version: 66.06
glider: 143
mission: 10
dive: 327
start: 12 17 109 9 4 2
data:
$ID,143
$MISSION,10
$DIVE,327
$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,-42144.086
$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,14
$R_STBD_OVSHOOT,29
$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
$GPS1,085731,6708.174,-5705.157,37,1.2,37,-37.7
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-65.9
$GPS2,090344,6708.178,-5705.057,14,0.9,14,-37.7
$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,165.6,15610,-16.9,-9.167
$D_GRID,518
$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,-120.20,0.000,2,0.000,0.000,127,2463,3180,0,0,0,0,0,0
$GC,143,-0.73,-146.0,3.6,-6.2,24,169,11.55,2.33,-5.60,0.000,4,0.301,0.100,2449,860,3398,0,0,0,0,0,0
$GC,249,-0.73,-146.0,21.0,-11.3,43,255,0.00,2.17,0.00,0.000,6,0.000,0.071,2449,2451,3400,0,0,0,0,0,0
$GC,591,-0.73,-146.0,56.1,-10.4,104,597,0.00,2.25,0.00,0.000,4,0.000,0.089,2449,844,3400,0,0,0,0,0,0
$GC,850,-0.73,-146.0,84.2,-11.4,150,855,0.00,2.28,0.00,0.000,6,0.000,0.072,2449,2499,3400,0,0,0,0,0,0
$GC,1189,-0.73,-146.0,118.3,-10.1,195,1193,0.00,2.35,0.00,0.000,4,0.000,0.090,2449,846,3399,0,0,0,0,0,0
$GC,1447,-0.77,-146.0,143.5,-9.5,218,1451,0.00,2.35,0.00,0.000,6,0.000,0.073,2449,2536,3399,0,0,0,0,0,0
$GC,1772,-0.86,-146.0,164.6,-6.6,248,1778,0.12,3.12,0.00,0.000,4,0.122,0.087,2399,3917,3397,0,0,3,0,0,0
$GC,1908,-0.79,-146.0,177.2,-9.4,259,1914,0.15,2.92,0.00,0.000,6,0.206,0.065,2433,2565,3397,0,0,3,0,0,0
$GC,2233,-0.85,-146.0,204.3,-8.6,290,2238,0.00,3.08,0.00,0.000,4,0.000,0.087,2433,3919,3397,0,0,2,0,0,0
$GC,2452,-0.90,-146.0,222.5,-7.7,309,2457,0.00,2.85,0.00,0.000,6,0.000,0.063,2433,2592,3397,0,0,3,0,0,0
$GC,2777,-0.96,-146.0,247.5,-7.5,339,2782,0.17,3.03,0.00,0.000,4,0.110,0.084,2361,3918,3397,0,0,1,0,0,0
$GC,2956,-0.78,-146.0,266.7,-11.0,354,2963,0.30,2.83,0.00,0.000,6,0.202,0.061,2433,2608,3397,0,0,1,0,0,0
$GC,3283,-0.85,-146.0,290.9,-7.2,385,3288,0.00,2.95,0.00,0.000,4,0.000,0.084,2433,3917,3398,0,0,2,0,0,0
$GC,3429,-0.93,-146.0,301.6,-7.2,397,3436,0.15,2.80,0.00,0.000,6,0.116,0.059,2385,2616,3398,0,0,2,0,0,0
$GC,3754,-0.84,-146.0,330.5,-9.2,428,3759,0.12,2.97,0.00,0.000,4,0.199,0.082,2413,3928,3399,0,0,2,0,0,0
$GC,3944,-0.84,-146.0,346.9,-8.7,444,3950,0.00,2.80,0.00,0.000,6,0.000,0.058,2412,2647,3400,0,0,0,0,0,0
$GC,4269,-0.84,-146.0,373.7,-8.7,475,4274,0.00,2.90,0.00,0.000,4,0.000,0.082,2412,3930,3401,0,0,2,0,0,0
