version: 66.06
glider: 143
mission: 10
dive: 286
start: 12 11 109 19 7 56
data:
$ID,143
$MISSION,10
$DIVE,286
$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,-41119.121
$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,20
$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
$GPS1,185155,6703.402,-5647.308,63,1.3,63,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-56.5
$GPS2,190737,6703.364,-5647.286,12,2.0,17,-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,254.9,848,-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,-55.4,0.0,0.0,0,134,0.00,0.00,-115.35,0.000,2,0.000,0.000,130,2465,2986,0,0,0,0,0,0
$GC,137,-1.00,-82.7,3.4,-6.1,23,159,10.80,3.15,-4.55,0.000,4,0.296,0.104,2358,3921,3139,0,0,1,0,0,0
$GC,390,-1.10,-82.7,39.1,-10.2,68,395,0.00,3.00,0.00,0.000,6,0.000,0.068,2358,2455,3142,0,0,1,0,0,0
$GC,733,-1.27,-82.7,83.2,-12.6,129,739,0.25,3.10,0.00,0.000,4,0.110,0.086,2257,3917,3141,0,0,1,0,0,0
$GC,836,-1.09,-82.7,99.8,-17.7,147,842,0.32,2.97,0.00,0.000,6,0.239,0.067,2330,2458,3141,0,0,1,0,0,0
$GC,1162,-1.18,-82.7,139.4,-12.1,178,1167,0.00,3.10,0.00,0.000,4,0.000,0.090,2329,3911,3140,0,0,0,0,0,0
$GC,1315,-1.24,-82.7,157.5,-11.3,191,1320,0.12,2.90,0.00,0.000,6,0.136,0.067,2293,2487,3140,0,0,1,0,0,0
$GC,1638,-1.24,-82.7,191.8,-10.1,221,1643,0.00,3.03,0.00,0.000,4,0.000,0.089,2293,3914,3140,0,0,1,0,0,0
$GC,1884,-1.17,-82.7,218.2,-10.8,242,1891,0.00,2.88,0.00,0.000,6,0.000,0.066,2292,2501,3140,0,0,0,0,0,0
$GC,2209,-1.17,-82.7,253.2,-11.3,273,2214,0.00,2.97,0.00,0.000,4,0.000,0.087,2292,3913,3141,0,0,1,0,0,0
$GC,2337,-1.17,-82.7,268.0,-11.3,284,2342,0.00,2.85,0.00,0.000,6,0.000,0.064,2292,2512,3140,0,0,0,0,0,0
$GC,2664,-1.17,-82.7,300.6,-9.4,314,2669,0.00,2.95,0.00,0.000,4,0.000,0.086,2292,3912,3141,0,0,1,0,0,0
$GC,2921,-1.17,-82.7,327.2,-10.8,336,2927,0.00,2.80,0.00,0.000,6,0.000,0.063,2292,2540,3142,0,0,0,0,0,0
$GC,3245,-1.17,-82.7,357.3,-9.2,367,3250,0.00,2.92,0.00,0.000,4,0.000,0.086,2292,3915,3142,0,0,0,0,0,0
$GC,3376,-1.13,-82.7,369.6,-9.7,378,3381,0.15,2.80,0.00,0.000,6,0.235,0.063,2323,2542,3142,0,0,0,0,0,0
$GC,3701,-1.26,-96.0,396.2,-7.7,408,3706,0.12,2.92,0.00,0.000,4,0.137,0.081,2270,3918,3143,0,0,0,0,0,0
$GC,3858,-1.15,-96.0,412.0,-9.7,421,3865,0.20,2.78,0.00,0.000,6,0.233,0.061,2313,2553,3143,0,0,0,0,0,0
$GC,4183,-1.26,-112.1,437.3,-7.4,452,4188,0.00,2.47,0.00,0.000,4,0.000,0.081,2313,866,3143,0,0,0,0,0,0
$GC,4205,-1.33,-119.4,439.3,-8.4,453,4211,0.15,2.47,0.00,0.000,6,0.118,0.069,2264,2567,3143,0,0,0,0,0,0
$GC,4530,-1.27,-119.4,468.7,-9.6,484,4534,0.00,2.85,0.00,0.000,4,0.000,0.084,2264,3912,3143,0,0,0,0,0,0
$STATE,4538,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4538,begin apogee
$GC,4546,-0.16,0.0,469.7,9.3,484,4623,1.45,0.00,69.00,1.041,6,0.222,0.000,2625,1952,2799,0,0,0,0,0,0
$STATE,4623,end apogee,CONTROL_FINISHED_OK
$STATE,4623,begin climb
$GC,4626,1.04,119.4,471.3,0.0,492,4733,1.27,2.35,98.65,1.012,4,0.135,0.086,3023,345,2311,0,0,0,0,0,0
$GC,4813,1.11,119.4,447.9,16.7,509,4817,0.00,2.22,0.00,0.000,6,0.000,0.062,3023,1959,2307,0,0,0,0,0,0
$GC,5137,1.20,119.4,395.1,15.5,539,5143,0.15,3.25,0.00,0.000,4,0.118,0.077,3061,3535,2303,0,0,1,0,0,0
$GC,5182,1.13,119.4,386.7,18.9,542,5188,0.00,3.30,0.00,0.000,6,0.000,0.070,3073,1940,2302,0,0,0,0,0,0
