version: 66.06
glider: 143
mission: 10
dive: 289
start: 12 12 109 2 52 52
data:
$ID,143
$MISSION,10
$DIVE,289
$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,-41270.93
$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
$GPS1,024051,6702.893,-5649.278,37,2.3,56,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-59.4
$GPS2,025234,6702.792,-5649.383,15,2.4,34,-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,106.4,1071,-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,-55.4,0.0,0.0,0,144,0.00,0.00,-121.05,0.000,6,0.000,0.000,124,2472,3026,0,0,0,0,0,0
$GC,146,-1.00,-86.1,3.0,-5.8,25,168,10.73,2.42,-4.05,0.000,4,0.292,0.101,2356,853,3155,0,0,0,0,0,0
$GC,382,-1.10,-86.1,44.7,-14.3,67,388,0.00,2.35,0.00,0.000,6,0.000,0.075,2357,2461,3157,0,0,0,0,0,0
$GC,726,-1.25,-86.1,91.1,-13.6,128,733,0.22,3.10,0.00,0.000,4,0.114,0.086,2269,3916,3157,0,0,0,0,0,0
$GC,845,-1.10,-86.1,112.0,-15.9,143,852,0.28,2.97,0.00,0.000,6,0.245,0.068,2329,2459,3157,0,0,1,0,0,0
$GC,1170,-1.19,-86.1,151.0,-11.9,174,1175,0.00,3.12,0.00,0.000,4,0.000,0.091,2328,3913,3156,0,0,1,0,0,0
$GC,1236,-1.24,-86.1,159.1,-12.3,179,1243,0.12,2.95,0.00,0.000,6,0.133,0.067,2292,2472,3156,0,0,1,0,0,0
$GC,1560,-1.24,-86.1,198.7,-12.3,210,1565,0.00,3.10,0.00,0.000,4,0.000,0.089,2292,3918,3156,0,0,0,0,0,0
$GC,1719,-1.18,-86.1,218.6,-12.3,223,1725,0.00,2.95,0.00,0.000,6,0.000,0.066,2292,2475,3155,0,0,1,0,0,0
$GC,2043,-1.18,-86.1,256.0,-10.9,254,2048,0.00,3.08,0.00,0.000,4,0.000,0.088,2292,3917,3155,0,0,1,0,0,0
$GC,2239,-1.18,-86.1,278.5,-11.7,271,2244,0.00,2.92,0.00,0.000,6,0.000,0.065,2292,2484,3155,0,0,1,0,0,0
$GC,2565,-1.18,-86.1,312.4,-10.6,301,2570,0.00,3.05,0.00,0.000,4,0.000,0.087,2292,3918,3155,0,0,1,0,0,0
$GC,2706,-1.18,-86.1,328.1,-10.8,313,2711,0.00,2.90,0.00,0.000,6,0.000,0.064,2292,2494,3156,0,0,1,0,0,0
$GC,3030,-1.18,-86.1,363.2,-10.6,343,3035,0.00,3.03,0.00,0.000,4,0.000,0.086,2292,3921,3156,0,0,1,0,0,0
$GC,3153,-1.18,-86.1,376.9,-11.2,353,3159,0.00,2.88,0.00,0.000,6,0.000,0.063,2292,2500,3156,0,0,1,0,0,0
$GC,3478,-1.18,-86.1,409.2,-9.7,384,3483,0.00,3.00,0.00,0.000,4,0.000,0.085,2292,3917,3156,0,0,1,0,0,0
$GC,3630,-1.18,-86.1,424.2,-10.0,397,3635,0.00,2.85,0.00,0.000,6,0.000,0.063,2292,2510,3156,0,0,1,0,0,0
$GC,3954,-1.18,-86.1,455.2,-9.8,427,3959,0.00,2.97,0.00,0.000,4,0.000,0.084,2292,3917,3157,0,0,1,0,0,0
$GC,4008,-1.18,-86.1,460.8,-10.2,431,4015,0.00,2.85,0.00,0.000,6,0.000,0.061,2292,2511,3157,0,0,1,0,0,0
$GC,4334,-1.18,-86.1,491.8,-9.7,462,4339,0.00,2.97,0.00,0.000,4,0.000,0.084,2292,3915,3158,0,0,1,0,0,0
$STATE,4454,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4455,begin apogee
$GC,4464,-0.16,0.0,504.4,10.1,472,4541,1.33,0.00,72.00,1.062,6,0.216,0.000,2627,1957,2800,0,0,0,0,0,0
$STATE,4541,end apogee,CONTROL_FINISHED_OK
$STATE,4542,begin climb
$GC,4544,1.00,86.1,506.5,0.0,480,4627,1.25,2.38,71.38,1.031,4,0.137,0.087,3013,353,2447,0,0,0,0,0,0
$GC,4718,1.07,86.1,487.4,14.6,496,4722,0.00,2.17,0.00,0.000,6,0.000,0.061,3013,1957,2443,0,0,0,0,0,0
$GC,5043,1.18,86.1,444.6,12.5,526,5049,0.17,3.28,0.00,0.000,4,0.114,0.076,3060,3533,2440,0,0,1,0,0,0
$GC,5060,1.18,86.1,442.2,12.9,527,5066,0.00,3.30,0.00,0.000,6,0.000,0.070,3072,1951,2440,0,0,0,0,0,0
$GC,5384,1.18,86.1,392.9,15.2,557,5385,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1952,2440,0,0,0,0,0,0
