9,0,0,0
$GC,173,-0.73,-146.0,12.5,-10.0,29,179,0.00,2.72,0.00,0.000,6,0.000,0.060,2447,2787,3399,0,0,7,0,0,0
$GC,518,-0.73,-146.0,43.8,-9.1,90,523,0.00,2.90,0.00,0.000,4,0.000,0.087,2448,3924,3400,0,0,6,0,0,0
$GC,721,-0.79,-146.0,65.7,-11.1,126,726,0.00,2.70,0.00,0.000,6,0.000,0.061,2448,2803,3400,0,0,5,0,0,0
$GC,1063,-0.88,-146.0,102.4,-9.6,185,1069,0.12,2.85,0.00,0.000,4,0.124,0.087,2400,3922,3400,0,0,9,0,0,0
$GC,1196,-0.79,-146.0,117.6,-11.1,196,1201,0.15,2.70,0.00,0.000,6,0.204,0.061,2433,2796,3399,0,0,6,0,0,0
$GC,1520,-0.79,-146.0,150.0,-10.0,226,1525,0.00,2.83,0.00,0.000,4,0.000,0.087,2433,3916,3399,0,0,7,0,0,0
$GC,1638,-0.79,-146.0,161.4,-9.3,236,1643,0.00,2.67,0.00,0.000,6,0.000,0.061,2434,2803,3398,0,0,5,0,0,0
$STATE,1865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1865,begin apogee
$GC,1873,-0.16,0.0,182.2,9.0,257,1994,0.68,0.00,116.30,0.855,6,0.183,0.000,2625,2396,2800,0,0,0,0,0,0
$STATE,1995,end apogee,CONTROL_FINISHED_OK
$STATE,1995,begin climb
$GC,1997,0.73,146.0,185.3,0.0,269,2126,0.98,1.98,118.88,0.813,4,0.144,0.084,2920,789,2204,0,0,0,0,0,0
$GC,2205,0.73,146.0,170.9,10.3,288,2209,0.00,1.85,0.00,0.000,6,0.000,0.061,2920,2401,2200,0,0,0,0,0,0
$GC,2535,0.73,146.0,137.4,10.6,319,2544,0.00,3.90,0.00,0.000,4,0.000,0.079,2920,3926,2197,0,0,7,0,0,0
$GC,2639,0.63,146.0,124.7,11.9,328,2646,0.17,3.83,0.00,0.000,6,0.204,0.067,2899,2400,2196,0,0,7,0,0,0
$GC,2968,0.71,146.0,91.8,10.1,366,2974,0.00,3.88,0.00,0.000,4,0.000,0.080,2899,3916,2196,0,0,7,0,0,0
$GC,3053,0.71,146.0,82.2,11.9,381,3059,0.00,3.78,0.00,0.000,6,0.000,0.067,2914,2394,2196,0,0,8,0,0,0
$GC,3397,0.76,146.0,46.4,9.7,442,3402,0.00,3.90,0.00,0.000,4,0.000,0.080,2914,3930,2196,0,0,7,0,0,0
$GC,3443,0.71,146.0,41.3,11.1,450,3449,0.00,3.78,0.00,0.000,6,0.000,0.067,2931,2396,2196,0,0,9,0,0,0
$FREEZE,8.76,0.866,-1.852,0,1,0
$FREEZE,8.29,0.676,-1.852,0,1,0
$GC,3787,0.73,162.3,9.8,8.5,511,3809,0.00,3.92,13.57,0.706,4,0.000,0.081,2931,3913,2137,0,0,9,0,0,0
$FREEZE,6.95,0.526,-1.850,0,1,0
$FREEZE,6.47,0.427,-1.849,0,1,0
$FREEZE,5.87,0.408,-1.848,0,1,0
$FREEZE,5.27,0.440,-1.847,0,1,0
$FREEZE,4.59,0.403,-1.845,0,1,0
$FREEZE,3.99,0.361,-1.845,0,1,0
$FREEZE,3.37,0.370,-1.843,0,1,0
$FREEZE,2.88,0.347,-1.843,0,1,0
$FREEZE,2.25,0.351,-1.842,0,1,0
$FREEZE,1.64,0.354,-1.842,0,1,0
$STATE,3865,end climb,SURFACE_DEPTH_REACHED
$STATE,3865,begin surface coast
$FREEZE,1.07,0.346,-1.841,0,1,0
$FREEZE,0.44,0.345,-1.841,0,1,0
$FREEZE,0.34,0.322,-0.114,0,1,0
$FINISH,0.3,1.001529
$STATE,3882,end surface coast,CONTROL_FINISHED_OK
$STATE,3882,begin surface
$SM_CCo,3903,89.95,0.713,0,0,1474,325.02
$SM_GC,1.17,0.00,0.00,89.95,0.000,0.000,0.713,122,2800,1474,-8.03,0.00,325.02
$RAFOS_CLK,240
$RAFOS,6,1262623741,16.833334,16.816944,67,64,61,0,0,0,226,930,204,0,0,0
$RAFOS,4,1262622783,16.566668,16.550833,72,58,55,0,0,0,209,187,170,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6715.07,-5629.59,310399,151532
$TT8_MAMPS,0.028379
$HUMID,48.26
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,17.40
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.5,19.4
$24V_AH,23.0,85.208
$10V_AH,10.0,43.217
$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,21.700,56.925,248.750,89.950,0.000,31.316,38.109,113.697,0.750,0.000,15.834,852.589,1857.161,428.471,853.241,303.409,0.000,901.247,0.000,838.245,360.000,2.622,0.000
$DEVICE_MAMPS,296.062,99.710,855.205,713.310,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,384.926,355.752,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152548
$DATA_FILE_SIZE,19064,528
$CAP_FILE_SIZE,58301,0
$CFSIZE,260165632,214024192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,114,0,0
$SOUNDSPEED,1460.9
$GPS,040110,175050,6740.837,-5637.038,8,1.7,9,-38.3