version: 66.06
glider: 143
mission: 10
dive: 284
start: 12 11 109 13 27 24
data:
$ID,143
$MISSION,10
$DIVE,284
$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,-41081.777
$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,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
$GPS1,130422,6702.735,-5649.869,9,99.0,28,-37.5
$_CALLS,2
$_XMS_NAKs,61
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-60.3
$GPS2,132707,6702.551,-5650.261,47,1.3,47,-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,100.5,1832,-27.7,-9.167
$D_GRID,534
$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,-0.96,-55.4,0.0,0.0,0,139,0.00,0.00,-118.40,0.000,6,0.000,0.000,124,2466,3026,0,0,0,0,0,0
$GC,142,-0.97,-59.5,4.1,-8.7,24,159,10.98,2.42,-0.38,0.000,4,0.298,0.100,2368,856,3045,0,0,0,0,0,0
$GC,165,0.56,-59.5,10.4,-23.6,28,176,2.05,2.35,0.00,0.000,6,0.227,0.073,2862,2456,3047,0,0,0,0,0,0
$GC,515,-1.22,-85.4,34.3,-6.3,90,527,1.70,2.45,-1.38,0.000,4,0.115,0.100,2298,866,3153,0,0,0,0,0,0
$GC,679,-1.22,-85.4,59.1,-17.9,119,684,0.00,2.50,0.00,0.000,6,0.000,0.076,2299,2551,3155,0,0,0,0,0,0
$GC,1023,-1.22,-85.4,110.6,-14.4,174,1028,0.00,2.92,0.00,0.000,4,0.000,0.094,2299,3911,3155,0,0,1,0,0,0
$GC,1123,-1.14,-85.4,126.2,-15.1,182,1129,0.00,2.80,0.00,0.000,6,0.000,0.069,2299,2556,3155,0,0,1,0,0,0
$GC,1447,-1.14,-85.4,165.8,-10.9,213,1452,0.00,2.92,0.00,0.000,4,0.000,0.093,2298,3912,3154,0,0,1,0,0,0
$GC,1704,-1.14,-85.4,197.1,-12.3,235,1710,0.00,2.75,0.00,0.000,6,0.000,0.067,2298,2584,3154,0,0,1,0,0,0
$GC,2029,-1.14,-85.4,234.6,-11.7,266,2034,0.00,2.88,0.00,0.000,4,0.000,0.091,2298,3914,3154,0,0,1,0,0,0
$GC,2084,-1.14,-85.4,241.1,-11.5,270,2090,0.00,2.75,0.00,0.000,6,0.000,0.066,2298,2579,3154,0,0,1,0,0,0
$GC,2409,-1.14,-85.4,277.0,-10.6,301,2413,0.00,2.88,0.00,0.000,4,0.000,0.090,2299,3913,3155,0,0,1,0,0,0
$GC,2520,-1.14,-85.4,289.7,-11.7,310,2525,0.00,2.72,0.00,0.000,6,0.000,0.065,2298,2595,3155,0,0,1,0,0,0
$GC,2844,-1.14,-85.4,323.9,-10.7,341,2849,0.00,2.85,0.00,0.000,4,0.000,0.088,2298,3914,3154,0,0,1,0,0,0
$GC,3022,-1.14,-85.4,343.7,-10.9,356,3029,0.00,2.72,0.00,0.000,6,0.000,0.065,2299,2608,3155,0,0,0,0,0,0
$GC,3348,-1.19,-85.4,375.8,-9.2,387,3353,0.00,2.83,0.00,0.000,4,0.000,0.088,2299,3913,3155,0,0,1,0,0,0
$GC,3458,-1.19,-85.4,386.5,-9.5,396,3465,0.00,2.67,0.00,0.000,6,0.000,0.064,2298,2619,3155,0,0,1,0,0,0
$GC,3783,-1.19,-85.6,416.3,-9.2,427,3788,0.00,2.80,0.00,0.000,4,0.000,0.087,2299,3914,3156,0,0,1,0,0,0
$GC,3995,-1.19,-85.6,436.7,-9.5,445,4001,0.00,2.65,0.00,0.000,6,0.000,0.063,2298,2629,3156,0,0,1,0,0,0
$GC,4320,-1.25,-85.6,467.0,-9.4,476,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2630,3157,0,0,0,0,0,0
$GC,4640,-1.30,-85.6,498.0,-10.5,506,4645,0.00,2.78,0.00,0.000,4,0.000,0.085,2299,3914,3158,0,0,1,0,0,0
$GC,4824,-1.30,-85.6,517.3,-10.0,522,4829,0.00,2.65,0.00,0.000,6,0.000,0.062,2298,2630,3158,0,0,1,0,0,0
$STATE,4902,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4902,begin apogee
$GC,4909,-0.16,0.0,524.9,9.3,529,4985,1.30,0.00,71.88,1.077,6,0.220,0.000,2625,1948,2800,0,0,0,0,0,0
$STATE,4986,end apogee,CONTROL_FINISHED_OK
$STATE,4986,begin climb
$GC,4988,1.00,85.6,526.9,0.0,537,5070,1.25,2.38,70.82,1.046,4,0.135,0.087,3012,356,2450,0,0,0,0,0,0
