version: 66.06
glider: 143
mission: 10
dive: 291
start: 12 12 109 8 7 33
data:
$ID,143
$MISSION,10
$DIVE,291
$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,-41381.227
$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,23
$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
$GPS1,075638,6703.738,-5648.177,35,1.9,48,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-59.6
$GPS2,080716,6703.755,-5648.272,37,2.5,56,-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,209.5,1412,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.96,-55.4,0.0,0.0,0,143,0.00,0.00,-120.07,0.000,6,0.000,0.000,129,2478,3025,0,0,0,0,0,0
$GC,146,-1.01,-93.9,2.9,-4.9,25,168,10.70,2.42,-4.80,0.000,4,0.292,0.097,2355,848,3183,0,0,0,0,0,0
$GC,421,-1.12,-93.9,40.4,-14.3,74,427,0.00,2.33,0.00,0.000,6,0.000,0.074,2355,2453,3186,0,0,0,0,0,0
$GC,765,-1.29,-93.9,87.2,-11.7,135,771,0.25,2.38,0.00,0.000,4,0.110,0.087,2271,863,3186,0,0,0,0,0,0
$GC,805,-1.15,-93.9,93.2,-15.7,142,811,0.22,2.33,0.00,0.000,6,0.244,0.073,2311,2467,3186,0,0,0,0,0,0
$GC,1138,-1.20,-93.9,137.7,-13.0,177,1143,0.00,3.10,0.00,0.000,4,0.000,0.092,2311,3911,3185,0,0,1,0,0,0
$GC,1395,-1.20,-93.9,171.2,-12.4,199,1401,0.00,2.97,0.00,0.000,6,0.000,0.067,2311,2465,3184,0,0,1,0,0,0
$GC,1721,-1.27,-93.9,208.1,-11.2,230,1726,0.00,3.10,0.00,0.000,4,0.000,0.090,2311,3912,3184,0,0,1,0,0,0
$GC,1978,-1.27,-93.9,238.1,-11.7,252,1984,0.00,2.92,0.00,0.000,6,0.000,0.067,2311,2483,3184,0,0,1,0,0,0
$GC,2303,-1.36,-93.9,271.1,-10.4,283,2309,0.17,3.08,0.00,0.000,4,0.120,0.087,2248,3912,3183,0,0,0,0,0,0
$GC,2561,-1.19,-93.9,303.9,-12.4,305,2568,0.25,2.90,0.00,0.000,6,0.232,0.064,2304,2500,3183,0,0,0,0,0,0
$GC,2887,-1.26,-93.9,336.5,-9.9,336,2892,0.00,3.00,0.00,0.000,4,0.000,0.086,2303,3912,3184,0,0,1,0,0,0
$GC,3076,-1.26,-93.9,356.9,-10.4,352,3082,0.00,2.85,0.00,0.000,6,0.000,0.063,2304,2514,3184,0,0,1,0,0,0
$GC,3403,-1.33,-93.9,389.9,-10.7,383,3408,0.12,2.97,0.00,0.000,4,0.129,0.081,2248,3916,3185,0,0,1,0,0,0
$GC,3571,-1.18,-93.9,411.2,-12.9,397,3578,0.25,2.83,0.00,0.000,6,0.233,0.061,2303,2525,3185,0,0,1,0,0,0
$GC,3896,-1.26,-93.9,443.1,-9.4,428,3901,0.00,2.95,0.00,0.000,4,0.000,0.084,2303,3915,3186,0,0,1,0,0,0
$GC,4069,-1.26,-93.9,460.0,-9.8,443,4074,0.00,2.80,0.00,0.000,6,0.000,0.061,2304,2542,3186,0,0,1,0,0,0
$STATE,4190,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4190,begin apogee
$GC,4195,-0.16,0.0,470.6,8.2,454,4277,1.23,0.00,77.55,1.034,6,0.204,0.000,2626,1937,2800,0,0,0,0,0,0
$STATE,4278,end apogee,CONTROL_FINISHED_OK
$STATE,4278,begin climb
$GC,4280,1.01,93.9,472.9,0.0,462,4366,1.23,0.00,77.65,1.002,6,0.124,0.000,3005,1937,2416,0,0,0,0,0,0
$GC,4685,1.15,93.9,421.6,13.9,501,4691,0.17,3.38,0.00,0.000,4,0.117,0.075,3058,3536,2411,0,0,1,0,0,0
$GC,4781,1.07,93.9,404.7,17.8,509,4787,0.17,3.30,0.00,0.000,6,0.239,0.069,3036,1956,2410,0,0,0,0,0,0
$GC,5105,1.07,93.9,355.9,14.7,539,5106,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1957,2410,0,0,0,0,0,0
$GC,5425,1.11,93.9,307.6,14.9,569,5430,0.00,3.25,0.00,0.000,4,0.000,0.076,3029,3536,2409,0,0,1,0,0,0
$GC,5458,1.11,93.9,302.4,15.3,571,5464,0.00,3.22,0.00,0.000,6,0.000,0.069,3041,1960,2409,0,0,1,0,0,0
