version: 66.06
glider: 143
mission: 10
dive: 274
start: 12 10 109 9 28 12
data:
$ID,143
$MISSION,10
$DIVE,274
$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,-1
$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,425
$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,-40568.203
$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,2460
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.025
$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
$GPS1,091437,6700.808,-5652.553,48,0.9,48,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-62.7
$GPS2,091437,6700.808,-5652.553,181,99.0,181,-37.5
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,76.5,5224,-16.9,-9.167
$D_GRID,599
$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,-146.0,0.0,0.0,0,134,0.00,0.00,-115.25,0.000,2,0.000,0.000,125,2468,3041,0,0,0,0,0,0
$GC,138,-0.73,-146.0,3.2,-4.5,23,169,11.05,3.10,-11.52,0.000,4,0.291,0.104,2445,3901,3399,0,0,1,0,0,0
$GC,239,-0.67,-146.0,18.7,-17.9,41,244,0.00,2.92,0.00,0.000,6,0.000,0.066,2446,2458,3401,0,0,1,0,0,0
$GC,582,-0.67,-146.0,59.0,-11.3,102,588,0.00,3.08,0.00,0.000,4,0.000,0.091,2445,3917,3402,0,0,1,0,0,0
$GC,724,-0.67,-146.0,76.0,-12.1,127,730,0.00,2.95,0.00,0.000,6,0.000,0.067,2446,2465,3402,0,0,0,0,0,0
$GC,1067,-0.67,-146.0,111.6,-9.6,178,1071,0.00,3.05,0.00,0.000,4,0.000,0.091,2445,3916,3401,0,0,1,0,0,0
$GC,1245,-0.73,-146.0,128.6,-9.0,193,1251,0.00,2.90,0.00,0.000,6,0.000,0.067,2445,2476,3401,0,0,1,0,0,0
$GC,1572,-0.79,-146.0,154.4,-7.5,224,1577,0.00,3.03,0.00,0.000,4,0.000,0.090,2446,3910,3400,0,0,0,0,0,0
$GC,1780,-0.86,-146.0,170.3,-7.2,242,1785,0.00,2.88,0.00,0.000,6,0.000,0.067,2445,2478,3400,0,0,1,0,0,0
$GC,2105,-0.94,-146.0,197.5,-8.2,272,2110,0.17,3.00,0.00,0.000,4,0.107,0.087,2373,3908,3400,0,0,1,0,0,0
$GC,2224,-0.76,-146.0,210.7,-11.2,282,2230,0.28,2.85,0.00,0.000,6,0.210,0.065,2437,2499,3400,0,0,0,0,0,0
$GC,2549,-0.82,-146.0,238.6,-8.5,312,2554,0.00,2.95,0.00,0.000,4,0.000,0.089,2437,3907,3400,0,0,1,0,0,0
$GC,2622,-0.89,-146.0,244.8,-8.7,318,2627,0.12,2.83,0.00,0.000,6,0.126,0.065,2399,2499,3400,0,0,1,0,0,0
$GC,2946,-0.82,-146.0,275.7,-9.4,348,2951,0.00,2.97,0.00,0.000,4,0.000,0.088,2398,3919,3400,0,0,1,0,0,0
$GC,3136,-0.76,-146.0,293.7,-9.2,364,3143,0.17,2.83,0.00,0.000,6,0.202,0.064,2439,2514,3400,0,0,0,0,0,0
$GC,3462,-0.84,-146.0,318.6,-7.4,395,3467,0.00,2.95,0.00,0.000,4,0.000,0.087,2438,3917,3400,0,0,0,0,0,0
$GC,3557,-0.92,-146.0,325.7,-7.7,403,3563,0.15,2.80,0.00,0.000,6,0.116,0.063,2389,2517,3400,0,0,1,0,0,0
$GC,3882,-0.84,-146.0,356.5,-10.0,433,3887,0.12,2.95,0.00,0.000,4,0.209,0.084,2413,3913,3401,0,0,0,0,0,0
$GC,4091,-0.84,-146.0,375.5,-9.4,451,4096,0.00,2.78,0.00,0.000,6,0.000,0.061,2413,2537,3401,0,0,0,0,0,0
$STATE,4366,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4366,begin apogee
$GC,4372,-0.16,0.0,400.6,9.2,476,4498,0.77,0.00,118.07,0.994,6,0.182,0.000,2628,1945,2799,0,0,0,0,0,0
$STATE,4498,end apogee,CONTROL_FINISHED_OK
$STATE,4499,begin climb
$GC,4501,0.73,146.0,404.8,0.0,489,4634,0.95,2.47,120.95,0.950,4,0.133,0.087,2922,362,2202,0,0,0,0,0,0
$GC,4725,0.66,146.0,386.4,12.0,510,4729,0.00,2.25,0.00,0.000,6,0.000,0.061,2922,1957,2198,0,0,0,0,0,0
$GC,5050,0.59,146.0,347.5,12.4,540,5056,0.17,3.25,0.00,0.000,4,0.209,0.077,2877,3534,2196,0,0,0,0,0,0
