version: 66.06
glider: 143
mission: 10
dive: 279
start: 12 11 109 0 15 36
data:
$ID,143
$MISSION,10
$DIVE,279
$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,-40968.305
$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,17
$R_STBD_OVSHOOT,18
$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
$GPS1,235736,6703.126,-5649.058,36,0.9,36,-37.5
$_CALLS,3
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-64.5
$GPS2,001519,6702.929,-5649.280,26,1.5,31,-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,119.4,934,-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,-55.4,0.0,0.0,0,133,0.00,0.00,-115.80,0.000,2,0.000,0.000,127,2466,3010,0,0,0,0,0,0
$GC,137,-0.99,-75.1,3.4,-7.0,23,159,10.48,2.45,-2.83,0.000,4,0.285,0.102,2362,872,3109,0,0,0,0,0,0
$GC,289,-1.06,-75.1,22.6,-13.0,50,294,0.00,2.33,0.00,0.000,6,0.000,0.074,2362,2459,3112,0,0,0,0,0,0
$GC,632,-1.20,-75.1,64.8,-13.0,111,638,0.17,3.08,0.00,0.000,4,0.114,0.087,2292,3919,3111,0,0,1,0,0,0
$GC,707,-1.10,-75.1,75.9,-15.0,124,713,0.17,2.95,0.00,0.000,6,0.249,0.068,2326,2465,3111,0,0,1,0,0,0
$GC,1049,-1.19,-75.1,118.6,-12.0,172,1054,0.00,3.05,0.00,0.000,4,0.000,0.091,2327,3912,3111,0,0,1,0,0,0
$GC,1212,-1.19,-75.1,138.8,-12.4,186,1217,0.00,2.90,0.00,0.000,6,0.000,0.068,2327,2478,3110,0,0,1,0,0,0
$GC,1539,-1.28,-75.1,172.2,-10.0,216,1545,0.15,3.03,0.00,0.000,4,0.131,0.086,2266,3918,3110,0,0,1,0,0,0
$GC,1730,-1.12,-75.1,196.6,-12.2,232,1737,0.25,2.88,0.00,0.000,6,0.242,0.066,2320,2486,3110,0,0,1,0,0,0
$GC,2055,-1.20,-79.1,227.6,-8.7,263,2056,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2487,3110,0,0,0,0,0,0
$GC,2375,-1.29,-87.9,253.3,-8.2,293,2381,0.15,2.95,0.00,0.000,4,0.127,0.084,2259,3923,3110,0,0,1,0,0,0
$GC,2466,-1.13,-87.9,262.8,-10.4,300,2472,0.28,2.88,0.00,0.000,6,0.239,0.064,2320,2487,3110,0,0,1,0,0,0
$GC,2792,-1.24,-102.9,289.8,-7.5,331,2797,0.00,3.00,0.00,0.000,4,0.000,0.087,2320,3925,3110,0,0,1,0,0,0
$GC,2938,-1.30,-116.4,301.6,-7.7,343,2945,0.17,2.88,0.00,0.000,6,0.119,0.064,2263,2488,3110,0,0,1,0,0,0
$GC,3263,-1.23,-116.4,332.2,-9.8,374,3264,0.12,0.00,0.00,0.000,6,0.242,0.000,2288,2489,3110,0,0,0,0,0,0
$GC,3581,-1.24,-120.8,360.2,-8.7,404,3586,0.00,2.97,0.00,0.000,4,0.000,0.085,2287,3915,3111,0,0,1,0,0,0
$GC,3839,-1.19,-128.3,382.0,-8.3,426,3845,0.00,2.83,0.00,0.000,6,0.000,0.064,2288,2506,3111,0,0,1,0,0,0
$GC,4164,-1.21,-145.2,406.2,-7.3,457,4168,0.00,2.95,0.00,0.000,4,0.000,0.085,2288,3921,3112,0,0,1,0,0,0
$GC,4421,-1.16,-146.0,428.0,-9.0,479,4427,0.00,2.80,0.00,0.000,6,0.000,0.063,2288,2526,3112,0,0,1,0,0,0
$GC,4747,-1.16,-146.0,455.7,-8.7,510,4752,0.00,2.92,0.00,0.000,4,0.000,0.084,2288,3925,3112,0,0,1,0,0,0
$GC,5005,-1.16,-146.0,479.6,-8.5,532,5010,0.00,2.78,0.00,0.000,6,0.000,0.062,2288,2546,3113,0,0,1,0,0,0
$STATE,5279,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5279,begin apogee
$GC,5285,-0.16,0.0,500.4,7.7,558,5352,1.35,0.00,62.92,1.057,6,0.219,0.000,2629,1949,2800,0,0,0,0,0,0
$STATE,5353,end apogee,CONTROL_FINISHED_OK
$STATE,5353,begin climb
$GC,5355,1.07,146.0,501.8,0.0,565,5489,1.30,2.42,120.78,1.026,4,0.132,0.087,3037,356,2201,0,0,0,0,0,0
