version: 66.06
glider: 143
mission: 10
dive: 295
start: 12 12 109 20 41 21
data:
$ID,143
$MISSION,10
$DIVE,295
$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,-41567.32
$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,18
$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
$GPS1,202525,6704.855,-5654.114,43,1.5,43,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-61.1
$GPS2,204102,6704.898,-5654.066,13,2.0,13,-37.6
$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,166.3,5617,-16.9,-9.167
$D_GRID,490
$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,15,-0.73,-146.0,0.0,0.0,0,140,0.00,0.00,-120.53,0.000,2,0.000,0.000,122,2476,3010,0,0,0,0,0,0
$GC,143,-0.73,-146.0,3.4,-6.6,24,175,11.48,2.47,-10.85,0.000,4,0.299,0.103,2444,866,3400,0,0,0,0,0,0
$GC,388,-0.73,-146.0,32.3,-10.8,68,394,0.00,2.28,0.00,0.000,6,0.000,0.075,2443,2450,3402,0,0,0,0,0,0
$GC,731,-0.73,-146.0,70.4,-12.4,129,737,0.00,3.17,0.00,0.000,4,0.000,0.094,2444,3917,3402,0,0,1,0,0,0
$GC,944,-0.73,-146.0,92.8,-9.8,167,950,0.00,2.95,0.00,0.000,6,0.000,0.068,2443,2503,3402,0,0,1,0,0,0
$GC,1280,-0.78,-146.0,122.1,-8.2,205,1285,0.00,3.08,0.00,0.000,4,0.000,0.092,2444,3915,3402,0,0,1,0,0,0
$GC,1492,-0.85,-146.0,141.3,-9.4,223,1498,0.00,2.90,0.00,0.000,6,0.000,0.068,2443,2521,3402,0,0,1,0,0,0
$GC,1817,-0.93,-146.0,171.2,-9.6,254,1823,0.17,3.05,0.00,0.000,4,0.112,0.089,2373,3918,3400,0,0,1,0,0,0
$GC,2026,-0.76,-146.0,196.5,-11.6,272,2032,0.30,2.85,0.00,0.000,6,0.207,0.067,2444,2545,3400,0,0,1,0,0,0
$GC,2351,-0.84,-146.0,224.4,-8.4,302,2356,0.00,2.95,0.00,0.000,4,0.000,0.089,2444,3915,3400,0,0,2,0,0,0
$GC,2504,-0.95,-146.0,237.6,-8.1,315,2510,0.20,2.83,0.00,0.000,6,0.108,0.066,2376,2560,3399,0,0,1,0,0,0
$GC,2829,-0.82,-146.0,271.4,-10.1,345,2835,0.20,2.97,0.00,0.000,4,0.204,0.087,2424,3924,3400,0,0,1,0,0,0
$GC,3026,-0.82,-146.0,287.2,-8.2,362,3031,0.00,2.78,0.00,0.000,6,0.000,0.064,2424,2592,3400,0,0,1,0,0,0
$GC,3351,-0.82,-146.0,311.7,-7.9,392,3355,0.00,2.90,0.00,0.000,4,0.000,0.086,2424,3925,3401,0,0,1,0,0,0
$GC,3417,-0.82,-146.0,317.0,-8.6,397,3422,0.00,2.78,0.00,0.000,6,0.000,0.062,2424,2588,3401,0,0,1,0,0,0
$GC,3741,-0.82,-146.0,342.8,-7.9,428,3746,0.00,2.90,0.00,0.000,4,0.000,0.085,2423,3916,3402,0,0,1,0,0,0
$GC,3943,-0.82,-146.0,360.0,-8.5,445,3949,0.00,2.72,0.00,0.000,6,0.000,0.061,2424,2616,3402,0,0,0,0,0,0
$GC,4269,-0.82,-146.0,384.4,-7.0,476,4274,0.00,2.85,0.00,0.000,4,0.000,0.084,2424,3925,3403,0,0,1,0,0,0