$GC,4437,-0.84,-146.0,388.8,-9.2,489,4443,0.00,2.72,0.00,0.000,6,0.000,0.058,2412,2662,3401,0,0,3,0,0,0
$GC,4762,-0.84,-146.0,417.2,-8.8,520,4766,0.00,2.88,0.00,0.000,4,0.000,0.081,2412,3931,3401,0,0,2,0,0,0
$GC,4947,-0.84,-146.0,433.7,-8.5,536,4952,0.00,2.67,0.00,0.000,6,0.000,0.058,2412,2693,3402,0,0,3,0,0,0
$GC,5273,-0.84,-146.0,463.0,-9.4,566,5277,0.00,2.83,0.00,0.000,4,0.000,0.081,2413,3926,3403,0,0,2,0,0,0
$GC,5334,-0.84,-146.0,468.8,-9.7,571,5338,0.00,2.67,0.00,0.000,6,0.000,0.056,2412,2707,3403,0,0,1,0,0,0
$GC,5658,-0.84,-146.0,497.1,-8.2,601,5663,0.00,2.80,0.00,0.000,4,0.000,0.081,2412,3925,3403,0,0,2,0,0,0
$STATE,5880,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5880,begin apogee
$GC,5889,-0.16,0.0,516.2,8.9,620,6015,0.77,0.00,120.95,1.042,6,0.173,0.000,2629,1934,2800,0,0,0,0,0,0
$STATE,6016,end apogee,CONTROL_FINISHED_OK
$STATE,6016,begin climb
$GC,6018,0.73,146.0,518.7,0.0,633,6151,0.93,0.00,124.12,0.998,6,0.127,0.000,2912,1935,2203,0,0,0,0,0,0
$GC,6469,0.73,146.0,475.4,10.6,676,6475,0.00,3.53,0.00,0.000,4,0.000,0.073,2912,3543,2197,0,0,3,0,0,0
$GC,6623,0.64,146.0,457.3,12.7,689,6629,0.15,3.50,0.00,0.000,6,0.212,0.066,2896,1945,2195,0,0,0,0,0,0
$GC,6947,0.64,146.0,423.8,10.6,719,6952,0.00,3.45,0.00,0.000,4,0.000,0.074,2896,3545,2194,0,0,3,0,0,0
$GC,7046,0.64,146.0,412.2,11.3,727,7053,0.00,3.42,0.00,0.000,6,0.000,0.067,2909,1970,2194,0,0,1,0,0,0
$GC,7371,0.64,146.0,375.0,11.4,758,7377,0.00,3.42,0.00,0.000,4,0.000,0.074,2909,3544,2194,0,0,2,0,0,0
$GC,7478,0.57,146.0,361.6,12.6,767,7484,0.20,3.42,0.00,0.000,6,0.201,0.067,2878,1978,2194,0,0,0,0,0,0
$GC,7803,0.67,163.6,331.9,8.4,797,7824,0.00,3.42,14.25,0.873,4,0.000,0.074,2877,3546,2131,0,0,2,0,0,0
$GC,7964,0.67,163.6,316.7,9.5,811,7970,0.00,3.38,0.00,0.000,6,0.000,0.066,2890,2000,2130,0,0,1,0,0,0
$GC,8289,0.73,163.6,284.6,10.5,842,8295,0.10,3.40,0.00,0.000,4,0.120,0.074,2932,3551,2130,0,0,3,0,0,0
$GC,8403,0.62,163.6,269.2,14.2,851,8409,0.22,3.40,0.00,0.000,6,0.202,0.066,2893,2004,2129,0,0,0,0,0,0
$GC,8727,0.67,163.6,234.8,10.8,882,8732,0.00,3.40,0.00,0.000,4,0.000,0.073,2893,3546,2129,0,0,1,0,0,0
$GC,8827,0.67,163.6,222.8,12.5,890,8833,0.00,3.33,0.00,0.000,6,0.000,0.066,2906,2033,2129,0,0,1,0,0,0
$GC,9153,0.67,163.6,187.4,11.9,921,9158,0.00,3.33,0.00,0.000,4,0.000,0.073,2906,3545,2129,0,0,2,0,0,0
$GC,9226,0.67,163.6,177.5,14.6,927,9232,0.00,3.30,0.00,0.000,6,0.000,0.065,2921,2040,2129,0,0,1,0,0,0
