version: 66.06
glider: 143
mission: 10
dive: 330
start: 12 17 109 18 30 32
data:
$ID,143
$MISSION,10
$DIVE,330
$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,-42183.359
$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,22
$R_STBD_OVSHOOT,24
$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
$GPS1,182425,6709.369,-5706.823,36,1.3,36,-37.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-65.6
$GPS2,183014,6709.394,-5706.847,10,1.4,10,-37.8
$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,168.8,18041,-16.9,-9.167
$D_GRID,517
$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,-0.73,-146.0,0.0,0.0,0,133,0.00,0.00,-115.20,0.000,2,0.000,0.000,126,2456,3146,0,0,0,0,0,0
$GC,137,-0.73,-146.0,3.3,-5.1,23,163,11.07,2.28,-6.75,0.000,4,0.288,0.097,2448,860,3399,0,0,0,0,0,0
$GC,265,-0.73,-146.0,22.4,-11.9,46,270,0.00,2.15,0.00,0.000,6,0.000,0.067,2448,2454,3401,0,0,0,0,0,0
$GC,608,-0.73,-146.0,58.2,-10.6,107,613,0.00,3.30,0.00,0.000,4,0.000,0.087,2448,3916,3401,0,0,3,0,0,0
$GC,860,-0.73,-146.0,87.1,-11.8,152,866,0.00,3.08,0.00,0.000,6,0.000,0.064,2448,2507,3400,0,0,2,0,0,0
$GC,1198,-0.78,-146.0,120.9,-10.3,194,1203,0.00,3.20,0.00,0.000,4,0.000,0.087,2448,3914,3399,0,0,2,0,0,0
$GC,1365,-0.86,-146.0,139.2,-10.8,208,1372,0.12,3.08,0.00,0.000,6,0.124,0.063,2409,2512,3398,0,0,1,0,0,0
$GC,1690,-0.81,-146.0,178.1,-11.8,239,1695,0.00,3.20,0.00,0.000,4,0.000,0.086,2408,3921,3397,0,0,2,0,0,0
$GC,1948,-0.76,-146.0,206.2,-9.7,261,1955,0.15,3.00,0.00,0.000,6,0.202,0.063,2442,2548,3397,0,0,2,0,0,0
$GC,2273,-0.85,-146.0,230.3,-7.1,292,2278,0.00,3.10,0.00,0.000,4,0.000,0.084,2442,3920,3397,0,0,3,0,0,0
$GC,2527,-0.94,-146.0,250.2,-8.3,314,2533,0.17,2.90,0.00,0.000,6,0.105,0.059,2382,2584,3397,0,0,2,0,0,0
$GC,2852,-0.84,-146.0,281.6,-9.7,344,2857,0.15,3.03,0.00,0.000,4,0.199,0.081,2413,3918,3397,0,0,3,0,0,0
$GC,3037,-0.84,-146.0,298.1,-8.8,360,3042,0.00,2.83,0.00,0.000,6,0.000,0.059,2413,2610,3397,0,0,2,0,0,0
$GC,3362,-0.84,-146.0,324.9,-8.3,390,3367,0.00,2.95,0.00,0.000,4,0.000,0.081,2413,3928,3398,0,0,3,0,0,0
$GC,3558,-0.84,-146.0,341.8,-9.0,407,3563,0.00,2.78,0.00,0.000,6,0.000,0.058,2413,2644,3399,0,0,2,0,0,0
$GC,3882,-0.84,-146.0,369.7,-8.5,437,3887,0.00,2.90,0.00,0.000,4,0.000,0.080,2413,3929,3400,0,0,2,0,0,0
