version: 66.06
glider: 143
mission: 10
dive: 287
start: 12 11 109 21 42 18
data:
$ID,143
$MISSION,10
$DIVE,287
$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,-41163.754
$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,15
$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
$GPS1,212046,6703.709,-5649.139,8,99.0,27,-37.6
$_CALLS,3
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-54.6
$GPS2,214200,6703.606,-5649.017,27,1.5,42,-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,184.3,1341,-27.7,-9.167
$D_GRID,499
$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,13,begin dive
$GC,15,-0.96,-55.4,0.0,0.0,0,128,0.00,0.00,-109.90,0.000,2,0.000,0.000,126,2458,2850,0,0,0,0,0,0
$GC,131,-1.02,-97.9,3.1,-4.5,22,163,11.10,2.47,-11.07,0.000,4,0.302,0.101,2355,868,3203,0,0,0,0,0,0
$GC,416,-1.13,-97.9,48.4,-11.7,73,422,0.00,2.35,0.00,0.000,6,0.000,0.077,2355,2458,3205,0,0,0,0,0,0
$GC,759,-1.33,-97.9,95.3,-12.5,134,765,0.25,3.10,0.00,0.000,4,0.110,0.087,2253,3913,3205,0,0,0,0,0,0
$GC,821,-1.16,-97.9,105.1,-16.1,142,827,0.25,2.97,0.00,0.000,6,0.248,0.068,2306,2475,3205,0,0,0,0,0,0
$GC,1146,-1.21,-97.9,147.1,-12.6,173,1151,0.00,3.10,0.00,0.000,4,0.000,0.091,2306,3919,3204,0,0,0,0,0,0
$GC,1308,-1.21,-97.9,169.2,-13.7,187,1313,0.00,2.95,0.00,0.000,6,0.000,0.067,2307,2479,3203,0,0,1,0,0,0
$GC,1633,-1.30,-97.9,209.5,-12.0,217,1638,0.12,3.08,0.00,0.000,4,0.138,0.086,2254,3914,3203,0,0,0,0,0,0
$GC,1891,-1.15,-97.9,245.3,-14.1,239,1897,0.28,2.88,0.00,0.000,6,0.240,0.065,2315,2512,3203,0,0,0,0,0,0
$GC,2216,-1.24,-97.9,280.1,-10.3,270,2220,0.00,3.00,0.00,0.000,4,0.000,0.088,2315,3919,3203,0,0,1,0,0,0
$GC,2473,-1.31,-97.9,307.9,-11.1,292,2479,0.15,2.83,0.00,0.000,6,0.124,0.064,2267,2546,3203,0,0,0,0,0,0
$GC,2797,-1.31,-97.9,343.6,-11.1,323,2802,0.00,2.95,0.00,0.000,4,0.000,0.087,2266,3922,3203,0,0,0,0,0,0
$GC,2972,-1.21,-97.9,364.0,-12.0,338,2977,0.15,2.80,0.00,0.000,6,0.239,0.064,2297,2565,3204,0,0,0,0,0,0
$GC,3296,-1.27,-97.9,396.2,-9.8,368,3301,0.00,2.90,0.00,0.000,4,0.000,0.086,2298,3913,3205,0,0,0,0,0,0
$GC,3368,-1.27,-97.9,404.1,-11.5,374,3373,0.00,2.75,0.00,0.000,6,0.000,0.062,2298,2582,3205,0,0,0,0,0,0
$GC,3693,-1.34,-97.9,436.4,-9.6,404,3698,0.12,2.88,0.00,0.000,4,0.134,0.083,2248,3913,3206,0,0,0,0,0,0
$GC,3845,-1.19,-97.9,454.9,-12.2,417,3850,0.22,2.70,0.00,0.000,6,0.236,0.062,2297,2602,3206,0,0,1,0,0,0
$STATE,4114,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4114,begin apogee
$GC,4120,-0.16,0.0,482.3,10.5,442,4206,1.27,0.00,81.45,1.049,6,0.209,0.000,2630,1940,2800,0,0,0,0,0,0
$STATE,4207,end apogee,CONTROL_FINISHED_OK
$STATE,4207,begin climb
$GC,4210,1.02,97.9,484.1,0.0,451,4304,1.25,2.35,81.32,1.016,4,0.137,0.088,3015,354,2399,0,0,0,0,0,0
$GC,4354,1.09,97.9,468.3,15.2,464,4360,0.00,2.20,0.00,0.000,6,0.000,0.061,3015,1959,2396,0,0,0,0,0,0
$GC,4679,1.20,97.9,419.9,15.3,495,4685,0.17,3.33,0.00,0.000,4,0.113,0.077,3069,3540,2393,0,0,1,0,0,0
