version: 66.06
glider: 143
mission: 10
dive: 282
start: 12 11 109 7 53 9
data:
$ID,143
$MISSION,10
$DIVE,282
$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,-41013.543
$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,21
$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
$GPS1,073236,6703.164,-5648.678,58,1.3,68,-37.5
$_CALLS,3
$_XMS_NAKs,37
$_XMS_TOUTs,1
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-58.8
$GPS2,075251,6703.106,-5648.917,13,1.7,14,-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,144.0,691,-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,-55.4,0.0,0.0,0,138,0.00,0.00,-118.05,0.000,6,0.000,0.000,125,2463,3027,0,0,0,0,0,0
$GC,141,-1.01,-92.5,3.2,-5.1,24,163,10.15,2.42,-4.78,0.000,4,0.273,0.101,2362,854,3180,0,0,0,0,0,0
$GC,354,-1.11,-92.5,32.4,-17.8,62,359,0.00,2.38,0.00,0.000,6,0.000,0.078,2362,2463,3182,0,0,0,0,0,0
$GC,697,-1.29,-92.5,77.5,-12.8,123,703,0.25,3.08,0.00,0.000,4,0.106,0.087,2260,3914,3182,0,0,1,0,0,0
$GC,846,-1.13,-92.5,101.0,-14.8,149,852,0.28,2.95,0.00,0.000,6,0.245,0.068,2320,2476,3182,0,0,1,0,0,0
$GC,1171,-1.20,-92.5,137.9,-11.5,179,1176,0.00,3.08,0.00,0.000,4,0.000,0.091,2320,3919,3181,0,0,1,0,0,0
$GC,1237,-1.20,-92.5,146.6,-12.9,184,1243,0.00,2.95,0.00,0.000,6,0.000,0.068,2320,2479,3181,0,0,0,0,0,0
$GC,1562,-1.29,-92.5,186.3,-11.2,215,1567,0.15,3.05,0.00,0.000,4,0.128,0.086,2259,3914,3181,0,0,1,0,0,0
$GC,1693,-1.11,-92.5,204.3,-13.4,226,1699,0.30,2.90,0.00,0.000,6,0.239,0.066,2326,2487,3181,0,0,1,0,0,0
$GC,2018,-1.24,-92.5,237.4,-9.8,256,2024,0.12,3.05,0.00,0.000,4,0.137,0.085,2274,3924,3181,0,0,1,0,0,0
$GC,2276,-1.13,-92.5,268.5,-12.4,278,2282,0.22,2.88,0.00,0.000,6,0.235,0.065,2323,2519,3181,0,0,0,0,0,0
$GC,2601,-1.25,-92.5,301.5,-9.8,309,2606,0.00,3.00,0.00,0.000,4,0.000,0.087,2323,3923,3181,0,0,1,0,0,0
$GC,2858,-1.33,-92.5,328.2,-9.7,331,2865,0.20,2.78,0.00,0.000,6,0.117,0.064,2258,2566,3182,0,0,1,0,0,0
$GC,3183,-1.26,-92.5,365.0,-11.3,362,3188,0.00,2.90,0.00,0.000,4,0.000,0.087,2258,3922,3181,0,0,1,0,0,0
$GC,3362,-1.12,-92.5,387.0,-11.9,377,3368,0.28,2.78,0.00,0.000,6,0.233,0.064,2320,2574,3182,0,0,0,0,0,0
$GC,3687,-1.24,-92.5,417.0,-9.3,408,3691,0.00,2.88,0.00,0.000,4,0.000,0.087,2319,3914,3183,0,0,1,0,0,0
$GC,3719,-1.32,-92.5,420.2,-9.9,410,3726,0.15,2.78,0.00,0.000,6,0.094,0.063,2250,2562,3183,0,0,0,0,0,0
$GC,4044,-1.24,-92.5,455.3,-11.0,441,4049,0.17,2.90,0.00,0.000,4,0.232,0.082,2277,3917,3183,0,0,1,0,0,0
$GC,4153,-1.18,-92.5,467.0,-10.7,450,4158,0.15,2.75,0.00,0.000,6,0.234,0.062,2307,2581,3183,0,0,1,0,0,0
$GC,4477,-1.27,-92.5,497.2,-9.5,480,4482,0.00,2.88,0.00,0.000,4,0.000,0.085,2307,3920,3184,0,0,1,0,0,0
$STATE,4503,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4503,begin apogee
$GC,4512,-0.16,0.0,499.9,10.0,482,4594,1.25,0.00,77.20,1.063,6,0.216,0.000,2626,1943,2800,0,0,0,0,0,0
$STATE,4594,end apogee,CONTROL_FINISHED_OK
$STATE,4595,begin climb
$GC,4596,1.01,92.5,502.2,0.0,490,4683,1.25,2.38,76.90,1.029,4,0.135,0.088,3013,352,2421,0,0,0,0,0,0
$GC,4723,1.06,92.5,490.0,14.0,502,4727,0.00,2.22,0.00,0.000,6,0.000,0.062,3013,1955,2417,0,0,0,0,0,0
$GC,5048,1.16,92.5,442.1,14.4,532,5054,0.15,3.30,0.00,0.000,4,0.118,0.077,3051,3533,2415,0,0,1,0,0,0
$GC,5104,1.09,92.5,432.5,17.7,536,5111,0.00,3.25,0.00,0.000,6,0.000,0.070,3063,1957,2414,0,0,1,0,0,0
$GC,5429,1.03,92.5,378.0,16.9,567,5431,0.17,0.00,0.00,0.000,6,0.237,0.000,3026,1958,2414,0,0,0,0,0,0
