version: 66.06
glider: 143
mission: 10
dive: 278
start: 12 10 109 21 55 34
data:
$ID,143
$MISSION,10
$DIVE,278
$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,-40934.422
$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,18
$R_STBD_OVSHOOT,26
$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
$GPS1,213834,6703.750,-5647.553,10,99.0,29,-37.5
$_CALLS,3
$_XMS_NAKs,26
$_XMS_TOUTs,2
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-58.3
$GPS2,215516,6703.616,-5647.546,12,99.0,31,-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,233.5,1187,-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,-55.4,0.0,0.0,0,132,0.00,0.00,-115.22,0.000,6,0.000,0.000,128,2451,3027,0,0,0,0,0,0
$GC,137,-1.03,-109.8,2.9,-3.1,23,163,10.45,3.12,-6.40,0.000,4,0.287,0.097,2347,3909,3249,0,0,1,0,0,0
$GC,417,-1.13,-109.8,48.0,-14.9,73,423,0.00,2.92,0.00,0.000,6,0.000,0.067,2348,2462,3251,0,0,1,0,0,0
$GC,761,-1.30,-109.8,93.8,-12.3,134,767,0.25,3.03,0.00,0.000,4,0.108,0.085,2248,3903,3251,0,0,1,0,0,0
$GC,1021,-1.16,-109.8,138.9,-17.9,161,1027,0.28,2.85,0.00,0.000,6,0.237,0.067,2309,2491,3249,0,0,1,0,0,0
$GC,1346,-1.24,-109.8,185.1,-14.4,191,1350,0.00,2.97,0.00,0.000,4,0.000,0.089,2309,3910,3249,0,0,1,0,0,0
$GC,1469,-1.32,-109.8,203.2,-15.2,201,1476,0.15,2.80,0.00,0.000,6,0.124,0.065,2262,2524,3248,0,0,1,0,0,0
$GC,1794,-1.25,-109.8,248.7,-13.2,232,1799,0.00,2.90,0.00,0.000,4,0.000,0.086,2261,3904,3249,0,0,1,0,0,0
$GC,2050,-1.14,-109.8,284.6,-13.8,254,2057,0.25,2.75,0.00,0.000,6,0.229,0.064,2318,2543,3249,0,0,1,0,0,0
$GC,2375,-1.26,-109.8,320.5,-11.1,285,2380,0.00,2.88,0.00,0.000,4,0.000,0.086,2318,3909,3250,0,0,1,0,0,0
$GC,2583,-1.35,-109.8,343.8,-11.8,303,2588,0.20,2.70,0.00,0.000,6,0.109,0.063,2251,2574,3250,0,0,1,0,0,0
$GC,2907,-1.27,-109.8,384.0,-12.4,333,2913,0.12,2.83,0.00,0.000,4,0.242,0.081,2264,3914,3251,0,0,1,0,0,0
$GC,3009,-1.18,-109.8,396.6,-12.0,341,3015,0.20,2.67,0.00,0.000,6,0.229,0.061,2308,2592,3252,0,0,1,0,0,0
$GC,3334,-1.28,-109.8,428.2,-9.6,372,3338,0.00,2.80,0.00,0.000,4,0.000,0.084,2308,3916,3252,0,0,1,0,0,0
$GC,3423,-1.34,-109.8,437.6,-10.6,379,3429,0.15,2.67,0.00,0.000,6,0.125,0.061,2260,2598,3253,0,0,1,0,0,0
$STATE,3713,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3713,begin apogee
$GC,3719,-0.16,0.0,471.0,12.0,407,3815,1.45,0.00,89.82,1.034,6,0.217,0.000,2628,1949,2800,0,0,0,0,0,0
$STATE,3816,end apogee,CONTROL_FINISHED_OK
$STATE,3816,begin climb
$GC,3818,1.03,109.8,473.1,0.0,417,3922,1.27,2.42,90.65,1.000,4,0.132,0.085,3024,360,2350,0,0,0,0,0,0
$GC,3994,1.08,109.8,450.4,16.9,433,4000,0.00,2.22,0.00,0.000,6,0.000,0.060,3024,1958,2347,0,0,0,0,0,0
$GC,4320,1.14,109.8,396.4,17.1,464,4325,0.00,3.22,0.00,0.000,4,0.000,0.076,3023,3530,2344,0,0,0,0,0,0
$GC,4358,1.14,109.8,389.2,18.8,467,4364,0.00,3.25,0.00,0.000,6,0.000,0.070,3038,1942,2343,0,0,0,0,0,0
$GC,4682,1.14,109.8,331.4,17.9,497,4686,0.00,2.17,0.00,0.000,4,0.000,0.087,3048,356,2343,0,0,0,0,0,0
