version: 66.06
glider: 143
mission: 10
dive: 283
start: 12 11 109 10 34 13
data:
$ID,143
$MISSION,10
$DIVE,283
$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,-41032.434
$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,19
$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
$GPS1,101706,6702.991,-5649.439,25,1.3,25,-37.5
$_CALLS,2
$_XMS_NAKs,13
$_XMS_TOUTs,2
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-55.5
$GPS2,103355,6702.870,-5649.741,10,1.6,15,-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,116.6,1280,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.96,-55.4,0.0,0.0,0,133,0.00,0.00,-114.72,0.000,2,0.000,0.000,126,2461,2963,0,0,0,0,0,0
$GC,136,-1.00,-88.4,3.1,-5.5,23,158,10.52,2.47,-5.93,0.000,4,0.285,0.100,2356,866,3163,0,0,0,0,0,0
$GC,401,-1.12,-88.4,46.2,-15.9,70,406,0.00,2.35,0.00,0.000,6,0.000,0.076,2356,2458,3166,0,0,0,0,0,0
$GC,744,-1.26,-88.4,90.1,-11.9,131,749,0.22,0.00,0.00,0.000,6,0.110,0.000,2283,2458,3166,0,0,0,0,0,0
$GC,1072,-1.26,-88.4,136.7,-13.3,168,1077,0.00,3.10,0.00,0.000,4,0.000,0.093,2282,3925,3165,0,0,1,0,0,0
$GC,1330,-1.17,-88.4,171.3,-13.8,190,1336,0.12,3.00,0.00,0.000,6,0.257,0.070,2305,2445,3165,0,0,1,0,0,0
$GC,1654,-1.17,-88.4,207.8,-11.7,221,1659,0.00,3.10,0.00,0.000,4,0.000,0.091,2305,3915,3165,0,0,1,0,0,0
$GC,1754,-1.17,-88.4,220.7,-12.7,229,1760,0.00,2.97,0.00,0.000,6,0.000,0.067,2305,2444,3165,0,0,1,0,0,0
$GC,2079,-1.22,-88.4,257.2,-11.0,260,2084,0.00,3.10,0.00,0.000,4,0.000,0.089,2305,3916,3165,0,0,1,0,0,0
$GC,2247,-1.22,-88.4,275.5,-10.6,274,2253,0.00,2.92,0.00,0.000,6,0.000,0.067,2305,2467,3165,0,0,1,0,0,0
$GC,2572,-1.28,-88.4,305.9,-9.2,305,2577,0.00,3.08,0.00,0.000,4,0.000,0.088,2305,3922,3165,0,0,1,0,0,0
$GC,2638,-1.28,-88.4,312.5,-9.5,310,2644,0.00,2.92,0.00,0.000,6,0.000,0.065,2305,2468,3165,0,0,1,0,0,0
$GC,2963,-1.35,-88.4,342.0,-9.3,341,2969,0.15,3.08,0.00,0.000,4,0.124,0.085,2248,3917,3165,0,0,0,0,0,0
$GC,3210,-1.19,-88.4,371.1,-12.0,362,3217,0.25,2.90,0.00,0.000,6,0.235,0.064,2303,2478,3166,0,0,1,0,0,0
$GC,3535,-1.25,-88.4,403.6,-9.9,393,3540,0.00,3.03,0.00,0.000,4,0.000,0.086,2303,3920,3166,0,0,1,0,0,0
$GC,3776,-1.25,-88.4,429.0,-10.9,414,3781,0.00,2.88,0.00,0.000,6,0.000,0.063,2304,2486,3166,0,0,1,0,0,0
$GC,4101,-1.34,-88.4,460.6,-9.9,444,4107,0.15,3.03,0.00,0.000,4,0.123,0.084,2248,3927,3167,0,0,1,0,0,0
$GC,4359,-1.18,-88.4,490.1,-11.4,466,4366,0.25,2.83,0.00,0.000,6,0.232,0.062,2303,2517,3167,0,0,1,0,0,0
$STATE,4630,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4630,begin apogee
$GC,4636,-0.16,0.0,514.5,9.1,492,4714,1.25,0.00,73.88,1.070,6,0.212,0.000,2626,1946,2800,0,0,0,0,0,0
$STATE,4715,end apogee,CONTROL_FINISHED_OK
$STATE,4715,begin climb
$GC,4717,1.00,88.4,516.6,0.0,500,4800,1.25,2.33,73.20,1.039,4,0.133,0.087,3015,361,2438,0,0,0,0,0,0
$GC,4925,1.09,88.4,492.9,14.3,519,4929,0.00,2.20,0.00,0.000,6,0.000,0.061,3016,1966,2435,0,0,0,0,0,0
$GC,5249,1.17,88.4,449.4,13.2,549,5255,0.15,3.25,0.00,0.000,4,0.117,0.077,3053,3535,2433,0,0,1,0,0,0
$GC,5306,1.07,88.4,440.4,16.0,553,5312,0.15,3.25,0.00,0.000,6,0.242,0.070,3037,1958,2432,0,0,0,0,0,0
$GC,5630,1.07,88.4,391.5,15.5,584,5635,0.00,3.25,0.00,0.000,4,0.000,0.077,3036,3538,2432,0,0,1,0,0,0
$GC,5674,1.07,88.4,384.5,16.3,587,5680,0.00,3.20,0.00,0.000,6,0.000,0.071,3049,1964,2432,0,0,1,0,0,0
$GC,5998,1.07,88.4,334.0,15.5,618,6003,0.00,3.25,0.00,0.000,4,0.000,0.079,3048,3540,2432,0,0,1,0,0,0
