version: 66.06
glider: 143
mission: 10
dive: 280
start: 12 11 109 2 48 56
data:
$ID,143
$MISSION,10
$DIVE,280
$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,-40983.461
$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,23
$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
$GPS1,023537,6702.307,-5646.535,36,1.7,36,-37.5
$_CALLS,3
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-62.9
$GPS2,024838,6702.167,-5646.601,13,1.6,13,-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,4.3,1844,-26.2,-9.167
$D_GRID,502
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.92,-62.0,0.0,0.0,0,140,0.00,0.00,-118.50,0.000,6,0.000,0.000,129,2464,3054,0,0,0,0,0,0
$GC,142,-0.97,-104.3,2.9,-5.0,24,164,10.52,3.08,-5.28,0.000,4,0.285,0.097,2368,3916,3226,0,0,1,0,0,0
$GC,294,-1.13,-104.3,27.7,-16.7,51,300,0.12,2.97,0.00,0.000,6,0.126,0.070,2329,2459,3229,0,0,1,0,0,0
$GC,638,-1.13,-104.3,79.0,-15.0,112,644,0.00,3.08,0.00,0.000,4,0.000,0.089,2328,3916,3229,0,0,1,0,0,0
$GC,897,-1.13,-104.3,118.2,-14.7,147,902,0.00,2.92,0.00,0.000,6,0.000,0.067,2329,2471,3229,0,0,1,0,0,0
$GC,1222,-1.17,-104.3,162.2,-12.2,177,1227,0.00,3.05,0.00,0.000,4,0.000,0.089,2328,3918,3228,0,0,1,0,0,0
$GC,1456,-1.22,-104.3,188.4,-10.2,197,1462,0.00,2.92,0.00,0.000,6,0.000,0.066,2328,2477,3227,0,0,0,0,0,0
$GC,1781,-1.28,-104.3,220.6,-9.3,228,1787,0.15,3.00,0.00,0.000,4,0.124,0.083,2264,3909,3227,0,0,1,0,0,0
$GC,2039,-1.11,-104.3,253.5,-12.7,250,2046,0.28,2.85,0.00,0.000,6,0.230,0.064,2326,2488,3227,0,0,1,0,0,0
$GC,2364,-1.17,-104.3,286.8,-10.4,281,2369,0.00,2.97,0.00,0.000,4,0.000,0.086,2326,3909,3228,0,0,1,0,0,0
$GC,2510,-1.17,-104.3,303.1,-11.0,293,2516,0.00,2.85,0.00,0.000,6,0.000,0.064,2326,2491,3228,0,0,1,0,0,0
$GC,2834,-1.25,-104.3,338.5,-10.7,324,2840,0.12,2.97,0.00,0.000,4,0.133,0.081,2273,3914,3228,0,0,1,0,0,0
$GC,3003,-1.10,-104.3,360.5,-12.8,338,3009,0.25,2.85,0.00,0.000,6,0.230,0.061,2329,2496,3228,0,0,0,0,0,0
$GC,3328,-1.20,-104.3,394.4,-10.4,369,3333,0.00,2.95,0.00,0.000,4,0.000,0.084,2329,3909,3229,0,0,1,0,0,0
$GC,3430,-1.25,-104.3,405.1,-10.4,377,3436,0.15,2.80,0.00,0.000,6,0.120,0.062,2282,2517,3229,0,0,1,0,0,0
$GC,3754,-1.20,-104.3,441.1,-10.7,408,3759,0.00,2.92,0.00,0.000,4,0.000,0.084,2282,3914,3229,0,0,1,0,0,0
$GC,3985,-1.12,-104.3,467.9,-12.0,428,3990,0.20,2.80,0.00,0.000,6,0.226,0.062,2326,2521,3229,0,0,1,0,0,0
$STATE,4148,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4148,begin apogee
$GC,4154,-0.16,0.0,483.2,8.9,443,4243,1.15,0.00,85.55,1.047,6,0.206,0.000,2628,1955,2800,0,0,0,0,0,0
$STATE,4244,end apogee,CONTROL_FINISHED_OK
$STATE,4244,begin climb
$GC,4246,0.97,104.3,485.0,0.0,452,4343,1.23,2.42,86.12,1.014,4,0.132,0.086,3009,358,2373,0,0,0,0,0,0
$GC,4399,0.97,104.3,468.6,15.5,466,4405,0.00,2.25,0.00,0.000,6,0.000,0.061,3009,1943,2370,0,0,0,0,0,0
$GC,4724,0.97,104.3,421.4,14.8,497,4729,0.00,3.28,0.00,0.000,4,0.000,0.077,3009,3539,2368,0,0,1,0,0,0
$GC,4801,0.97,104.3,408.9,16.6,503,4808,0.00,3.20,0.00,0.000,6,0.000,0.070,3024,1969,2367,0,0,1,0,0,0
$GC,5126,0.97,104.3,357.5,15.9,534,5131,0.00,3.22,0.00,0.000,4,0.000,0.077,3024,3536,2367,0,0,0,0,0,0
$GC,5165,0.91,104.3,350.9,17.0,537,5171,0.22,3.20,0.00,0.000,6,0.225,0.071,2989,1972,2366,0,0,0,0,0,0
