version: 66.06
glider: 143
mission: 10
dive: 288
start: 12 12 109 0 18 57
data:
$ID,143
$MISSION,10
$DIVE,288
$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,-41233.742
$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,20
$R_STBD_OVSHOOT,19
$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
$GPS1,235434,6703.440,-5649.911,42,99.0,61,-37.5
$_CALLS,3
$_XMS_NAKs,21
$_XMS_TOUTs,2
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-54.7
$GPS2,001840,6703.236,-5649.905,48,99.0,67,-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,145.1,1443,-27.7,-9.167
$D_GRID,515
$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,14,begin dive
$GC,16,-0.96,-55.4,0.0,0.0,0,143,0.00,0.00,-120.60,0.000,6,0.000,0.000,123,2465,3027,0,0,0,0,0,0
$GC,146,-1.00,-88.5,3.4,-5.5,25,168,10.73,2.40,-4.05,0.000,4,0.291,0.101,2357,868,3164,0,0,0,0,0,0
$GC,420,-1.07,-88.5,48.1,-22.7,74,426,0.00,2.35,0.00,0.000,6,0.000,0.077,2357,2465,3167,0,0,0,0,0,0
$GC,763,-1.25,-88.5,94.2,-9.8,135,769,0.22,0.00,0.00,0.000,6,0.115,0.000,2284,2465,3167,0,0,0,0,0,0
$GC,1090,-1.25,-88.5,135.1,-12.8,170,1094,0.00,2.38,0.00,0.000,4,0.000,0.090,2284,869,3166,0,0,0,0,0,0
$GC,1346,-1.25,-88.5,169.9,-13.1,192,1352,0.00,2.30,0.00,0.000,6,0.000,0.077,2284,2452,3165,0,0,0,0,0,0
$GC,1670,-1.25,-88.5,207.0,-10.9,223,1674,0.00,2.35,0.00,0.000,4,0.000,0.089,2284,869,3166,0,0,0,0,0,0
$GC,1794,-1.18,-88.5,221.5,-11.7,233,1800,0.00,2.33,0.00,0.000,6,0.000,0.076,2284,2469,3166,0,0,0,0,0,0
$GC,2118,-1.18,-88.5,257.8,-11.3,264,2123,0.00,3.08,0.00,0.000,4,0.000,0.092,2284,3913,3166,0,0,1,0,0,0
$GC,2219,-1.12,-88.5,270.0,-11.7,272,2225,0.20,2.92,0.00,0.000,6,0.236,0.067,2326,2482,3165,0,0,1,0,0,0
$GC,2544,-1.25,-91.8,299.8,-8.8,303,2549,0.12,3.05,0.00,0.000,4,0.134,0.087,2274,3917,3165,0,0,0,0,0,0
$GC,2796,-1.16,-91.8,327.9,-11.4,325,2803,0.17,2.88,0.00,0.000,6,0.235,0.064,2310,2494,3166,0,0,1,0,0,0
$GC,3121,-1.25,-95.4,357.4,-8.8,356,3126,0.00,3.00,0.00,0.000,4,0.000,0.087,2310,3914,3166,0,0,1,0,0,0
$GC,3306,-1.25,-96.1,375.4,-9.1,372,3311,0.00,2.88,0.00,0.000,6,0.000,0.064,2310,2504,3167,0,0,0,0,0,0
$GC,3631,-1.34,-97.4,404.0,-9.0,402,3636,0.17,3.00,0.00,0.000,4,0.120,0.083,2248,3922,3168,0,0,1,0,0,0
$GC,3821,-1.17,-97.4,426.7,-11.9,418,3828,0.25,2.83,0.00,0.000,6,0.234,0.062,2303,2539,3168,0,0,0,0,0,0
$GC,4146,-1.24,-97.4,459.1,-9.8,449,4151,0.00,2.92,0.00,0.000,4,0.000,0.085,2303,3914,3170,0,0,1,0,0,0
$GC,4304,-1.24,-97.4,475.5,-11.0,462,4310,0.00,2.80,0.00,0.000,6,0.000,0.062,2303,2553,3169,0,0,0,0,0,0
$STATE,4575,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4575,begin apogee
$GC,4581,-0.16,0.0,501.3,9.4,488,4659,1.25,0.00,74.38,1.062,6,0.210,0.000,2626,1956,2800,0,0,0,0,0,0
$STATE,4660,end apogee,CONTROL_FINISHED_OK
$STATE,4660,begin climb
$GC,4662,1.01,97.4,503.4,0.0,496,4756,1.25,2.40,80.68,1.031,4,0.137,0.087,3014,350,2400,0,0,0,0,0,0
$GC,4846,1.09,97.4,482.4,15.7,513,4850,0.00,2.20,0.00,0.000,6,0.000,0.061,3013,1961,2396,0,0,0,0,0,0
$GC,5171,1.20,97.4,436.3,14.4,543,5176,0.17,3.28,0.00,0.000,4,0.111,0.077,3061,3538,2394,0,0,1,0,0,0
$GC,5211,1.10,97.4,429.4,18.0,546,5216,0.00,3.30,0.00,0.000,6,0.000,0.071,3073,1956,2393,0,0,0,0,0,0