$GC,5595,1.07,146.0,465.8,19.8,587,5601,0.00,2.22,0.00,0.000,6,0.000,0.061,3037,1958,2197,0,0,0,0,0,0
$GC,5920,1.13,146.0,403.9,18.6,618,5921,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1958,2194,0,0,0,0,0,0
$GC,6240,1.18,146.0,344.9,18.3,648,6241,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1957,2193,0,0,0,0,0,0
$GC,6558,1.25,146.0,287.0,18.1,678,6560,0.15,0.00,0.00,0.000,6,0.122,0.000,3088,1958,2193,0,0,0,0,0,0
$GC,6876,1.18,146.0,226.7,18.8,708,6877,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1958,2192,0,0,0,0,0,0
$GC,7195,1.18,146.0,165.6,19.3,738,7200,0.00,3.20,0.00,0.000,4,0.000,0.077,3088,3540,2192,0,0,0,0,0,0
$GC,7262,1.08,146.0,151.6,20.2,743,7268,0.28,3.20,0.00,0.000,6,0.232,0.071,3040,1954,2191,0,0,0,0,0,0
$GC,7588,1.19,146.0,95.4,16.6,776,7593,0.00,2.17,0.00,0.000,4,0.000,0.087,3048,356,2191,0,0,0,0,0,0
$GC,7655,1.27,146.0,82.4,19.0,788,7662,0.15,2.08,0.00,0.000,6,0.117,0.063,3099,1934,2192,0,0,0,0,0,0
$GC,7998,1.27,146.0,24.7,17.0,849,8004,0.00,3.22,0.00,0.000,4,0.000,0.076,3099,3539,2193,0,0,0,0,0,0
$GC,8061,1.18,146.0,12.7,19.7,860,8067,0.20,3.22,0.00,0.000,6,0.233,0.071,3070,1932,2192,0,0,0,0,0,0
$FREEZE,8.33,-0.028,-1.830,0,44,0
$FREEZE,7.44,-0.028,-1.829,0,44,0
$FREEZE,6.50,-0.028,-1.829,0,44,0
$FREEZE,5.41,-0.028,-1.828,0,44,0
$FREEZE,4.48,-0.027,-1.827,0,44,0
$FREEZE,3.58,-0.025,-1.827,0,44,0
$FREEZE,2.59,-0.025,-1.826,0,44,0
$FREEZE,1.87,-0.026,-1.825,0,44,0
$STATE,8130,end climb,SURFACE_DEPTH_REACHED
$STATE,8130,begin surface coast
$FREEZE,1.00,-0.026,-1.825,0,44,0
$FREEZE,0.49,-0.026,-1.824,0,44,0
$FINISH,0.5,1.026716
$STATE,8141,end surface coast,CONTROL_FINISHED_OK
$STATE,8141,begin surface
$SM_CCo,8159,158.07,0.714,0,0,1065,425.10
$SM_GC,1.05,0.00,0.00,158.07,0.000,0.000,0.714,130,2462,1065,-8.00,0.06,425.10
$RAFOS_CLK,553
$RAFOS,6,1260492546,0.833333,0.818333,61,60,58,0,0,0,206,216,140,0,0,0
$RAFOS,5,1260492070,0.700000,0.686111,69,53,53,0,0,0,206,171,215,0,0,0
$RAFOS,4,1260491582,0.566667,0.550556,66,62,58,0,0,0,208,157,195,0,0,0
$RAFOS,3,1260491104,0.433333,0.417778,61,61,59,0,0,0,189,212,201,0,0,0
$RAFOS,2,1260490621,0.300000,0.283611,68,63,60,0,0,0,203,185,149,0,0,0
$RAFOS_FIX,6701.185059,-5701.106934,101209,080856,2,79,0.54
$IRIDIUM_FIX,6636.54,-5655.33,070399,000039
$TT8_MAMPS,0.026845
$HUMID,45.66
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.40
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.5,19.0
$ALTIM_BOTTOM_PING,500.4,12.1
$24V_AH,23.2,55.496
$10V_AH,10.1,29.387
$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,24.025,75.175,183.700,158.075,0.000,81.974,95.180,618.686,2.750,0.000,33.254,1493.818,4927.810,476.870,1523.392,958.297,0.000,1243.731,0.000,1469.604,1800.000,20.671,0.000
$DEVICE_MAMPS,285.324,102.011,1056.926,714.077,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,638.172,597.376,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152380
$DATA_FILE_SIZE,34756,874
$CAP_FILE_SIZE,111102,0
$CFSIZE,260165632,226406400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$SOUNDSPEED,1465.0
$GPS,111209,023537,6702.307,-5646.535,36,1.7,36,-37.5