version: 66.06
glider: 143
mission: 10
dive: 290
start: 12 12 109 5 35 13
data:
$ID,143
$MISSION,10
$DIVE,290
$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,-41321.691
$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
$GPS1,051706,6702.945,-5648.265,12,1.4,28,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-56.2
$GPS2,053455,6702.942,-5648.336,37,1.5,47,-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,103.6,265,-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,14,-0.96,-55.4,0.0,0.0,0,139,0.00,0.00,-119.53,0.000,6,0.000,0.000,126,2462,3026,0,0,0,0,0,0
$GC,141,-0.98,-65.3,3.4,-8.1,24,163,11.02,2.45,-1.02,0.000,4,0.300,0.099,2366,857,3069,0,0,0,0,0,0
$GC,417,-1.06,-65.3,45.4,-11.9,73,422,0.00,2.33,0.00,0.000,6,0.000,0.076,2367,2454,3072,0,0,0,0,0,0
$GC,761,-1.21,-65.3,86.6,-11.9,134,767,0.20,3.12,0.00,0.000,4,0.118,0.087,2289,3927,3072,0,0,1,0,0,0
$GC,919,-1.11,-65.3,104.9,-9.9,158,925,0.17,3.00,0.00,0.000,6,0.246,0.069,2324,2470,3072,0,0,1,0,0,0
$GC,1244,-1.15,-65.3,135.3,-10.0,188,1249,0.00,3.12,0.00,0.000,4,0.000,0.091,2324,3926,3071,0,0,1,0,0,0
$GC,1350,-1.15,-65.3,146.7,-10.8,197,1355,0.00,2.97,0.00,0.000,6,0.000,0.069,2324,2480,3071,0,0,1,0,0,0
$GC,1675,-1.23,-65.3,181.8,-10.4,227,1680,0.00,3.10,0.00,0.000,4,0.000,0.091,2324,3922,3070,0,0,1,0,0,0
$GC,1843,-1.23,-65.3,198.7,-10.3,241,1849,0.00,2.95,0.00,0.000,6,0.000,0.067,2324,2487,3070,0,0,1,0,0,0
$GC,2167,-1.32,-65.3,228.8,-9.3,272,2173,0.17,3.08,0.00,0.000,4,0.127,0.086,2254,3920,3070,0,0,1,0,0,0
$GC,2425,-1.12,-65.3,259.1,-11.9,294,2432,0.30,2.90,0.00,0.000,6,0.235,0.065,2322,2501,3069,0,0,1,0,0,0
$GC,2751,-1.22,-74.3,287.9,-8.2,325,2756,0.00,3.03,0.00,0.000,4,0.000,0.087,2321,3918,3070,0,0,1,0,0,0
$GC,3008,-1.24,-85.5,309.1,-7.9,347,3014,0.00,2.88,0.00,0.000,6,0.000,0.064,2321,2509,3070,0,0,1,0,0,0
$GC,3333,-1.34,-101.2,333.0,-7.4,378,3338,0.20,3.00,0.00,0.000,4,0.115,0.083,2248,3921,3071,0,0,1,0,0,0
$GC,3496,-1.16,-101.2,348.6,-9.8,392,3502,0.28,2.83,0.00,0.000,6,0.233,0.063,2310,2530,3071,0,0,1,0,0,0
$GC,3821,-1.23,-114.5,374.1,-7.7,422,3826,0.00,2.95,0.00,0.000,4,0.000,0.084,2309,3920,3071,0,0,1,0,0,0
$GC,3898,-1.24,-126.8,380.4,-7.8,428,3904,0.00,2.85,0.00,0.000,6,0.000,0.062,2309,2523,3071,0,0,0,0,0,0
$GC,4223,-1.32,-141.2,404.4,-7.6,459,4229,0.15,2.97,0.00,0.000,4,0.127,0.081,2248,3929,3072,0,0,1,0,0,0
$GC,4287,-1.14,-141.2,410.1,-9.3,464,4293,0.30,2.83,0.00,0.000,6,0.235,0.061,2315,2534,3072,0,0,1,0,0,0
$GC,4612,-1.23,-146.0,434.0,-6.8,494,4617,0.00,2.95,0.00,0.000,4,0.000,0.084,2315,3923,3072,0,0,1,0,0,0
$GC,4786,-1.23,-146.0,447.9,-8.4,509,4791,0.00,2.80,0.00,0.000,6,0.000,0.061,2315,2549,3073,0,0,1,0,0,0
$GC,5111,-1.31,-146.0,471.5,-7.1,539,5116,0.15,2.92,0.00,0.000,4,0.122,0.080,2251,3925,3073,0,0,1,0,0,0
$GC,5207,-1.14,-146.0,479.9,-9.2,547,5213,0.30,2.78,0.00,0.000,6,0.235,0.060,2319,2558,3073,0,0,1,0,0,0
$STATE,5274,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5275,begin apogee