$GC,5703,1.18,86.1,342.1,15.7,587,5707,0.00,2.15,0.00,0.000,4,0.000,0.088,3082,351,2439,0,0,0,0,0,0
$GC,5746,1.08,86.1,334.5,17.2,590,5753,0.12,2.10,0.00,0.000,6,0.223,0.063,3040,1945,2440,0,0,0,0,0,0
$GC,6071,1.13,86.1,287.4,14.2,621,6072,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1944,2439,0,0,0,0,0,0
$GC,6392,1.19,86.1,243.6,13.6,651,6397,0.00,3.25,0.00,0.000,4,0.000,0.078,3041,3530,2440,0,0,1,0,0,0
$GC,6454,1.19,86.1,234.3,14.6,656,6459,0.00,3.25,0.00,0.000,6,0.000,0.071,3052,1952,2439,0,0,0,0,0,0
$GC,6778,1.19,86.1,190.3,13.0,686,6783,0.00,3.28,0.00,0.000,4,0.000,0.079,3053,3536,2439,0,0,1,0,0,0
$GC,6822,1.14,86.1,184.3,13.4,689,6828,0.00,3.28,0.00,0.000,6,0.000,0.071,3068,1942,2439,0,0,0,0,0,0
$GC,7146,1.14,86.1,141.6,13.5,720,7148,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1943,2440,0,0,0,0,0,0
$GC,7467,1.14,86.1,100.6,12.0,750,7468,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1943,2440,0,0,0,0,0,0
$GC,7802,1.14,86.1,61.6,11.0,809,7808,0.00,3.28,0.00,0.000,4,0.000,0.077,3068,3533,2440,0,0,1,0,0,0
$GC,7814,1.14,86.1,60.0,13.0,811,7820,0.00,3.25,0.00,0.000,6,0.000,0.071,3083,1952,2440,0,0,0,0,0,0
$GC,8158,1.14,142.4,35.1,2.9,872,8208,0.00,0.00,44.10,0.765,6,0.000,0.000,3083,1953,2217,0,0,0,0,0,0
$FREEZE,8.51,-0.052,-1.831,0,5,1
$FREEZE,7.46,-0.051,-1.831,0,5,1
$FREEZE,6.53,-0.051,-1.830,0,5,1
$FREEZE,5.53,-0.052,-1.829,0,5,1
$FREEZE,4.58,-0.051,-1.828,0,5,1
$FREEZE,3.71,-0.053,-1.828,0,5,1
$FREEZE,2.71,-0.053,-1.827,0,5,1
$FREEZE,1.76,-0.053,-1.826,0,5,1
$STATE,8395,end climb,SURFACE_DEPTH_REACHED
$STATE,8395,begin surface coast
$FREEZE,0.82,-0.058,-1.826,0,5,1
$FREEZE,0.21,-0.062,-1.825,0,5,1
$FINISH,0.2,1.026734
$STATE,8409,end surface coast,CONTROL_FINISHED_OK
$STATE,8409,begin surface
$SM_CCo,8427,150.02,0.716,0,0,1066,425.10
$SM_GC,0.80,0.00,0.00,150.02,0.000,0.000,0.716,128,2458,1066,-8.01,-0.06,425.10
$RAFOS_CLK,557
$RAFOS,6,1260593347,4.833333,4.818611,65,60,58,0,0,0,209,153,162,0,0,0
$RAFOS,5,1260592861,4.700000,4.683611,63,58,56,0,0,0,173,199,215,0,0,0
$RAFOS,4,1260592388,4.566667,4.552222,59,58,58,0,0,0,203,189,150,0,0,0
$RAFOS,3,1260591903,4.433333,4.417500,57,52,52,0,0,0,178,147,218,0,0,0
$RAFOS,2,1260591424,4.300000,4.284444,59,57,55,0,0,0,198,158,115,0,0,0
$RAFOS,1,1260590945,4.166667,4.151389,63,57,53,0,0,0,220,121,202,0,0,0
$RAFOS,0,1260590469,4.033333,4.019166,71,66,61,0,0,0,207,187,196,0,0,0
$RAFOS_FIX,6701.185059,-5701.106934,101209,080856,2,79,0.54
$IRIDIUM_FIX,6636.54,-5655.33,080399,020251
$TT8_MAMPS,0.026845
$HUMID,46.06
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.2,18.6
$ALTIM_BOTTOM_PING,400.9,118.3
$24V_AH,23.5,56.815
$10V_AH,10.2,30.014
$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,23.075,95.125,187.475,150.025,0.000,85.860,223.555,131.786,1.750,0.000,36.559,1543.579,5081.934,490.788,1556.361,606.414,0.000,1287.107,0.000,1508.937,2520.000,11.881,0.000
$DEVICE_MAMPS,292.227,101.244,1061.528,715.611,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,674.750,627.667,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152380
$DATA_FILE_SIZE,37872,917
$CAP_FILE_SIZE,102417,0
$CFSIZE,260165632,226279424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$SOUNDSPEED,1463.7
$GPS,121209,051706,6702.945,-5648.265,12,1.4,28,-37.5