$GC,5117,1.05,85.6,514.6,14.2,549,5121,0.00,2.20,0.00,0.000,6,0.000,0.061,3012,1954,2448,0,0,0,0,0,0
$GC,5441,1.14,85.6,472.3,12.9,579,5447,0.12,3.30,0.00,0.000,4,0.128,0.077,3040,3537,2445,0,0,1,0,0,0
$GC,5475,1.08,85.6,467.4,15.3,581,5481,0.00,3.25,0.00,0.000,6,0.000,0.070,3053,1954,2444,0,0,1,0,0,0
$GC,5799,1.08,85.6,420.9,14.2,612,5800,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1955,2444,0,0,0,0,0,0
$GC,6119,1.08,85.6,374.3,15.0,642,6120,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1956,2444,0,0,0,0,0,0
$GC,6440,1.08,85.6,326.1,15.2,672,6441,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1956,2444,0,0,0,0,0,0
$GC,6756,1.08,85.6,278.6,14.4,702,6761,0.00,3.25,0.00,0.000,4,0.000,0.078,3053,3538,2444,0,0,1,0,0,0
$GC,6834,0.99,85.6,266.1,16.3,708,6840,0.25,3.25,0.00,0.000,6,0.230,0.071,3012,1949,2443,0,0,0,0,0,0
$GC,7158,1.13,85.6,225.9,12.1,739,7164,0.12,3.25,0.00,0.000,4,0.127,0.078,3052,3538,2444,0,0,1,0,0,0
$GC,7248,1.07,85.6,212.9,14.5,746,7255,0.12,3.22,0.00,0.000,6,0.239,0.071,3042,1962,2444,0,0,0,0,0,0
$GC,7573,1.13,85.6,169.9,13.3,777,7578,0.00,3.22,0.00,0.000,4,0.000,0.077,3042,3535,2444,0,0,1,0,0,0
$GC,7635,1.13,85.6,161.0,14.2,782,7640,0.00,3.22,0.00,0.000,6,0.000,0.071,3055,1958,2444,0,0,0,0,0,0
$GC,7959,1.13,85.6,118.6,12.6,812,7963,0.00,2.17,0.00,0.000,4,0.000,0.089,3065,348,2443,0,0,0,0,0,0
$GC,8178,1.08,85.6,90.7,11.7,837,8183,0.00,2.10,0.00,0.000,6,0.000,0.064,3065,1961,2444,0,0,0,0,0,0
$GC,8521,1.09,94.1,53.9,8.2,898,8537,0.00,3.22,7.65,0.695,4,0.000,0.077,3065,3527,2415,0,0,1,0,0,0
$GC,8677,1.09,94.1,35.5,11.8,926,8683,0.17,3.22,0.00,0.000,6,0.232,0.071,3042,1950,2415,0,0,0,0,0,0
$GC,9024,1.27,125.6,13.6,5.7,987,9056,0.17,0.00,26.33,0.754,6,0.117,0.000,3100,1952,2287,0,0,0,0,0,0
$FREEZE,8.87,-0.186,-1.830,0,1,0
$FREEZE,7.92,-0.186,-1.829,0,1,0
$FREEZE,6.91,-0.193,-1.829,0,1,0
$FREEZE,5.82,-0.191,-1.828,0,1,0
$FREEZE,4.52,-0.187,-1.827,0,1,0
$FREEZE,3.35,-0.187,-1.826,0,1,0
$FREEZE,2.26,-0.194,-1.825,0,1,0
$FREEZE,1.55,-0.195,-1.825,0,1,0
$STATE,9106,end climb,SURFACE_DEPTH_REACHED
$STATE,9107,begin surface coast
$FREEZE,0.68,-0.193,-1.824,0,1,0
$FREEZE,0.18,-0.191,-1.823,0,1,0
$FINISH,0.2,1.026715
$STATE,9118,end surface coast,CONTROL_FINISHED_OK
$STATE,9118,begin surface
$SM_CCo,9136,160.48,0.713,0,0,1066,425.10
$SM_GC,0.88,0.00,0.00,160.48,0.000,0.000,0.713,123,2468,1066,-8.02,0.23,425.10
$RAFOS_CLK,630
$RAFOS_FIX,6701.185059,-5701.106934,101209,080856,2,79,0.54
$IRIDIUM_FIX,6636.54,-5643.07,070399,131301
$TT8_MAMPS,0.026845
$HUMID,45.47
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,19.6
$ALTIM_BOTTOM_PING,500.3,38.6
$24V_AH,23.5,56.162
$10V_AH,10.1,29.702
$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,27.150,97.575,176.675,160.475,0.000,59.758,62.120,1022.910,2.500,0.000,48.716,1665.949,5435.686,500.820,1731.751,1322.994,0.000,1368.638,0.000,1670.987,0.000,17.144,0.000
$DEVICE_MAMPS,297.596,100.477,1076.868,713.310,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,741.402,685.326,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152416
$DATA_FILE_SIZE,40944,1004
$CAP_FILE_SIZE,128726,0
$CFSIZE,260165632,226390016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$SOUNDSPEED,1463.8
$GPS,111209,160425,6702.489,-5648.732,78,1.1,78,-37.5