$GC,5782,1.11,93.9,250.6,16.3,602,5788,0.00,3.25,0.00,0.000,4,0.000,0.077,3041,3536,2409,0,0,1,0,0,0
$GC,5838,1.11,93.9,240.9,17.6,606,5844,0.00,3.22,0.00,0.000,6,0.000,0.069,3056,1965,2409,0,0,1,0,0,0
$GC,6162,1.11,93.9,188.4,15.1,637,6167,0.00,3.25,0.00,0.000,4,0.000,0.077,3056,3539,2410,0,0,1,0,0,0
$GC,6229,1.05,93.9,177.8,16.4,642,6235,0.17,3.22,0.00,0.000,6,0.231,0.069,3034,1973,2410,0,0,0,0,0,0
$GC,6553,1.15,93.9,137.1,11.9,673,6558,0.00,3.22,0.00,0.000,4,0.000,0.077,3034,3537,2411,0,0,1,0,0,0
$GC,6592,1.15,93.9,131.9,13.9,676,6597,0.00,3.22,0.00,0.000,6,0.000,0.069,3046,1972,2410,0,0,0,0,0,0
$GC,6920,1.21,93.9,92.1,11.9,711,6926,0.10,2.20,0.00,0.000,4,0.134,0.088,3090,345,2411,0,0,0,0,0,0
$GC,7101,1.17,93.9,70.0,10.8,743,7106,0.00,2.10,0.00,0.000,6,0.000,0.063,3090,1977,2412,0,0,0,0,0,0
$GC,7444,1.17,93.9,35.1,10.3,804,7449,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1977,2412,0,0,0,0,0,0
$FREEZE,8.83,-0.308,-1.830,0,7,0
$FREEZE,8.38,-0.303,-1.830,0,7,0
$FREEZE,8.03,-0.307,-1.830,0,7,0
$FREEZE,7.63,-0.301,-1.829,0,7,0
$FREEZE,7.07,-0.301,-1.829,0,7,0
$FREEZE,6.60,-0.299,-1.829,0,7,0
$FREEZE,6.02,-0.307,-1.828,0,7,0
$FREEZE,5.54,-0.308,-1.828,0,7,0
$FREEZE,4.97,-0.306,-1.827,0,7,0
$FREEZE,4.49,-0.299,-1.827,0,7,0
$FREEZE,3.90,-0.300,-1.827,0,7,0
$GC,7789,1.10,93.9,3.9,9.3,865,7795,0.17,3.22,0.00,0.000,4,0.232,0.077,3036,3531,2411,0,0,1,0,0,0
$FREEZE,2.61,-0.305,-1.826,0,7,0
$FREEZE,1.91,-0.298,-1.825,0,7,0
$STATE,7806,end climb,SURFACE_DEPTH_REACHED
$STATE,7806,begin surface coast
$FREEZE,1.34,-0.297,-1.825,0,7,0
$FREEZE,0.74,-0.299,-1.824,0,7,0
$FINISH,0.7,1.026728
$STATE,7818,end surface coast,CONTROL_FINISHED_OK
$STATE,7818,begin surface
$SM_CCo,7838,181.80,0.719,0,0,1067,425.10
$SM_GC,0.88,0.00,0.00,181.80,0.000,0.000,0.719,127,2455,1067,-8.01,-0.11,425.10
$RAFOS_CLK,509
$RAFOS,6,1260607746,8.833333,8.818334,62,58,58,0,0,0,201,191,157,0,0,0
$RAFOS,5,1260607267,8.700000,8.685278,58,58,57,0,0,0,175,189,118,0,0,0
$RAFOS,4,1260606790,8.566667,8.552778,61,60,59,0,0,0,201,170,187,0,0,0
$RAFOS,3,1260606304,8.433333,8.417778,68,58,56,0,0,0,177,159,197,0,0,0
$RAFOS,2,1260605824,8.300000,8.284445,70,65,57,0,0,0,210,144,126,0,0,0
$RAFOS,1,1260605343,8.166667,8.150833,63,57,53,0,0,0,213,194,146,0,0,0
$RAFOS_FIX,6701.185059,-5701.106934,101209,080856,2,79,0.54
$IRIDIUM_FIX,6636.54,-5650.71,080399,080807
$TT8_MAMPS,0.027612
$HUMID,45.47
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,20.0,19.0
$ALTIM_BOTTOM_PING,300.3,184.7
$24V_AH,23.4,57.041
$10V_AH,10.1,30.130
$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,23.850,88.425,155.200,181.800,0.000,91.946,215.888,48.231,1.250,0.000,58.907,1470.814,4641.817,509.429,1529.431,504.824,0.000,1264.474,0.000,1460.061,2160.000,7.542,0.000
$DEVICE_MAMPS,292.227,96.642,1033.916,719.446,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,639.993,593.656,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152440
$DATA_FILE_SIZE,34717,870
$CAP_FILE_SIZE,95971,0
$CFSIZE,260165632,226205696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$SOUNDSPEED,1463.6
$GPS,121209,102236,6704.243,-5651.856,35,1.4,35,-37.6