version: 66.06
glider: 143
mission: 10
dive: 285
start: 12 11 109 16 21 14
data:
$ID,143
$MISSION,10
$DIVE,285
$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,-41100.016
$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,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
$GPS1,160425,6702.489,-5648.732,78,1.1,78,-37.5
$_CALLS,1
$_XMS_NAKs,48
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-59.6
$GPS2,162055,6702.386,-5648.805,11,1.1,16,-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,64.6,1278,-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,15,-0.96,-55.4,0.0,0.0,0,144,0.00,0.00,-121.78,0.000,6,0.000,0.000,123,2471,3026,0,0,0,0,0,0
$GC,146,-1.00,-82.8,3.0,-6.1,25,168,10.93,3.10,-3.12,0.000,4,0.297,0.097,2345,3908,3142,0,0,0,0,0,0
$GC,233,-1.04,-82.8,20.0,-15.1,40,238,0.00,3.00,0.00,0.000,6,0.000,0.069,2345,2459,3143,0,0,1,0,0,0
$GC,576,-1.15,-82.8,65.4,-13.2,101,581,0.00,3.12,0.00,0.000,4,0.000,0.091,2345,3908,3144,0,0,1,0,0,0
$GC,701,-1.23,-82.8,82.3,-14.1,123,708,0.15,2.95,0.00,0.000,6,0.126,0.068,2298,2475,3144,0,0,1,0,0,0
$GC,1034,-1.23,-82.8,127.0,-12.3,164,1039,0.00,3.08,0.00,0.000,4,0.000,0.091,2298,3913,3144,0,0,1,0,0,0
$GC,1128,-1.23,-82.8,139.6,-13.3,172,1133,0.00,2.97,0.00,0.000,6,0.000,0.069,2298,2462,3143,0,0,1,0,0,0
$GC,1452,-1.23,-82.8,178.7,-11.4,202,1457,0.00,3.08,0.00,0.000,4,0.000,0.089,2297,3909,3142,0,0,1,0,0,0
$GC,1507,-1.17,-82.8,185.1,-11.2,206,1513,0.00,2.95,0.00,0.000,6,0.000,0.067,2297,2472,3142,0,0,0,0,0,0
$GC,1832,-1.17,-82.8,220.4,-10.1,237,1837,0.00,3.05,0.00,0.000,4,0.000,0.089,2297,3909,3142,0,0,1,0,0,0
$GC,2089,-1.12,-82.8,248.7,-10.9,259,2096,0.12,2.92,0.00,0.000,6,0.242,0.066,2321,2481,3142,0,0,0,0,0,0
$GC,2414,-1.21,-82.8,280.9,-9.7,290,2419,0.00,3.03,0.00,0.000,4,0.000,0.087,2321,3909,3143,0,0,1,0,0,0
$GC,2670,-1.26,-82.8,306.7,-10.4,312,2677,0.12,2.88,0.00,0.000,6,0.134,0.064,2284,2498,3143,0,0,0,0,0,0
$GC,2997,-1.26,-82.8,338.9,-9.7,343,3002,0.00,3.00,0.00,0.000,4,0.000,0.086,2283,3921,3143,0,0,1,0,0,0
$GC,3040,-1.20,-82.8,343.5,-10.2,346,3046,0.00,2.88,0.00,0.000,6,0.000,0.064,2283,2495,3143,0,0,1,0,0,0
$GC,3365,-1.20,-82.8,373.9,-9.5,377,3370,0.00,3.00,0.00,0.000,4,0.000,0.086,2283,3919,3144,0,0,1,0,0,0
$GC,3507,-1.13,-82.8,387.6,-9.5,389,3512,0.17,2.85,0.00,0.000,6,0.232,0.064,2320,2507,3144,0,0,1,0,0,0
$GC,3831,-1.26,-92.3,414.0,-8.1,419,3833,0.12,0.00,0.00,0.000,6,0.133,0.000,2281,2508,3145,0,0,0,0,0,0
$GC,4149,-1.26,-92.3,444.5,-9.8,449,4154,0.00,2.97,0.00,0.000,4,0.000,0.084,2280,3920,3145,0,0,1,0,0,0
$GC,4245,-1.20,-92.3,454.2,-10.2,457,4250,0.00,2.83,0.00,0.000,6,0.000,0.063,2280,2518,3144,0,0,1,0,0,0
$GC,4569,-1.20,-92.3,485.5,-9.6,487,4574,0.00,2.95,0.00,0.000,4,0.000,0.084,2280,3913,3145,0,0,1,0,0,0
$STATE,4678,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4678,begin apogee
$GC,4688,-0.16,0.0,496.6,9.9,496,4764,1.38,0.00,69.40,1.058,6,0.219,0.000,2626,1950,2799,0,0,0,0,0,0
$STATE,4765,end apogee,CONTROL_FINISHED_OK
$STATE,4765,begin climb
$GC,4767,1.01,92.3,498.5,0.0,504,4854,1.25,2.35,76.22,1.030,4,0.133,0.088,3016,364,2423,0,0,0,0,0,0
$GC,4916,1.07,92.3,482.4,15.0,518,4920,0.00,2.17,0.00,0.000,6,0.000,0.062,3016,1950,2420,0,0,0,0,0,0
$GC,5240,1.16,92.3,434.2,14.9,548,5246,0.15,3.30,0.00,0.000,4,0.119,0.077,3053,3536,2417,0,0,1,0,0,0
$GC,5285,1.07,92.3,426.4,17.3,551,5291,0.15,3.28,0.00,0.000,6,0.242,0.071,3036,1942,2416,0,0,1,0,0,0