$GC,4423,-0.87,-146.0,395.7,-7.2,489,4427,0.00,2.70,0.00,0.000,6,0.000,0.061,2424,2630,3404,0,0,1,0,0,0
$GC,4748,-0.92,-146.0,417.8,-6.5,519,4752,0.00,2.83,0.00,0.000,4,0.000,0.082,2424,3925,3405,0,0,1,0,0,0
$GC,4825,-0.98,-146.0,423.4,-7.0,525,4832,0.15,2.67,0.00,0.000,6,0.110,0.060,2372,2645,3405,0,0,1,0,0,0
$GC,5150,-0.86,-146.0,453.7,-8.4,556,5156,0.15,2.83,0.00,0.000,4,0.202,0.081,2400,3929,3405,0,0,1,0,0,0
$GC,5258,-0.86,-146.0,462.2,-8.7,565,5263,0.00,2.65,0.00,0.000,6,0.000,0.058,2399,2656,3406,0,0,1,0,0,0
$STATE,5581,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5581,begin apogee
$GC,5587,-0.16,0.0,487.9,6.1,595,5713,0.82,0.00,120.55,1.039,6,0.178,0.000,2630,1934,2800,0,0,0,0,0,0
$STATE,5714,end apogee,CONTROL_FINISHED_OK
$STATE,5714,begin climb
$GC,5716,0.73,146.0,489.5,0.0,608,5850,0.95,2.33,123.00,0.992,4,0.132,0.085,2923,355,2202,0,0,0,0,0,0
$GC,5969,0.65,146.0,464.5,13.4,631,5975,0.00,2.17,0.00,0.000,6,0.000,0.058,2924,1967,2197,0,0,0,0,0,0
$GC,6295,0.58,146.0,424.4,12.2,662,6301,0.17,3.30,0.00,0.000,4,0.189,0.075,2882,3537,2195,0,0,1,0,0,0
$GC,6432,0.58,146.0,409.0,11.2,673,6438,0.00,3.30,0.00,0.000,6,0.000,0.070,2895,1966,2194,0,0,0,0,0,0
$GC,6756,0.58,146.0,373.8,11.0,704,6761,0.00,3.30,0.00,0.000,4,0.000,0.077,2894,3537,2194,0,0,1,0,0,0
$GC,6856,0.58,146.0,361.6,12.6,712,6863,0.12,3.22,0.00,0.000,6,0.199,0.069,2881,1979,2192,0,0,1,0,0,0
$GC,7182,0.64,146.0,327.7,10.5,743,7187,0.00,3.25,0.00,0.000,4,0.000,0.077,2882,3533,2192,0,0,1,0,0,0
$GC,7281,0.64,146.0,316.2,11.5,751,7288,0.00,3.20,0.00,0.000,6,0.000,0.068,2893,1985,2192,0,0,1,0,0,0
$GC,7608,0.64,146.0,280.9,11.3,782,7613,0.00,3.22,0.00,0.000,4,0.000,0.077,2893,3531,2192,0,0,1,0,0,0
$GC,7715,0.64,146.0,267.8,11.5,791,7720,0.00,3.15,0.00,0.000,6,0.000,0.068,2907,2010,2192,0,0,1,0,0,0
$GC,8038,0.64,146.0,232.6,10.1,821,8043,0.00,3.20,0.00,0.000,4,0.000,0.076,2907,3531,2192,0,0,0,0,0,0
$GC,8112,0.58,146.0,224.7,11.2,827,8117,0.17,3.15,0.00,0.000,6,0.193,0.067,2879,2018,2192,0,0,0,0,0,0
$GC,8436,0.72,170.7,199.4,8.1,857,8462,0.12,3.17,19.33,0.823,4,0.117,0.076,2924,3533,2104,0,0,1,0,0,0
$GC,8566,0.63,170.7,184.0,12.9,868,8571,0.17,3.17,0.00,0.000,6,0.193,0.068,2897,2022,2101,0,0,0,0,0,0
$GC,8890,0.72,170.7,149.5,10.2,898,8895,0.00,3.20,0.00,0.000,4,0.000,0.075,2897,3536,2101,0,0,0,0,0,0
$GC,8985,0.72,170.7,139.2,10.2,906,8990,0.00,3.15,0.00,0.000,6,0.000,0.067,2908,2034,2101,0,0,0,0,0,0
$GC,9310,0.82,192.2,109.2,8.3,936,9335,0.15,3.17,18.58,0.773,4,0.100,0.076,2966,3535,2015,0,0,1,0,0,0