$GC,4757,1.08,97.9,405.8,18.4,501,4764,0.17,3.28,0.00,0.000,6,0.232,0.072,3046,1967,2392,0,0,1,0,0,0
$GC,5081,1.08,97.9,354.0,16.2,532,5082,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1968,2392,0,0,0,0,0,0
$GC,5402,1.08,97.9,303.3,15.7,562,5403,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1968,2391,0,0,0,0,0,0
$GC,5720,1.08,97.9,252.7,15.4,592,5721,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1969,2391,0,0,0,0,0,0
$GC,6039,1.15,97.9,206.2,14.2,622,6044,0.00,3.25,0.00,0.000,4,0.000,0.078,3045,3538,2392,0,0,1,0,0,0
$GC,6078,1.15,97.9,200.1,15.6,625,6083,0.00,3.25,0.00,0.000,6,0.000,0.072,3058,1962,2392,0,0,0,0,0,0
$GC,6402,1.15,97.9,154.6,13.4,655,6406,0.00,2.17,0.00,0.000,4,0.000,0.089,3068,349,2392,0,0,0,0,0,0
$GC,6456,1.15,97.9,147.0,14.3,659,6463,0.00,2.12,0.00,0.000,6,0.000,0.063,3069,1959,2392,0,0,0,0,0,0
$GC,6782,1.15,97.9,103.6,13.2,690,6787,0.00,3.22,0.00,0.000,4,0.000,0.078,3068,3532,2392,0,0,1,0,0,0
$GC,6923,1.08,97.9,83.0,14.6,712,6929,0.20,3.22,0.00,0.000,6,0.229,0.071,3039,1966,2391,0,0,0,0,0,0
$GC,7268,1.20,97.9,44.8,11.4,773,7274,0.12,2.17,0.00,0.000,4,0.127,0.089,3090,351,2392,0,0,0,0,0,0
$GC,7383,1.14,97.9,29.1,13.5,793,7389,0.15,2.10,0.00,0.000,6,0.225,0.064,3058,1973,2393,0,0,0,0,0,0
$FREEZE,8.89,-0.148,-1.831,0,3,0
$FREEZE,8.06,-0.149,-1.830,0,3,0
$FREEZE,7.38,-0.150,-1.830,0,3,0
$FREEZE,6.64,-0.150,-1.829,0,3,0
$FREEZE,6.11,-0.144,-1.829,0,3,0
$FREEZE,5.53,-0.148,-1.828,0,3,0
$FREEZE,4.98,-0.147,-1.828,0,3,0
$FREEZE,4.50,-0.146,-1.828,0,3,0
$FREEZE,3.90,-0.148,-1.827,0,3,0
$FREEZE,3.14,-0.148,-1.827,0,3,0
$FREEZE,2.53,-0.146,-1.826,0,3,0
$FREEZE,1.74,-0.147,-1.825,0,3,0
$STATE,7613,end climb,SURFACE_DEPTH_REACHED
$STATE,7613,begin surface coast
$FREEZE,0.89,-0.149,-1.825,0,3,0
$FREEZE,0.52,-0.154,-1.825,0,3,0
$FREEZE,0.17,0.236,-1.803,0,3,0
$FINISH,0.2,1.026404
$STATE,7634,end surface coast,CONTROL_FINISHED_OK
$STATE,7634,begin surface
$SM_CCo,7652,175.00,0.717,0,0,1067,425.10
$SM_GC,0.88,0.00,0.00,175.00,0.000,0.000,0.717,123,2462,1067,-8.02,0.06,425.10
$RAFOS_CLK,537
$RAFOS_FIX,6701.185059,-5701.106934,101209,080856,2,79,0.54
$IRIDIUM_FIX,6636.54,-5650.71,070399,212145
$TT8_MAMPS,0.027612
$HUMID,45.90
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,20.3
$ALTIM_BOTTOM_PING,350.0,146.5
$24V_AH,23.3,56.560
$10V_AH,10.1,29.887
$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,24.675,80.275,162.775,175.000,0.000,83.821,113.790,783.283,1.250,0.000,44.002,1388.280,4622.389,486.647,1446.379,1158.495,0.000,1216.114,0.000,1396.050,0.000,9.209,0.000
$DEVICE_MAMPS,302.198,101.244,1049.256,717.145,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,617.601,571.490,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152272
$DATA_FILE_SIZE,31629,837
$CAP_FILE_SIZE,109975,0
$CFSIZE,260165632,226377728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$SOUNDSPEED,1464.4
$GPS,111209,235434,6703.440,-5649.911,42,99.0,61,-37.5