$GC,5747,1.11,92.5,331.2,14.5,597,5753,0.00,3.25,0.00,0.000,4,0.000,0.078,3011,3534,2413,0,0,1,0,0,0
$GC,5809,1.11,92.5,322.1,14.8,602,5814,0.00,3.25,0.00,0.000,6,0.000,0.070,3024,1953,2414,0,0,0,0,0,0
$GC,6134,1.18,92.5,279.5,12.8,632,6136,0.15,0.00,0.00,0.000,6,0.121,0.000,3074,1955,2414,0,0,0,0,0,0
$GC,6452,1.18,92.5,232.8,13.9,662,6457,0.00,3.25,0.00,0.000,4,0.000,0.078,3074,3534,2414,0,0,1,0,0,0
$GC,6491,1.04,92.5,226.8,15.7,665,6497,0.25,3.22,0.00,0.000,6,0.228,0.071,3033,1957,2414,0,0,0,0,0,0
$GC,6815,1.13,92.5,185.3,12.7,695,6817,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1958,2415,0,0,0,0,0,0
$GC,7135,1.23,92.5,145.0,13.0,725,7140,0.15,2.20,0.00,0.000,4,0.118,0.090,3093,349,2415,0,0,0,0,0,0
$GC,7231,1.13,92.5,130.5,15.4,733,7236,0.17,2.10,0.00,0.000,6,0.228,0.064,3055,1961,2415,0,0,0,0,0,0
$GC,7561,1.18,92.5,88.8,12.3,771,7566,0.00,3.22,0.00,0.000,4,0.000,0.080,3055,3536,2415,0,0,1,0,0,0
$GC,7634,1.18,92.5,79.8,11.7,784,7640,0.00,3.20,0.00,0.000,6,0.000,0.072,3067,1966,2414,0,0,0,0,0,0
$GC,7977,1.18,92.5,44.9,12.2,845,7983,0.00,2.20,0.00,0.000,4,0.000,0.089,3078,356,2415,0,0,0,0,0,0
$GC,8084,1.18,92.5,31.7,12.1,864,8090,0.00,2.12,0.00,0.000,6,0.000,0.065,3078,1970,2416,0,0,0,0,0,0
$FREEZE,8.32,-0.022,-1.830,0,2,0
$FREEZE,7.51,-0.024,-1.830,0,2,0
$FREEZE,6.60,-0.026,-1.829,0,2,0
$FREEZE,5.92,-0.027,-1.829,0,2,0
$FREEZE,5.07,-0.025,-1.828,0,2,0
$FREEZE,4.23,-0.025,-1.827,0,2,0
$FREEZE,3.46,-0.026,-1.827,0,2,0
$FREEZE,2.95,-0.027,-1.826,0,2,0
$FREEZE,2.65,-0.027,-1.826,0,2,0
$FREEZE,2.37,-0.027,-1.826,0,2,0
$FREEZE,1.89,-0.029,-1.826,0,2,0
$STATE,8330,end climb,SURFACE_DEPTH_REACHED
$STATE,8330,begin surface coast
$FREEZE,1.30,-0.025,-1.825,0,2,0
$FREEZE,0.62,-0.024,-1.824,0,2,0
$FREEZE,0.41,-0.010,-1.824,0,2,0
$FREEZE,0.26,0.005,-1.823,0,2,0
$FREEZE,0.30,0.080,-1.817,0,2,0
$FINISH,0.3,1.026618
$STATE,8361,end surface coast,CONTROL_FINISHED_OK
$STATE,8361,begin surface
$SM_CCo,8379,183.88,0.721,0,0,1065,425.10
$SM_GC,0.95,0.00,0.00,183.88,0.000,0.000,0.721,127,2459,1065,-8.01,-0.03,425.10
$RAFOS_CLK,577
$RAFOS,5,1260520861,8.700000,8.683611,66,59,57,0,0,0,198,679,140,0,0,0
$RAFOS,4,1260520386,8.566667,8.551666,61,60,55,0,0,0,214,197,123,0,0,0
$RAFOS,3,1260519910,8.433333,8.419444,61,55,55,0,0,0,212,190,124,0,0,0
$RAFOS,2,1260519421,8.300000,8.283611,70,53,52,0,0,0,199,213,151,0,0,0
$RAFOS,1,1260518945,8.166667,8.151389,64,59,59,0,0,0,196,146,211,0,0,0
$RAFOS,0,1260518465,8.033334,8.018056,61,58,57,0,0,0,172,150,196,0,0,0
$RAFOS_FIX,6701.185059,-5701.106934,101209,080856,2,79,0.54
$IRIDIUM_FIX,6631.12,-5646.10,070399,070756
$TT8_MAMPS,0.026845
$HUMID,46.10
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,18.6
$ALTIM_BOTTOM_PING,450.6,64.0
$24V_AH,23.4,55.875
$10V_AH,10.1,29.566
$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,24.750,98.200,154.100,183.875,0.000,81.420,93.822,776.934,2.000,0.000,15.552,1558.104,5051.215,499.149,1532.467,1137.384,0.000,1285.200,0.000,1504.426,2520.000,12.514,0.000
$DEVICE_MAMPS,273.052,101.244,1063.062,720.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,673.473,625.218,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152332
$DATA_FILE_SIZE,34680,913
$CAP_FILE_SIZE,121043,0
$CFSIZE,260165632,226349056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$SOUNDSPEED,1463.3
$GPS,111209,101706,6702.991,-5649.439,25,1.3,25,-37.5