version: 66.06
glider: 143
mission: 10
dive: 277
start: 12 10 109 19 25 39
data:
$ID,143
$MISSION,10
$DIVE,277
$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,-40899.719
$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
$GPS1,191356,6702.727,-5648.094,71,2.3,90,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-56.8
$GPS2,192521,6702.671,-5648.108,37,99.0,56,-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,44.8,615,-27.7,-9.167
$D_GRID,516
$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,-0.96,-55.4,0.0,0.0,0,138,0.00,0.00,-116.03,0.000,6,0.000,0.000,121,2467,3027,0,0,0,0,0,0
$GC,141,-1.02,-97.8,2.9,-4.5,24,163,10.85,2.40,-4.95,0.000,4,0.298,0.097,2352,868,3200,0,0,0,0,0,0
$GC,219,-1.09,-97.8,16.2,-13.4,38,225,0.00,2.33,0.00,0.000,6,0.000,0.073,2352,2454,3203,0,0,0,0,0,0
$GC,562,-1.22,-97.8,66.3,-12.1,99,569,0.17,3.05,0.00,0.000,4,0.119,0.087,2282,3916,3203,0,0,1,0,0,0
$GC,822,-1.12,-97.8,109.8,-15.5,140,828,0.20,2.92,0.00,0.000,6,0.246,0.067,2323,2470,3202,0,0,0,0,0,0
$GC,1146,-1.22,-97.8,150.0,-12.2,170,1151,0.00,3.03,0.00,0.000,4,0.000,0.090,2323,3916,3201,0,0,1,0,0,0
$GC,1404,-1.32,-97.8,181.5,-11.5,192,1410,0.17,2.90,0.00,0.000,6,0.123,0.066,2266,2468,3201,0,0,1,0,0,0
$GC,1728,-1.25,-97.8,224.6,-13.4,223,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2470,3200,0,0,0,0,0,0
$GC,2048,-1.25,-97.8,263.7,-12.0,253,2053,0.00,3.00,0.00,0.000,4,0.000,0.086,2266,3914,3201,0,0,1,0,0,0
$GC,2222,-1.15,-97.8,286.8,-13.0,268,2228,0.22,2.88,0.00,0.000,6,0.232,0.064,2316,2471,3201,0,0,1,0,0,0
$GC,2546,-1.25,-97.8,320.7,-9.9,298,2551,0.00,3.00,0.00,0.000,4,0.000,0.085,2316,3920,3202,0,0,1,0,0,0
$GC,2647,-1.31,-97.8,331.6,-10.5,306,2653,0.15,2.88,0.00,0.000,6,0.127,0.063,2269,2474,3202,0,0,1,0,0,0
$GC,2971,-1.31,-97.8,368.3,-11.2,337,2975,0.00,2.95,0.00,0.000,4,0.000,0.084,2267,3922,3202,0,0,1,0,0,0
$GC,3227,-1.22,-97.8,398.4,-11.4,359,3234,0.12,2.85,0.00,0.000,6,0.245,0.063,2292,2495,3202,0,0,0,0,0,0
$GC,3552,-1.27,-97.8,431.2,-9.9,390,3557,0.00,2.97,0.00,0.000,4,0.000,0.083,2292,3925,3202,0,0,0,0,0,0
$GC,3759,-1.27,-97.8,452.3,-9.8,408,3764,0.00,2.83,0.00,0.000,6,0.000,0.061,2292,2498,3203,0,0,1,0,0,0
$STATE,4071,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4071,begin apogee
$GC,4077,-0.16,0.0,481.5,10.4,437,4163,1.30,0.00,80.07,1.040,6,0.215,0.000,2625,1953,2801,0,0,0,0,0,0
$STATE,4164,end apogee,CONTROL_FINISHED_OK
$STATE,4164,begin climb
$GC,4166,1.02,97.8,483.6,0.0,446,4259,1.27,2.42,80.43,1.012,4,0.139,0.085,3018,350,2400,0,0,0,0,0,0
$GC,4367,1.07,97.8,457.9,16.4,464,4372,0.00,2.22,0.00,0.000,6,0.000,0.060,3018,1965,2396,0,0,0,0,0,0
$GC,4691,1.16,97.8,408.3,14.8,495,4697,0.15,3.22,0.00,0.000,4,0.123,0.074,3055,3534,2395,0,0,0,0,0,0
$GC,4720,1.10,97.8,403.4,17.4,497,4726,0.00,3.22,0.00,0.000,6,0.000,0.069,3067,1954,2393,0,0,0,0,0,0
$GC,5045,1.04,97.8,346.9,17.5,527,5051,0.17,3.20,0.00,0.000,4,0.248,0.075,3017,3537,2393,0,0,1,0,0,0
$GC,5074,1.04,97.8,342.1,16.9,529,5079,0.00,3.20,0.00,0.000,6,0.000,0.068,3029,1951,2393,0,0,0,0,0,0
$GC,5398,1.13,97.8,293.8,14.4,559,5399,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1953,2393,0,0,0,0,0,0