$GC,5506,1.13,119.4,325.7,18.9,573,5510,0.00,2.15,0.00,0.000,4,0.000,0.088,3083,355,2302,0,0,0,0,0,0
$GC,5535,1.06,119.4,320.4,18.9,575,5540,0.22,2.10,0.00,0.000,6,0.220,0.064,3032,1958,2302,0,0,0,0,0,0
$GC,5860,1.14,119.4,266.5,16.1,605,5865,0.00,3.25,0.00,0.000,4,0.000,0.078,3032,3535,2302,0,0,0,0,0,0
$GC,5955,1.14,119.4,249.2,18.6,613,5960,0.00,3.20,0.00,0.000,6,0.000,0.071,3045,1952,2301,0,0,0,0,0,0
$GC,6280,1.19,119.4,193.9,16.8,643,6285,0.00,3.25,0.00,0.000,4,0.000,0.078,3044,3535,2301,0,0,1,0,0,0
$GC,6341,1.19,119.4,183.1,17.3,648,6346,0.00,3.22,0.00,0.000,6,0.000,0.071,3059,1960,2302,0,0,0,0,0,0
$GC,6666,1.19,119.4,133.3,14.4,678,6671,0.00,3.28,0.00,0.000,4,0.000,0.077,3059,3541,2302,0,0,0,0,0,0
$GC,6693,1.19,119.4,128.8,15.9,680,6698,0.00,3.22,0.00,0.000,6,0.000,0.071,3074,1968,2302,0,0,0,0,0,0
$GC,7026,1.19,119.4,76.8,14.9,723,7031,0.00,2.17,0.00,0.000,4,0.000,0.088,3084,356,2302,0,0,0,0,0,0
$GC,7138,1.14,119.4,59.5,16.8,743,7144,0.00,2.05,0.00,0.000,6,0.000,0.061,3084,1951,2302,0,0,0,0,0,0
$GC,7483,1.14,119.4,27.6,15.2,804,7489,0.00,3.25,0.00,0.000,4,0.000,0.080,3085,3527,2303,0,0,0,0,0,0
$GC,7528,1.09,119.4,20.7,14.8,812,7535,0.25,3.25,0.00,0.000,6,0.226,0.074,3042,1948,2302,0,0,0,0,0,0
$FREEZE,8.71,-0.163,-1.830,0,2,0
$FREEZE,8.19,-0.163,-1.830,0,2,0
$FREEZE,7.45,-0.163,-1.829,0,2,0
$FREEZE,6.72,-0.161,-1.829,0,2,0
$FREEZE,6.13,-0.163,-1.828,0,2,0
$FREEZE,5.56,-0.164,-1.828,0,2,0
$FREEZE,5.13,-0.164,-1.828,0,2,0
$FREEZE,4.43,-0.164,-1.827,0,2,0
$FREEZE,3.42,-0.163,-1.826,0,2,0
$FREEZE,2.58,-0.163,-1.826,0,2,0
$FREEZE,1.87,-0.164,-1.825,0,2,0
$STATE,7702,end climb,SURFACE_DEPTH_REACHED
$STATE,7702,begin surface coast
$FREEZE,1.08,-0.164,-1.825,0,2,0
$FREEZE,0.24,-0.156,-1.824,0,2,0
$FINISH,0.2,1.026719
$STATE,7714,end surface coast,CONTROL_FINISHED_OK
$STATE,7715,begin surface
$SM_CCo,7732,160.40,0.719,0,0,1067,425.10
$SM_GC,0.80,0.00,0.00,160.40,0.000,0.000,0.719,127,2457,1067,-8.01,-0.06,425.10
$RAFOS_CLK,523
$RAFOS,6,1260564551,20.833334,20.819723,69,59,58,0,0,0,206,135,164,0,0,0
$RAFOS,5,1260564068,20.700001,20.685556,60,58,57,0,0,0,152,184,207,0,0,0
$RAFOS,4,1260563590,20.566668,20.552778,60,58,56,0,0,0,191,216,171,0,0,0
$RAFOS,3,1260563106,20.433332,20.418333,61,59,57,0,0,0,209,196,141,0,0,0
$RAFOS,2,1260562625,20.299999,20.284721,57,57,53,0,0,0,171,212,140,0,0,0
$RAFOS,1,1260562142,20.166666,20.150555,62,61,57,0,0,0,177,138,211,0,0,0
$RAFOS,0,1260561666,20.033333,20.018333,70,66,61,0,0,0,204,162,221,0,0,0
$RAFOS_FIX,6701.185059,-5701.106934,101209,080856,2,79,0.54
$IRIDIUM_FIX,6636.54,-5643.07,070399,191954
$TT8_MAMPS,0.027612
$HUMID,46.25
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,19.7
$ALTIM_BOTTOM_PING,400.5,84.0
$24V_AH,23.3,56.419
$10V_AH,10.1,29.827
$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,24.100,105.150,167.650,160.400,0.000,84.879,152.463,449.946,1.750,0.000,18.477,1432.867,4611.776,482.450,1454.601,852.991,0.000,1238.036,0.000,1426.148,2520.000,10.801,0.000
$DEVICE_MAMPS,296.062,104.312,1040.819,719.446,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,624.108,576.397,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152372
$DATA_FILE_SIZE,31558,845
$CAP_FILE_SIZE,107977,0
$CFSIZE,260165632,226402304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$SOUNDSPEED,1463.9
$GPS,111209,212046,6703.709,-5649.139,8,99.0,27,-37.6