$GC,9550,0.67,163.6,133.0,12.1,957,9556,0.00,3.33,0.00,0.000,4,0.000,0.074,2921,3551,2129,0,0,2,0,0,0
$GC,9662,0.62,163.6,120.5,10.5,966,9669,0.17,3.33,0.00,0.000,6,0.200,0.065,2895,2049,2129,0,0,0,0,0,0
$GC,9988,0.85,259.5,99.8,5.1,997,10076,0.20,3.42,78.10,0.766,4,0.102,0.073,2965,3543,1740,0,0,2,0,0,0
$GC,10184,0.85,259.5,76.0,15.2,1033,10189,0.00,3.35,0.00,0.000,6,0.000,0.064,2981,2070,1735,0,0,0,0,0,0
$GC,10528,0.85,259.5,28.4,12.6,1094,10533,0.00,3.30,0.00,0.000,4,0.000,0.074,2980,3544,1732,0,0,3,0,0,0
$GC,10641,0.79,259.5,12.9,13.9,1114,10648,0.20,3.30,0.00,0.000,6,0.198,0.067,2948,2087,1732,0,0,0,0,0,0
$FREEZE,8.50,-0.744,-1.828,0,1,0
$FREEZE,7.97,-0.758,-1.827,0,1,0
$FREEZE,7.32,-0.749,-1.827,0,1,0
$FREEZE,6.56,-0.751,-1.826,0,1,0
$FREEZE,6.07,-0.762,-1.826,0,1,0
$FREEZE,5.43,-0.760,-1.825,0,1,0
$FREEZE,4.74,-0.758,-1.824,0,1,0
$FREEZE,4.26,-0.763,-1.824,0,1,0
$FREEZE,3.49,-0.767,-1.823,0,1,0
$FREEZE,2.88,-0.769,-1.823,0,1,0
$FREEZE,2.36,-0.771,-1.822,0,1,0
$FREEZE,1.64,-0.780,-1.822,0,1,0
$STATE,10737,end climb,SURFACE_DEPTH_REACHED
$STATE,10737,begin surface coast
$FREEZE,1.13,-0.784,-1.821,0,1,0
$FREEZE,0.54,-0.773,-1.820,0,1,0
$FREEZE,0.55,-0.728,-1.817,0,1,0
$FINISH,0.6,1.026652
$STATE,10755,end surface coast,CONTROL_FINISHED_OK
$STATE,10755,begin surface
$SM_CCo,10772,102.55,0.709,0,0,1066,425.10
$SM_GC,1.39,0.00,0.00,102.55,0.000,0.000,0.709,126,2470,1066,-8.02,0.28,425.10
$RAFOS_CLK,666
$RAFOS,6,1261039746,8.833333,8.818334,75,70,67,0,0,0,793,215,169,0,0,0
$RAFOS_FIX,6707.880371,-5708.247070,171209,080856,2,103,0.00
$IRIDIUM_FIX,6636.54,-5709.24,130399,050544
$TT8_MAMPS,0.033748
$HUMID,45.39
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.40
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,19.5
$ALTIM_BOTTOM_PING,400.4,130.4
$24V_AH,22.7,62.059
$10V_AH,10.1,32.815
$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,23.725,134.950,337.425,102.550,0.000,30.949,37.013,184.246,1.750,0.000,15.694,1912.974,6271.500,594.942,2027.661,440.714,0.000,1634.891,0.000,1990.890,360.000,10.938,0.000
$DEVICE_MAMPS,301.431,100.477,1042.353,709.475,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,826.918,770.832,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152436
$DATA_FILE_SIZE,44169,1134
$CAP_FILE_SIZE,130177,0
$CFSIZE,260165632,224628736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,63,0,0
$SOUNDSPEED,1468.1
$GPS,171209,120636,6708.444,-5704.355,26,1.1,26,-37.7