$GC,6042,0.98,88.4,326.5,17.6,621,6048,0.22,3.22,0.00,0.000,6,0.229,0.071,3014,1951,2432,0,0,1,0,0,0
$GC,6367,1.12,88.4,282.0,12.9,652,6372,0.12,3.28,0.00,0.000,4,0.127,0.078,3054,3539,2432,0,0,1,0,0,0
$GC,6388,1.12,88.4,278.6,14.5,653,6395,0.00,3.20,0.00,0.000,6,0.000,0.070,3067,1963,2432,0,0,1,0,0,0
$GC,6713,1.12,88.4,233.4,13.4,684,6717,0.00,2.17,0.00,0.000,4,0.000,0.087,3077,355,2432,0,0,0,0,0,0
$GC,6813,1.04,88.4,218.6,15.0,692,6819,0.20,2.10,0.00,0.000,6,0.219,0.063,3032,1965,2433,0,0,0,0,0,0
$GC,7141,1.15,88.4,176.0,12.9,723,7144,0.00,2.20,0.00,0.000,4,0.000,0.087,3040,352,2433,0,0,0,0,0,0
$GC,7185,1.21,88.4,169.8,13.1,726,7191,0.12,2.10,0.00,0.000,6,0.122,0.062,3082,1965,2433,0,0,0,0,0,0
$GC,7512,1.21,88.4,125.8,13.7,757,7517,0.00,3.22,0.00,0.000,4,0.000,0.077,3082,3540,2433,0,0,0,0,0,0
$GC,7567,1.05,88.4,117.2,15.5,761,7573,0.28,3.22,0.00,0.000,6,0.226,0.071,3034,1962,2432,0,0,0,0,0,0
$GC,7903,1.18,88.4,79.6,10.3,809,7908,0.10,0.00,0.00,0.000,6,0.135,0.000,3066,1964,2432,0,0,0,0,0,0
$GC,8245,1.18,88.4,43.6,9.8,870,8251,0.00,3.22,0.00,0.000,4,0.000,0.079,3066,3534,2433,0,0,1,0,0,0
$GC,8313,1.11,88.4,36.2,10.3,882,8319,0.15,3.20,0.00,0.000,6,0.234,0.071,3050,1972,2433,0,0,0,0,0,0
$FREEZE,8.99,-0.130,-1.830,0,1,0
$FREEZE,8.69,-0.131,-1.830,0,1,0
$FREEZE,8.02,-0.131,-1.830,0,1,0
$GC,8659,1.20,123.0,10.3,5.3,943,8692,0.00,2.22,27.77,0.755,4,0.000,0.089,3058,348,2297,0,0,0,0,0,0
$FREEZE,6.56,-0.130,-1.829,0,1,0
$FREEZE,5.46,-0.130,-1.828,0,1,0
$FREEZE,4.48,-0.131,-1.827,0,1,0
$FREEZE,3.82,-0.129,-1.827,0,1,0
$FREEZE,3.16,-0.126,-1.826,0,1,0
$FREEZE,2.31,-0.125,-1.825,0,1,0
$FREEZE,1.42,-0.125,-1.825,0,1,0
$STATE,8734,end climb,SURFACE_DEPTH_REACHED
$STATE,8734,begin surface coast
$FREEZE,0.43,-0.124,-1.824,0,1,0
$FREEZE,0.33,-0.121,-1.125,0,1,0
$FINISH,0.3,1.016625
$STATE,8745,end surface coast,CONTROL_FINISHED_OK
$STATE,8746,begin surface
$SM_CCo,8765,166.02,0.716,0,0,1066,425.10
$SM_GC,1.08,0.00,0.00,166.02,0.000,0.000,0.716,125,2463,1066,-8.02,0.08,425.10
$RAFOS_CLK,588
$RAFOS,6,1260535744,12.833333,12.817778,62,62,59,0,0,0,187,205,221,0,0,0
$RAFOS,5,1260535266,12.700000,12.685000,70,61,59,0,0,0,200,174,164,0,0,0
$RAFOS,4,1260534788,12.566667,12.552222,63,59,56,0,0,0,199,222,160,0,0,0
$RAFOS,3,1260534313,12.433333,12.420278,56,55,54,0,0,0,121,190,216,0,0,0
$RAFOS,2,1260533826,12.300000,12.285000,62,57,53,0,0,0,209,135,177,0,0,0
$RAFOS,1,1260533341,12.166667,12.150278,74,66,57,0,0,0,215,202,191,0,0,0
$RAFOS,0,1260532868,12.033333,12.018888,60,59,57,0,0,0,204,123,192,0,0,0
$RAFOS_FIX,6701.185059,-5701.106934,101209,080856,2,79,0.54
$IRIDIUM_FIX,6631.12,-5653.72,070399,101042
$TT8_MAMPS,0.026845
$HUMID,45.90
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,18.9
$ALTIM_BOTTOM_PING,450.1,78.4
$24V_AH,23.4,56.009
$10V_AH,10.1,29.632
$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,24.300,104.825,174.850,166.025,0.000,59.636,63.357,698.970,2.000,0.000,18.261,1629.109,5150.181,505.015,1656.232,998.942,0.000,1350.240,0.000,1627.340,2520.000,15.532,0.000
$DEVICE_MAMPS,285.324,99.710,1069.965,715.611,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,705.661,654.012,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152472
$DATA_FILE_SIZE,37836,958
$CAP_FILE_SIZE,121836,0
$CFSIZE,260165632,226357248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$SOUNDSPEED,1463.8
$GPS,111209,130422,6702.735,-5649.869,9,99.0,28,-37.5