$GC,5280,-0.16,0.0,484.8,6.9,553,5340,1.20,0.00,55.47,1.047,6,0.211,0.000,2629,1942,2800,0,0,0,0,0,0
$STATE,5340,end apogee,CONTROL_FINISHED_OK
$STATE,5340,begin climb
$GC,5343,1.07,146.0,485.8,0.0,559,5476,1.27,2.38,120.82,1.019,4,0.133,0.087,3032,361,2202,0,0,0,0,0,0
$GC,5522,1.15,146.0,463.9,17.8,576,5527,0.00,2.22,0.00,0.000,6,0.000,0.061,3031,1962,2198,0,0,0,0,0,0
$GC,5852,1.23,146.0,406.6,17.2,607,5858,0.15,3.30,0.00,0.000,4,0.119,0.078,3081,3537,2195,0,0,1,0,0,0
$GC,5882,1.13,146.0,400.7,20.8,609,5888,0.17,3.33,0.00,0.000,6,0.242,0.071,3060,1957,2194,0,0,0,0,0,0
$GC,6206,1.13,146.0,339.3,19.0,639,6207,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1958,2192,0,0,0,0,0,0
$GC,6526,1.13,146.0,278.5,18.7,669,6527,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1958,2192,0,0,0,0,0,0
$GC,6844,1.13,146.0,219.5,18.5,699,6845,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1958,2191,0,0,0,0,0,0
$GC,7163,1.13,146.0,160.5,18.4,729,7164,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1959,2191,0,0,0,0,0,0
$GC,7483,1.22,146.0,106.3,14.8,759,7484,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1959,2192,0,0,0,0,0,0
$GC,7814,1.32,146.0,56.4,12.1,814,7821,0.17,3.28,0.00,0.000,4,0.107,0.078,3110,3541,2192,0,0,1,0,0,0
$GC,7856,1.20,146.0,50.9,14.5,821,7862,0.20,3.28,0.00,0.000,6,0.249,0.071,3082,1947,2192,0,0,0,0,0,0
$FREEZE,8.61,-0.036,-1.831,0,6,0
$FREEZE,7.50,-0.036,-1.831,0,6,0
$FREEZE,6.48,-0.038,-1.830,0,6,0
$FREEZE,5.50,-0.042,-1.829,0,6,0
$FREEZE,4.57,-0.044,-1.829,0,6,0
$FREEZE,3.75,-0.044,-1.828,0,6,0
$GC,8201,1.20,146.0,3.8,17.7,882,8206,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1948,2192,0,0,0,0,0,0
$FREEZE,1.34,-0.047,-1.826,0,6,0
$STATE,8210,end climb,SURFACE_DEPTH_REACHED
$STATE,8210,begin surface coast
$FREEZE,0.50,-0.051,-1.826,0,6,0
$FREEZE,0.08,-0.063,-1.826,0,6,0
$FINISH,0.1,1.026745
$STATE,8222,end surface coast,CONTROL_FINISHED_OK
$STATE,8223,begin surface
$SM_CCo,8240,151.30,0.723,0,0,1066,425.10
$SM_GC,0.88,0.00,0.00,151.30,0.000,0.000,0.723,130,2476,1066,-8.00,0.45,425.10
$RAFOS_CLK,557
$RAFOS_FIX,6701.185059,-5701.106934,101209,080856,2,79,0.54
$IRIDIUM_FIX,6636.54,-5643.07,080399,050518
$TT8_MAMPS,0.026078
$HUMID,46.14
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.3,18.9
$ALTIM_BOTTOM_PING,450.0,49.7
$24V_AH,23.2,56.942
$10V_AH,10.1,30.075
$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,24.850,83.475,176.300,151.300,0.000,82.005,154.475,542.541,2.500,0.000,50.134,1514.804,4969.315,468.612,1554.543,952.197,0.000,1248.507,0.000,1488.682,0.000,18.433,0.000
$DEVICE_MAMPS,299.897,98.943,1046.955,722.514,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,649.477,606.205,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152420
$DATA_FILE_SIZE,34739,886
$CAP_FILE_SIZE,110761,0
$CFSIZE,260165632,226254848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$SOUNDSPEED,1464.2
$GPS,121209,075638,6703.738,-5648.177,35,1.9,48,-37.5