version: 66.06
glider: 143
mission: 10
dive: 547
start: 1 4 110 20 27 0
data:
$ID,143
$MISSION,10
$DIVE,547
$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,-47620.684
$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,13
$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
$GPS1,202120,6740.239,-5638.057,11,1.8,12,-38.3
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-63.4
$GPS2,202643,6740.231,-5638.035,14,1.8,31,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6734.832,-5613.513
$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,186
$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,-146.0,0.0,0.0,0,113,0.00,0.00,-95.12,0.000,2,0.000,0.000,129,2800,3201,0,0,0,0,0,0
$GC,117,-0.73,-146.0,3.0,-3.8,19,143,11.05,2.88,-5.25,0.000,4,0.285,0.098,2447,3931,3397,0,0,9,0,0,0
$GC,351,-0.73,-146.0,31.5,-10.3,61,357,0.00,2.70,0.00,0.000,6,0.000,0.060,2448,2801,3398,0,0,6,0,0,0
$GC,695,-0.77,-146.0,63.8,-8.6,122,700,0.00,2.83,0.00,0.000,4,0.000,0.087,2448,3920,3399,0,0,7,0,0,0
$GC,876,-0.83,-146.0,79.7,-8.4,154,882,0.00,2.67,0.00,0.000,6,0.000,0.061,2448,2800,3398,0,0,6,0,0,0
$GC,1218,-0.91,-146.0,106.3,-8.1,208,1224,0.17,2.85,0.00,0.000,4,0.111,0.085,2375,3934,3398,0,0,7,0,0,0
$GC,1328,-0.75,-146.0,118.7,-12.1,217,1334,0.28,2.72,0.00,0.000,6,0.202,0.061,2442,2796,3397,0,0,6,0,0,0
$GC,1653,-0.83,-146.0,149.0,-9.1,247,1658,0.00,2.85,0.00,0.000,4,0.000,0.087,2443,3935,3397,0,0,7,0,0,0
$GC,1785,-0.90,-146.0,160.8,-9.6,258,1790,0.12,2.70,0.00,0.000,6,0.122,0.060,2402,2798,3396,0,0,6,0,0,0
$STATE,2033,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2033,begin apogee
$GC,2039,-0.16,0.0,187.0,9.3,281,2160,0.82,0.00,115.97,0.858,6,0.185,0.000,2630,2398,2799,0,0,0,0,0,0
$STATE,2160,end apogee,CONTROL_FINISHED_OK
$STATE,2161,begin climb
$GC,2164,0.73,146.0,189.9,0.0,293,2292,0.95,1.95,119.07,0.814,4,0.138,0.084,2922,798,2201,0,0,0,0,0,0
$GC,2343,0.73,146.0,177.7,10.6,309,2348,0.00,1.85,0.00,0.000,6,0.000,0.059,2921,2408,2199,0,0,0,0,0,0
$GC,2667,0.73,149.9,144.7,9.0,340,2676,0.00,3.90,0.00,0.000,4,0.000,0.080,2922,3930,2195,0,0,8,0,0,0
$GC,2745,0.63,149.9,136.0,11.3,347,2756,0.17,3.85,0.00,0.000,6,0.205,0.067,2900,2401,2194,0,0,7,0,0,0
$GC,3075,0.73,178.6,109.3,8.0,378,3109,0.00,3.90,26.00,0.769,4,0.000,0.078,2900,3913,2071,0,0,8,0,0,0
$GC,3180,0.73,178.6,99.3,10.6,388,3186,0.00,3.80,0.00,0.000,6,0.000,0.067,2915,2398,2069,0,0,9,0,0,0
$GC,3525,0.81,183.2,66.9,9.0,449,3541,0.10,3.90,5.22,0.611,4,0.123,0.078,2957,3925,2052,0,0,8,0,0,0
$GC,3629,0.64,183.2,55.1,12.4,467,3639,0.30,3.80,0.00,0.000,6,0.199,0.067,2902,2393,2052,0,0,9,0,0,0
$GC,3979,0.82,208.3,26.5,8.1,529,4011,0.15,3.92,22.67,0.729,4,0.116,0.080,2953,3924,1949,0,0,9,0,0,0
$GC,4123,0.71,208.3,9.2,12.9,555,4130,0.20,3.85,0.00,0.000,6,0.197,0.067,2925,2398,1947,0,0,7,0,0,0
$FREEZE,7.54,0.837,-1.852,0,1,0
$FREEZE,7.04,0.838,-1.851,0,1,0
$FREEZE,6.44,0.838,-1.851,0,1,0
$FREEZE,5.96,0.839,-1.850,0,1,0
$FREEZE,5.40,0.848,-1.850,0,1,0
$FREEZE,4.88,0.840,-1.850,0,1,0
$FREEZE,4.18,0.854,-1.849,0,1,0
$FREEZE,3.74,0.857,-1.848,0,1,0
$FREEZE,3.24,0.866,-1.848,0,1,0
$FREEZE,2.70,0.867,-1.848,0,1,0
$FREEZE,2.05,0.862,-1.847,0,1,0
$FREEZE,1.57,0.867,-1.847,0,1,0
$STATE,4199,end climb,SURFACE_DEPTH_REACHED
$STATE,4199,begin surface coast
$FREEZE,0.67,0.866,-1.846,0,1,0
$FREEZE,0.48,0.824,-1.847,0,1,0
$FREEZE,0.39,0.807,-1.848,0,1,0
$FREEZE,0.42,0.882,-1.507,0,1,0
$FINISH,0.4,1.022150
$STATE,4221,end surface coast,CONTROL_FINISHED_OK
$STATE,4222,begin surface
$SM_CCo,4240,66.32,0.713,0,0,1474,325.02
$SM_GC,1.32,0.00,0.00,66.32,0.000,0.000,0.713,125,2805,1474,-8.02,0.14,325.02
$RAFOS_CLK,258
$RAFOS,6,1262638143,20.833334,20.817499,60,56,55,0,0,0,204,148,119,0,0,0
$RAFOS,5,1262637664,20.700001,20.684444,83,70,60,0,0,0,840,199,212,0,0,0
$RAFOS,4,1262637186,20.566668,20.551666,64,59,58,0,0,0,131,148,217,0,0,0
$RAFOS,2,1262636225,20.299999,20.284721,61,59,58,0,0,0,167,199,132,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5700.94,310399,191938
$TT8_MAMPS,0.026845
$HUMID,48.62
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,17.60
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,19.3
$24V_AH,23.0,85.483
$10V_AH,10.0,43.318
$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,22.525,59.050,288.950,66.325,0.000,29.438,31.641,129.424,1.000,0.000,32.579,918.395,2009.940,442.980,935.734,325.665,0.000,958.007,0.000,905.936,1080.000,2.621,0.000
$DEVICE_MAMPS,284.557,98.176,857.506,713.310,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,418.096,385.073,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152564
$DATA_FILE_SIZE,22215,572
$CAP_FILE_SIZE,65070,0
$CFSIZE,260165632,213909504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,122,0,0
$SOUNDSPEED,1461.5
$GPS,040110,214006,6739.395,-5637.285,30,1.0,31,-38.3