$GC,5718,1.22,97.8,248.9,14.0,589,5724,0.17,3.22,0.00,0.000,4,0.116,0.076,3082,3533,2394,0,0,0,0,0,0
$GC,5770,1.08,97.8,240.0,17.3,593,5775,0.25,3.17,0.00,0.000,6,0.239,0.069,3039,1958,2393,0,0,0,0,0,0
$GC,6094,1.16,97.8,193.5,13.5,623,6095,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1960,2394,0,0,0,0,0,0
$GC,6414,1.23,97.8,149.5,14.1,653,6415,0.15,0.00,0.00,0.000,6,0.119,0.000,3089,1960,2394,0,0,0,0,0,0
$GC,6731,1.14,97.8,101.1,14.3,683,6737,0.12,3.22,0.00,0.000,4,0.239,0.075,3050,3541,2394,0,0,0,0,0,0
$GC,6754,1.08,97.8,97.9,14.4,685,6760,0.00,3.17,0.00,0.000,6,0.000,0.067,3062,1955,2394,0,0,0,0,0,0
$GC,7097,1.08,97.8,56.8,10.1,746,7102,0.00,2.17,0.00,0.000,4,0.000,0.086,3072,356,2395,0,0,0,0,0,0
$GC,7250,1.08,97.8,38.4,12.9,773,7256,0.15,2.10,0.00,0.000,6,0.222,0.063,3040,1959,2395,0,0,0,0,0,0
$FREEZE,8.91,-0.011,-1.830,0,42,0
$FREEZE,8.96,-0.005,-1.830,0,42,0
$FREEZE,8.61,-0.006,-1.830,0,42,0
$FREEZE,8.17,-0.006,-1.830,0,42,0
$FREEZE,7.78,-0.004,-1.830,0,42,0
$FREEZE,7.43,-0.003,-1.829,0,42,0
$FREEZE,6.92,-0.004,-1.829,0,42,0
$FREEZE,6.41,-0.004,-1.828,0,42,0
$FREEZE,5.77,-0.004,-1.828,0,42,0
$FREEZE,5.46,-0.004,-1.828,0,42,0
$FREEZE,4.79,-0.010,-1.827,0,42,0
$FREEZE,4.18,-0.010,-1.827,0,42,0
$GC,7594,1.19,97.8,4.2,9.8,834,7600,0.00,3.20,0.00,0.000,4,0.000,0.080,3040,3534,2396,0,0,0,0,0,0
$FREEZE,3.13,-0.009,-1.826,0,42,0
$FREEZE,2.57,-0.010,-1.826,0,42,0
$FREEZE,2.25,-0.012,-1.825,0,42,0
$FREEZE,1.58,-0.008,-1.825,0,42,0
$STATE,7623,end climb,SURFACE_DEPTH_REACHED
$STATE,7623,begin surface coast
$FREEZE,0.86,0.006,-1.824,0,42,0
$FINISH,0.9,1.026704
$STATE,7629,end surface coast,CONTROL_FINISHED_OK
$STATE,7629,begin surface
$SM_CCo,7648,248.30,0.709,0,0,1066,425.10
$SM_GC,1.11,0.00,0.00,248.30,0.000,0.000,0.709,129,2453,1066,-8.00,-0.20,425.10
$RAFOS_CLK,507
$RAFOS,6,1260478150,20.833334,20.819445,65,62,58,0,0,0,213,156,225,0,0,0
$RAFOS,5,1260477669,20.700001,20.685833,59,56,54,0,0,0,219,138,198,0,0,0
$RAFOS,4,1260477188,20.566668,20.552221,65,60,56,0,0,0,145,210,178,0,0,0
$RAFOS,3,1260476705,20.433332,20.418056,63,57,54,0,0,0,206,217,156,0,0,0
$RAFOS,2,1260476225,20.299999,20.284721,57,56,54,0,0,0,152,123,161,0,0,0
$RAFOS,1,1260475745,20.166666,20.151388,65,63,56,0,0,0,215,181,159,0,0,0
$RAFOS,0,1260475263,20.033333,20.017500,60,59,55,0,0,0,191,174,213,0,0,0
$RAFOS_FIX,6701.185059,-5701.106934,101209,080856,2,79,0.54
$IRIDIUM_FIX,6636.54,-5650.71,060399,191938
$TT8_MAMPS,0.027612
$HUMID,45.47
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,18.6
$ALTIM_BOTTOM_PING,350.7,145.4
$24V_AH,23.5,55.229
$10V_AH,10.1,29.271
$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,24.250,81.025,160.500,248.300,0.000,75.294,144.863,120.848,1.500,0.000,58.808,1408.538,4609.347,558.419,1458.688,539.909,0.000,1283.946,0.000,1389.727,2520.000,9.205,0.000
$DEVICE_MAMPS,298.363,97.409,1040.052,709.475,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,617.999,572.302,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152248
$DATA_FILE_SIZE,31560,840
$CAP_FILE_SIZE,96244,0
$CFSIZE,260165632,226471936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$SOUNDSPEED,1465.9
$GPS,101209,213834,6703.750,-5647.553,10,99.0,29,-37.5