$GC,4067,-0.84,-146.0,385.7,-8.4,453,4072,0.00,2.75,0.00,0.000,6,0.000,0.057,2413,2658,3399,0,0,2,0,0,0
$GC,4392,-0.84,-146.0,412.6,-8.1,483,4397,0.00,2.88,0.00,0.000,4,0.000,0.079,2413,3926,3400,0,0,2,0,0,0
$GC,4554,-0.84,-146.0,427.0,-8.7,497,4559,0.00,2.67,0.00,0.000,6,0.000,0.055,2413,2686,3401,0,0,3,0,0,0
$GC,4879,-0.84,-146.0,453.6,-7.9,527,4883,0.00,2.83,0.00,0.000,4,0.000,0.078,2413,3917,3401,0,0,1,0,0,0
$GC,4973,-0.84,-146.0,461.5,-8.2,535,4978,0.00,2.67,0.00,0.000,6,0.000,0.055,2413,2701,3401,0,0,1,0,0,0
$GC,5299,-0.84,-146.0,488.7,-8.3,565,5304,0.00,2.80,0.00,0.000,4,0.000,0.079,2413,3923,3402,0,0,2,0,0,0
$GC,5466,-0.84,-146.0,503.6,-8.9,579,5472,0.00,2.62,0.00,0.000,6,0.000,0.054,2413,2736,3402,0,0,0,0,0,0
$STATE,5576,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5576,begin apogee
$GC,5582,-0.16,0.0,512.7,8.3,590,5709,0.75,0.00,120.50,1.039,6,0.171,0.000,2628,1942,2802,0,0,0,0,0,0
$STATE,5710,end apogee,CONTROL_FINISHED_OK
$STATE,5710,begin climb
$GC,5712,0.73,146.0,515.4,0.0,603,5845,0.95,0.00,123.80,0.994,6,0.123,0.000,2917,1942,2202,0,0,0,0,0,0
$GC,6162,0.73,146.0,471.0,10.5,646,6167,0.00,3.53,0.00,0.000,4,0.000,0.071,2918,3549,2195,0,0,3,0,0,0
$GC,6297,0.61,146.0,454.2,13.2,657,6303,0.17,3.45,0.00,0.000,6,0.207,0.066,2894,1967,2194,0,0,2,0,0,0
$GC,6621,0.61,146.0,419.7,10.6,688,6626,0.00,3.42,0.00,0.000,4,0.000,0.072,2894,3549,2194,0,0,3,0,0,0
$GC,6716,0.61,146.0,408.5,11.9,696,6721,0.00,3.42,0.00,0.000,6,0.000,0.066,2907,1974,2192,0,0,1,0,0,0
$GC,7040,0.61,146.0,372.5,10.9,726,7045,0.00,3.45,0.00,0.000,4,0.000,0.073,2908,3547,2193,0,0,1,0,0,0
$GC,7175,0.54,146.0,356.4,11.9,737,7182,0.22,3.40,0.00,0.000,6,0.196,0.066,2869,1988,2193,0,0,1,0,0,0
$GC,7500,0.66,154.5,327.3,8.8,768,7515,0.10,3.38,6.30,0.755,4,0.132,0.072,2903,3543,2171,0,0,3,0,0,0
$GC,7648,0.61,154.5,309.3,12.7,781,7654,0.00,3.35,0.00,0.000,6,0.000,0.066,2918,2005,2170,0,0,2,0,0,0
$GC,7973,0.61,154.5,271.1,11.7,812,7979,0.00,3.38,0.00,0.000,4,0.000,0.074,2918,3542,2171,0,0,2,0,0,0
$GC,8062,0.52,154.5,259.7,12.7,819,8069,0.30,3.33,0.00,0.000,6,0.193,0.065,2859,2023,2170,0,0,2,0,0,0
$GC,8387,0.70,170.8,231.1,8.5,850,8412,0.17,3.35,15.57,0.819,4,0.104,0.072,2920,3542,2102,0,0,2,0,0,0