$GC,5611,1.12,92.3,376.4,15.4,582,5612,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1943,2416,0,0,0,0,0,0
$GC,5930,1.20,92.3,329.5,14.5,612,5936,0.12,3.30,0.00,0.000,4,0.130,0.077,3072,3538,2416,0,0,1,0,0,0
$GC,5975,1.08,92.3,322.1,16.4,615,5981,0.20,3.22,0.00,0.000,6,0.232,0.071,3041,1955,2415,0,0,1,0,0,0
$GC,6300,1.16,92.3,276.0,13.6,646,6304,0.00,2.17,0.00,0.000,4,0.000,0.088,3049,347,2415,0,0,0,0,0,0
$GC,6361,1.16,92.3,267.3,14.6,651,6365,0.00,2.10,0.00,0.000,6,0.000,0.063,3049,1959,2416,0,0,0,0,0,0
$GC,6685,1.16,92.3,223.6,13.1,681,6690,0.00,3.22,0.00,0.000,4,0.000,0.079,3049,3538,2415,0,0,1,0,0,0
$GC,6701,1.16,92.3,221.4,13.7,682,6707,0.00,3.22,0.00,0.000,6,0.000,0.071,3063,1956,2415,0,0,1,0,0,0
$GC,7025,1.16,92.3,176.9,13.5,712,7027,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1958,2416,0,0,0,0,0,0
$GC,7346,1.16,92.3,132.2,13.9,742,7350,0.00,2.17,0.00,0.000,4,0.000,0.089,3074,346,2415,0,0,0,0,0,0
$GC,7510,1.11,92.3,109.7,13.9,756,7514,0.00,2.10,0.00,0.000,6,0.000,0.064,3074,1962,2416,0,0,0,0,0,0
$GC,7850,1.11,92.3,69.7,10.8,809,7855,0.00,3.20,0.00,0.000,4,0.000,0.077,3074,3532,2415,0,0,1,0,0,0
$GC,7957,1.02,92.3,58.5,10.3,828,7964,0.28,3.22,0.00,0.000,6,0.229,0.072,3026,1959,2416,0,0,0,0,0,0
$GC,8302,1.15,92.3,31.0,10.3,889,8307,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1960,2416,0,0,0,0,0,0
$FREEZE,8.81,-0.112,-1.830,0,1,0
$GC,8645,1.39,133.2,10.7,4.6,950,8688,0.30,3.30,32.55,0.750,4,0.101,0.080,3134,3526,2254,0,0,1,0,0,0
$FREEZE,7.94,-0.112,-1.830,0,1,0
$FREEZE,7.62,-0.111,-1.830,0,1,0
$FREEZE,7.37,-0.110,-1.829,0,1,0
$FREEZE,6.86,-0.109,-1.829,0,1,0
$FREEZE,6.33,-0.113,-1.829,0,1,0
$FREEZE,5.45,-0.114,-1.828,0,1,0
$GC,8708,1.28,154.0,7.4,6.9,961,8732,0.20,3.25,17.10,0.725,6,0.257,0.074,3108,1963,2171,0,0,0,0,0,0
$FREEZE,3.03,-0.115,-1.826,0,1,0
$FREEZE,2.05,-0.112,-1.825,0,1,0
$FREEZE,0.98,-0.112,-1.825,0,1,0
$STATE,8749,end climb,SURFACE_DEPTH_REACHED
$STATE,8749,begin surface coast
$FREEZE,0.21,-0.015,-1.818,0,1,0
$FREEZE,0.59,-0.113,-1.823,0,1,0
$FINISH,0.6,1.026709
$STATE,8762,end surface coast,CONTROL_FINISHED_OK
$STATE,8762,begin surface
$SM_CCo,8779,150.98,0.712,0,0,1065,425.10
$SM_GC,0.96,0.00,0.00,150.98,0.000,0.000,0.712,130,2462,1065,-8.00,0.03,425.10
$RAFOS_CLK,370
$RAFOS,6,1260550144,16.833334,16.817778,57,56,54,0,0,0,189,175,157,0,0,0
$RAFOS,5,1260549670,16.700001,16.686111,61,61,57,0,0,0,160,216,201,0,0,0
$RAFOS,4,1260549186,16.566668,16.551666,65,61,61,0,0,0,195,152,213,0,0,0
$RAFOS,3,1260548702,16.433332,16.417223,56,52,51,0,0,0,137,175,146,0,0,0
$RAFOS_FIX,6701.185059,-5701.106934,101209,080856,2,79,0.54
$IRIDIUM_FIX,6631.12,-5653.72,070399,131318
$TT8_MAMPS,0.027612
$HUMID,45.86
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,18.8
$ALTIM_BOTTOM_PING,400.2,110.8
$24V_AH,23.5,56.298
$10V_AH,10.1,29.768
$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,24.450,106.900,195.275,150.975,0.000,26.160,31.380,785.831,2.000,0.000,17.608,1602.997,5143.713,508.247,1627.415,1036.385,0.000,1350.009,0.000,1598.648,1440.000,13.972,0.000
$DEVICE_MAMPS,296.829,96.642,1057.693,711.776,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,716.420,661.355,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152476
$DATA_FILE_SIZE,37904,970
$CAP_FILE_SIZE,122960,0
$CFSIZE,260165632,226410496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$SOUNDSPEED,1463.4
$GPS,111209,185155,6703.402,-5647.308,63,1.3,63,-37.5