$GC,5535,1.03,97.4,372.8,17.1,576,5541,0.22,3.28,0.00,0.000,4,0.231,0.077,3008,3532,2393,0,0,1,0,0,0
$GC,5569,1.09,97.4,367.2,15.9,578,5575,0.00,3.22,0.00,0.000,6,0.000,0.070,3020,1962,2392,0,0,1,0,0,0
$GC,5894,1.18,97.4,319.0,15.2,609,5899,0.15,3.25,0.00,0.000,4,0.121,0.077,3059,3535,2392,0,0,1,0,0,0
$GC,5946,1.09,97.4,310.3,17.7,613,5951,0.15,3.25,0.00,0.000,6,0.241,0.070,3041,1962,2392,0,0,0,0,0,0
$GC,6270,1.16,97.4,260.3,15.1,643,6271,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1963,2392,0,0,0,0,0,0
$GC,6590,1.20,97.4,213.7,14.6,673,6596,0.12,3.25,0.00,0.000,4,0.130,0.078,3080,3534,2393,0,0,1,0,0,0
$GC,6612,1.12,97.4,209.8,16.0,674,6619,0.17,3.25,0.00,0.000,6,0.236,0.071,3058,1957,2392,0,0,0,0,0,0
$GC,6938,1.18,97.4,162.6,14.1,705,6941,0.00,2.15,0.00,0.000,4,0.000,0.088,3066,350,2393,0,0,0,0,0,0
$GC,7018,1.18,97.4,150.9,14.7,712,7021,0.00,2.08,0.00,0.000,6,0.000,0.064,3066,1961,2393,0,0,0,0,0,0
$GC,7348,1.18,97.4,108.3,13.2,743,7349,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1962,2393,0,0,0,0,0,0
$GC,7681,1.18,97.4,67.7,10.7,797,7686,0.00,2.17,0.00,0.000,4,0.000,0.089,3076,355,2394,0,0,0,0,0,0
$GC,7777,1.18,97.4,55.6,12.1,814,7783,0.00,2.08,0.00,0.000,6,0.000,0.064,3076,1962,2394,0,0,0,0,0,0
$GC,8121,1.18,97.4,14.8,14.6,875,8126,0.00,3.25,0.00,0.000,4,0.000,0.080,3076,3540,2395,0,0,1,0,0,0
$FREEZE,8.31,-0.029,-1.831,0,4,0
$FREEZE,7.30,-0.028,-1.830,0,4,0
$FREEZE,6.51,-0.029,-1.830,0,4,0
$FREEZE,5.55,-0.037,-1.829,0,4,0
$FREEZE,4.66,-0.041,-1.828,0,4,0
$GC,8183,1.18,97.4,4.7,16.3,886,8189,0.00,3.28,0.00,0.000,6,0.000,0.073,3091,1945,2394,0,0,0,0,0,0
$FREEZE,2.69,-0.032,-1.827,0,4,0
$FREEZE,1.95,-0.037,-1.826,0,4,0
$STATE,8200,end climb,SURFACE_DEPTH_REACHED
$STATE,8200,begin surface coast
$FREEZE,1.19,-0.042,-1.826,0,4,0
$FREEZE,0.70,-0.043,-1.825,0,4,0
$FINISH,0.7,1.026734
$STATE,8212,end surface coast,CONTROL_FINISHED_OK
$STATE,8212,begin surface
$SM_CCo,8231,179.27,0.716,0,0,1065,425.10
$SM_GC,0.93,0.00,0.00,179.27,0.000,0.000,0.716,124,2468,1065,-8.02,0.23,425.10
$RAFOS_CLK,582
$RAFOS,6,1260578945,0.833333,0.818056,65,59,58,0,0,0,192,181,150,0,0,0
$RAFOS,5,1260578465,0.700000,0.684722,81,59,55,0,0,0,655,209,174,0,0,0
$RAFOS,4,1260577991,0.566667,0.553056,67,59,58,0,0,0,215,176,192,0,0,0
$RAFOS,3,1260577505,0.433333,0.418056,68,65,59,0,0,0,204,219,173,0,0,0
$RAFOS_FIX,6701.185059,-5701.106934,101209,080856,2,79,0.54
$IRIDIUM_FIX,6636.54,-5655.33,080399,000006
$TT8_MAMPS,0.027612
$HUMID,45.55
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,19.0
$ALTIM_BOTTOM_PING,450.7,64.9
$24V_AH,23.4,56.710
$10V_AH,10.1,29.955
$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,24.225,91.000,155.050,179.275,0.000,78.442,104.137,956.595,2.500,0.000,69.358,1526.393,4936.469,495.800,1586.426,1309.836,0.000,1278.982,0.000,1500.407,1440.000,20.041,0.000
$DEVICE_MAMPS,291.460,101.244,1062.295,715.611,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,654.366,609.474,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152340
$DATA_FILE_SIZE,34776,891
$CAP_FILE_SIZE,121351,0
$CFSIZE,260165632,226340864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$SOUNDSPEED,1464.4
$GPS,121209,024051,6702.893,-5649.278,37,2.3,56,-37.5