$GC,4726,1.14,109.8,323.3,18.3,500,4732,0.00,2.10,0.00,0.000,6,0.000,0.062,3048,1944,2344,0,0,0,0,0,0
$GC,5052,1.14,109.8,266.5,17.2,531,5057,0.00,3.20,0.00,0.000,4,0.000,0.076,3048,3534,2344,0,0,0,0,0,0
$GC,5074,1.14,109.8,262.4,17.2,532,5080,0.00,3.20,0.00,0.000,6,0.000,0.071,3063,1937,2343,0,0,1,0,0,0
$GC,5398,1.14,109.8,207.9,15.6,563,5403,0.00,3.22,0.00,0.000,4,0.000,0.077,3064,3538,2343,0,0,1,0,0,0
$GC,5461,1.04,109.8,197.5,16.8,568,5467,0.22,3.22,0.00,0.000,6,0.229,0.070,3028,1932,2343,0,0,0,0,0,0
$GC,5785,1.17,109.8,153.3,12.5,598,5787,0.12,0.00,0.00,0.000,6,0.126,0.000,3068,1933,2343,0,0,0,0,0,0
$GC,6103,1.17,109.8,106.9,16.0,628,6107,0.00,2.15,0.00,0.000,4,0.000,0.088,3079,351,2343,0,0,0,0,0,0
$GC,6171,1.11,109.8,94.6,19.2,636,6177,0.12,2.08,0.00,0.000,6,0.229,0.063,3053,1936,2343,0,0,0,0,0,0
$GC,6515,1.18,109.8,52.0,13.3,697,6521,0.00,3.22,0.00,0.000,4,0.000,0.077,3053,3539,2344,0,0,0,0,0,0
$GC,6561,1.18,109.8,45.6,14.6,705,6567,0.00,3.22,0.00,0.000,6,0.000,0.071,3066,1937,2344,0,0,0,0,0,0
$GC,6906,1.25,172.9,14.6,2.2,766,6961,0.00,0.00,49.08,0.748,6,0.000,0.000,3066,1938,2094,0,0,0,0,0,0
$FREEZE,8.70,-0.028,-1.830,0,43,0
$FREEZE,8.00,-0.032,-1.830,0,43,0
$FREEZE,7.42,-0.030,-1.829,0,43,0
$FREEZE,6.78,-0.032,-1.829,0,43,0
$FREEZE,6.21,-0.031,-1.828,0,43,0
$FREEZE,5.75,-0.032,-1.828,0,43,0
$FREEZE,5.42,-0.032,-1.828,0,43,0
$FREEZE,4.97,-0.033,-1.828,0,43,0
$FREEZE,4.07,-0.031,-1.827,0,43,0
$FREEZE,2.99,-0.029,-1.826,0,43,0
$FREEZE,2.56,-0.030,-1.826,0,43,0
$FREEZE,2.19,-0.029,-1.825,0,43,0
$FREEZE,1.68,-0.031,-1.825,0,43,0
$STATE,7049,end climb,SURFACE_DEPTH_REACHED
$STATE,7049,begin surface coast
$FREEZE,1.12,-0.029,-1.825,0,43,0
$FREEZE,0.75,-0.032,-1.824,0,43,0
$FREEZE,0.35,-0.034,-1.824,0,43,0
$FINISH,0.3,1.026719
$STATE,7067,end surface coast,CONTROL_FINISHED_OK
$STATE,7067,begin surface
$SM_CCo,7086,153.15,0.709,0,0,1065,425.10
$SM_GC,1.02,0.00,0.00,153.15,0.000,0.000,0.709,127,2466,1065,-8.01,0.17,425.10
$RAFOS_CLK,478
$RAFOS_FIX,6701.185059,-5701.106934,101209,080856,2,79,0.54
$IRIDIUM_FIX,6636.54,-5643.07,060399,212154
$TT8_MAMPS,0.026845
$HUMID,45.78
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,19.4
$ALTIM_BOTTOM_PING,400.6,84.5
$24V_AH,23.3,55.364
$10V_AH,10.1,29.326
$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,24.050,80.750,229.550,153.150,0.000,74.600,156.865,507.665,1.750,0.000,34.073,1307.734,4156.965,515.346,1369.783,891.706,0.000,1225.709,0.000,1328.475,0.000,10.806,0.000
$DEVICE_MAMPS,286.858,96.642,1033.916,709.475,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,585.695,540.172,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152384
$DATA_FILE_SIZE,31620,796
$CAP_FILE_SIZE,100466,0
$CFSIZE,260165632,226435072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$SOUNDSPEED,1464.5
$GPS,101209,235736,6703.126,-5649.058,36,0.9,36,-37.5