$GC,9420,0.67,192.2,95.3,13.9,948,9426,0.28,3.12,0.00,0.000,6,0.187,0.068,2911,2063,2014,0,0,0,0,0,0
$GC,9766,0.83,202.0,62.6,8.8,1009,9783,0.15,3.15,9.55,0.723,4,0.110,0.077,2965,3539,1975,0,0,1,0,0,0
$GC,9891,0.73,202.0,46.7,13.8,1031,9897,0.20,3.12,0.00,0.000,6,0.183,0.069,2929,2068,1973,0,0,0,0,0,0
$GC,10236,0.81,202.0,9.8,12.9,1092,10242,0.00,3.15,0.00,0.000,4,0.000,0.081,2928,3531,1972,0,0,0,0,0,0
$FREEZE,8.31,-0.449,-1.830,0,1,0
$FREEZE,7.64,-0.451,-1.830,0,1,0
$FREEZE,7.10,-0.450,-1.829,0,1,0
$FREEZE,6.43,-0.450,-1.829,0,1,0
$FREEZE,5.81,-0.449,-1.828,0,1,0
$FREEZE,5.11,-0.449,-1.828,0,1,0
$FREEZE,4.45,-0.449,-1.827,0,1,0
$FREEZE,3.73,-0.449,-1.827,0,1,0
$GC,10288,0.81,202.0,3.7,12.0,1101,10294,0.00,3.10,0.00,0.000,6,0.000,0.071,2940,2088,1971,0,0,0,0,0,0
$FREEZE,2.30,-0.451,-1.826,0,1,0
$FREEZE,1.78,-0.449,-1.825,0,1,0
$STATE,10304,end climb,SURFACE_DEPTH_REACHED
$STATE,10304,begin surface coast
$FREEZE,1.29,-0.449,-1.825,0,1,0
$FREEZE,0.70,-0.452,-1.824,0,1,0
$FREEZE,0.33,-0.450,-1.824,0,1,0
$FINISH,0.3,1.026738
$STATE,10322,end surface coast,CONTROL_FINISHED_OK
$STATE,10322,begin surface
$SM_CCo,10340,128.02,0.729,0,0,1066,425.10
$SM_GC,0.89,0.00,0.00,128.02,0.000,0.000,0.729,130,2459,1066,-8.00,-0.03,425.10
$RAFOS_CLK,677
$RAFOS,6,1260650946,20.833334,20.818333,80,68,65,0,0,0,818,197,208,0,0,0
$RAFOS,5,1260650507,20.700001,20.696388,65,65,62,0,0,0,190,414,208,0,0,0
$RAFOS,2,1260649023,20.299999,20.284166,60,60,56,0,0,0,166,181,218,0,0,0
$RAFOS_FIX,6701.185059,-5701.106934,101209,080856,2,79,0.54
$IRIDIUM_FIX,6636.54,-5732.15,080399,202004
$TT8_MAMPS,0.026845
$HUMID,46.41
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.00
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.9,19.9
$ALTIM_BOTTOM_PING,450.1,52.5
$24V_AH,22.8,57.689
$10V_AH,10.1,30.436
$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,24.250,132.250,291.000,128.025,0.000,52.433,63.153,631.997,3.250,0.000,14.580,1838.833,6081.972,576.211,1950.017,952.038,0.000,1583.505,0.000,1912.693,720.000,18.460,0.000
$DEVICE_MAMPS,299.130,102.778,1038.518,729.417,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,816.456,755.225,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152384
$DATA_FILE_SIZE,44208,1107
$CAP_FILE_SIZE,140819,0
$CFSIZE,260165632,226070528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,0,0
$SOUNDSPEED,1464.5
$GPS,121209,233745,6705.529,-5654.319,50,99.0,69,-37.6