$GC,5490,1.03,104.3,305.2,13.5,567,5495,0.00,3.22,0.00,0.000,4,0.000,0.077,2989,3541,2366,0,0,0,0,0,0
$GC,5567,1.08,104.3,293.6,14.9,573,5574,0.10,3.15,0.00,0.000,6,0.132,0.070,3033,1990,2366,0,0,1,0,0,0
$GC,5892,1.08,104.3,245.8,14.3,604,5896,0.00,2.25,0.00,0.000,4,0.000,0.088,3043,345,2366,0,0,0,0,0,0
$GC,5924,1.02,104.3,240.9,15.1,606,5930,0.00,2.20,0.00,0.000,6,0.000,0.063,3043,2017,2366,0,0,0,0,0,0
$GC,6250,1.02,104.3,194.4,14.8,637,6254,0.00,2.30,0.00,0.000,4,0.000,0.087,3053,348,2367,0,0,0,0,0,0
$GC,6266,0.96,104.3,191.8,14.9,638,6271,0.22,2.17,0.00,0.000,6,0.216,0.063,3002,2004,2367,0,0,0,0,0,0
$GC,6591,1.09,104.3,147.4,13.7,668,6593,0.12,0.00,0.00,0.000,6,0.126,0.000,3043,2004,2367,0,0,0,0,0,0
$GC,6909,1.09,104.3,98.7,15.2,698,6915,0.00,3.15,0.00,0.000,4,0.000,0.078,3043,3541,2367,0,0,0,0,0,0
$GC,7000,1.01,104.3,85.0,15.3,714,7006,0.17,3.15,0.00,0.000,6,0.227,0.071,3020,1995,2367,0,0,0,0,0,0
$GC,7346,1.12,104.3,45.9,10.3,775,7351,0.00,3.17,0.00,0.000,4,0.000,0.077,3020,3538,2368,0,0,0,0,0,0
$GC,7374,1.18,104.3,41.9,13.0,780,7380,0.10,3.15,0.00,0.000,6,0.130,0.071,3065,1996,2368,0,0,0,0,0,0
$FREEZE,8.78,-0.020,-1.831,0,45,1
$FREEZE,8.05,-0.019,-1.830,0,45,1
$FREEZE,7.23,-0.019,-1.829,0,45,1
$FREEZE,6.53,-0.019,-1.829,0,45,1
$FREEZE,5.76,-0.020,-1.828,0,45,1
$FREEZE,5.14,-0.024,-1.828,0,45,1
$FREEZE,4.63,-0.024,-1.828,0,45,1
$FREEZE,4.39,-0.022,-1.827,0,45,1
$FREEZE,3.89,-0.020,-1.827,0,45,1
$FREEZE,3.26,-0.017,-1.826,0,45,1
$FREEZE,2.52,-0.018,-1.826,0,45,1
$FREEZE,1.84,-0.011,-1.825,0,45,1
$STATE,7699,end climb,SURFACE_DEPTH_REACHED
$STATE,7700,begin surface coast
$FREEZE,0.92,-0.017,-1.825,0,45,1
$FREEZE,0.43,0.028,-1.822,0,45,1
$FREEZE,0.27,-0.057,-1.728,0,45,1
$FINISH,0.3,1.025357
$STATE,7717,end surface coast,CONTROL_FINISHED_OK
$STATE,7717,begin surface
$SM_CCo,7734,172.70,0.716,0,0,1065,425.10
$SM_GC,1.08,0.00,0.00,172.70,0.000,0.000,0.716,126,2465,1065,-8.01,0.14,425.10
$RAFOS_CLK,516
$RAFOS,6,1260506942,4.833333,4.817222,59,59,58,0,0,0,197,218,117,0,0,0
$RAFOS,5,1260506462,4.700000,4.683889,58,58,52,0,0,0,188,198,143,0,0,0
$RAFOS,4,1260505983,4.566667,4.550833,64,59,58,0,0,0,187,196,153,0,0,0
$RAFOS,3,1260505509,4.433333,4.419167,64,54,53,0,0,0,201,189,167,0,0,0
$RAFOS,2,1260505022,4.300000,4.283889,73,57,56,0,0,0,213,159,195,0,0,0
$RAFOS,1,1260504541,4.166667,4.150278,61,55,53,0,0,0,211,188,134,0,0,0
$RAFOS,0,1260504062,4.033333,4.017222,60,60,59,0,0,0,193,203,145,0,0,0
$RAFOS_FIX,6701.185059,-5701.106934,101209,080856,2,79,0.54
$IRIDIUM_FIX,6631.12,-5650.71,070399,020231
$TT8_MAMPS,0.026845
$HUMID,45.58
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.2,17.6
$ALTIM_BOTTOM_PING,400.3,97.3
$24V_AH,23.3,55.611
$10V_AH,10.1,29.443
$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,23.650,94.200,171.675,172.700,0.000,84.180,107.724,337.229,2.000,0.000,14.527,1445.535,4587.204,498.481,1457.036,700.352,0.000,1250.577,0.000,1428.137,2520.000,13.839,0.000
$DEVICE_MAMPS,285.324,96.642,1046.955,715.611,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,616.901,573.330,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152460
$DATA_FILE_SIZE,34798,841
$CAP_FILE_SIZE,105442,0
$CFSIZE,260165632,226369536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$SOUNDSPEED,1464.6
$GPS,111209,050204,6702.454,-5647.144,12,3.6,31,-37.5