$GC,5139,0.59,146.0,337.6,10.4,547,5146,0.00,3.22,0.00,0.000,6,0.000,0.068,2890,1954,2195,0,0,0,0,0,0
$GC,5464,0.59,146.0,306.5,9.5,578,5469,0.00,3.25,0.00,0.000,4,0.000,0.078,2890,3540,2194,0,0,0,0,0,0
$GC,5553,0.59,146.0,296.9,11.4,585,5559,0.00,3.17,0.00,0.000,6,0.000,0.070,2904,1965,2193,0,0,1,0,0,0
$GC,5878,0.59,146.0,263.1,10.1,616,5883,0.00,3.20,0.00,0.000,4,0.000,0.078,2904,3533,2193,0,0,0,0,0,0
$GC,5962,0.52,146.0,253.1,12.1,623,5968,0.22,3.12,0.00,0.000,6,0.203,0.070,2865,1990,2193,0,0,0,0,0,0
$GC,6287,0.69,165.9,224.6,8.3,653,6312,0.15,3.15,15.85,0.834,4,0.114,0.076,2915,3541,2122,0,0,1,0,0,0
$GC,6397,0.62,165.9,212.1,12.6,663,6402,0.15,3.12,0.00,0.000,6,0.209,0.070,2897,2001,2121,0,0,0,0,0,0
$GC,6721,0.71,165.9,180.6,9.3,693,6726,0.00,3.15,0.00,0.000,4,0.000,0.077,2897,3543,2120,0,0,0,0,0,0
$GC,6854,0.71,165.9,166.9,9.7,704,6861,0.00,3.08,0.00,0.000,6,0.000,0.069,2908,2031,2121,0,0,0,0,0,0
$GC,7180,0.78,182.6,138.7,8.5,735,7201,0.00,3.10,15.05,0.793,4,0.000,0.077,2908,3537,2054,0,0,0,0,0,0
$GC,7262,0.78,182.6,130.7,10.0,742,7268,0.00,3.08,0.00,0.000,6,0.000,0.069,2921,2029,2052,0,0,0,0,0,0
$GC,7589,0.80,200.3,102.3,8.4,773,7610,0.00,3.12,15.57,0.776,4,0.000,0.077,2921,3541,1981,0,0,0,0,0,0
$GC,7650,0.81,208.4,97.0,8.8,781,7666,0.00,3.10,8.00,0.712,6,0.000,0.070,2935,2032,1948,0,0,0,0,0,0
$GC,8004,0.86,208.4,67.0,10.6,844,8010,0.00,3.12,0.00,0.000,4,0.000,0.078,2934,3542,1947,0,0,0,0,0,0
$GC,8124,0.86,208.4,54.3,10.6,865,8130,0.00,3.05,0.00,0.000,6,0.000,0.071,2948,2052,1946,0,0,0,0,0,0
$GC,8468,0.97,298.9,19.6,5.4,926,8550,0.17,3.17,74.00,0.748,4,0.104,0.081,3008,3537,1580,0,0,1,0,0,0
$GC,8569,0.79,298.9,10.1,12.0,945,8575,0.30,3.12,0.00,0.000,6,0.202,0.072,2950,2060,1576,0,0,0,0,0,0
$FREEZE,8.30,-0.076,-1.829,0,39,0
$FREEZE,7.48,-0.073,-1.829,0,39,0
$FREEZE,6.47,-0.070,-1.828,0,39,0
$FREEZE,5.69,-0.072,-1.827,0,39,0
$FREEZE,5.02,-0.073,-1.827,0,39,0
$FREEZE,4.27,-0.067,-1.826,0,39,0
$FREEZE,3.49,-0.067,-1.826,0,39,0
$FREEZE,2.68,-0.068,-1.825,0,39,0
$FREEZE,2.06,-0.071,-1.825,0,39,0
$FREEZE,0.59,-0.074,-1.824,0,39,0
$STATE,8630,end climb,SURFACE_DEPTH_REACHED
$STATE,8631,begin surface coast
$FREEZE,0.75,-0.075,-1.818,0,39,0
$FREEZE,0.51,-0.091,-1.822,0,39,0
$FINISH,0.5,1.026692
$STATE,8642,end surface coast,CONTROL_FINISHED_OK
$STATE,8643,begin surface
$SM_CCo,8660,98.78,0.719,0,0,1067,425.10
$SM_GC,1.13,0.00,0.00,98.78,0.000,0.000,0.719,129,2465,1067,-8.00,0.14,425.10
$RAFOS_CLK,570
$RAFOS_FIX,6701.185059,-5701.106934,101209,080856,2,79,0.54
$IRIDIUM_FIX,6631.12,-5656.72,060399,090931
$TT8_MAMPS,0.026845
$HUMID,46.53
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.00
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.9,20.0
$ALTIM_BOTTOM_PING,400.6,9.6
$24V_AH,22.9,54.831
$10V_AH,10.1,29.054
$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,23.325,115.825,367.500,98.775,0.000,86.723,187.571,93.854,2.750,0.000,184.643,1587.979,4986.109,593.015,1829.076,548.660,0.000,1476.479,0.000,1630.110,0.000,12.228,0.000
$DEVICE_MAMPS,291.460,103.545,994.032,718.679,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,699.592,651.669,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152444
$DATA_FILE_SIZE,37929,958
$CAP_FILE_SIZE,110802,0
$CFSIZE,260165632,226811904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$SOUNDSPEED,1462.3
$GPS,101209,115536,6701.454,-5652.514,33,1.6,38,-37.5