$GC,8512,0.61,170.8,215.3,13.8,861,8519,0.20,3.30,0.00,0.000,6,0.194,0.064,2888,2039,2099,0,0,3,0,0,0
$GC,8837,0.70,170.8,181.7,10.3,892,8842,0.00,3.35,0.00,0.000,4,0.000,0.071,2887,3544,2099,0,0,1,0,0,0
$GC,8944,0.76,170.8,169.8,11.5,901,8950,0.10,3.25,0.00,0.000,6,0.122,0.064,2935,2059,2099,0,0,3,0,0,0
$GC,9268,0.76,170.8,130.7,12.0,931,9274,0.00,3.30,0.00,0.000,4,0.000,0.072,2935,3544,2098,0,0,2,0,0,0
$GC,9410,0.70,170.8,113.9,11.8,943,9416,0.15,3.25,0.00,0.000,6,0.202,0.064,2917,2083,2098,0,0,1,0,0,0
$GC,9747,0.83,198.7,87.1,8.0,988,9779,0.12,3.30,23.70,0.756,4,0.119,0.072,2960,3547,1988,0,0,2,0,0,0
$GC,9869,0.74,198.7,73.5,11.8,1010,9875,0.17,3.28,0.00,0.000,6,0.199,0.064,2936,2089,1985,0,0,1,0,0,0
$GC,10215,0.81,198.7,42.7,10.0,1071,10221,0.00,3.28,0.00,0.000,4,0.000,0.074,2935,3543,1984,0,0,2,0,0,0
$GC,10313,0.81,198.7,32.9,10.1,1088,10318,0.00,3.25,0.00,0.000,6,0.000,0.066,2947,2098,1984,0,0,1,0,0,0
$FREEZE,8.99,0.018,-1.832,0,1,0
$FREEZE,8.59,0.019,-1.832,0,1,0
$FREEZE,8.13,0.019,-1.831,0,1,0
$FREEZE,7.59,0.019,-1.831,0,1,0
$FREEZE,7.11,0.018,-1.831,0,1,0
$FREEZE,6.40,0.019,-1.830,0,1,0
$FREEZE,5.98,0.018,-1.830,0,1,0
$FREEZE,5.48,0.019,-1.829,0,1,0
$FREEZE,4.91,0.019,-1.829,0,1,0
$FREEZE,4.42,0.019,-1.829,0,1,0
$FREEZE,3.86,0.019,-1.828,0,1,0
$FREEZE,3.27,0.020,-1.828,0,1,0
$FREEZE,2.63,0.019,-1.827,0,1,0
$FREEZE,1.86,0.020,-1.827,0,1,0
$STATE,10643,end climb,SURFACE_DEPTH_REACHED
$STATE,10643,begin surface coast
$FREEZE,1.31,0.018,-1.826,0,1,0
$FREEZE,0.68,0.018,-1.826,0,1,0
$FREEZE,0.88,0.019,-1.826,0,1,0
$FINISH,0.9,1.026737
$STATE,10661,end surface coast,CONTROL_FINISHED_OK
$STATE,10661,begin surface
$SM_CCo,10678,131.88,0.717,0,0,1066,425.10
$SM_GC,1.36,0.00,0.00,131.88,0.000,0.000,0.717,129,2466,1066,-8.00,0.17,425.10
$RAFOS_CLK,654
$RAFOS,6,1261082942,20.833334,20.817223,115,68,59,0,0,0,806,198,154,0,0,0
$RAFOS,5,1261082465,20.700001,20.684723,93,60,59,0,0,0,635,178,195,0,0,0
$RAFOS,4,1261081991,20.566668,20.553055,60,57,55,0,0,0,211,188,200,0,0,0
$RAFOS,3,1261081511,20.433332,20.419722,59,58,55,0,0,0,207,163,189,0,0,0
$RAFOS,2,1261081028,20.299999,20.285555,63,62,57,0,0,0,218,134,227,0,0,0
$RAFOS,1,1261080548,20.166666,20.152222,62,58,56,0,0,0,151,203,188,0,0,0
$RAFOS,0,1261080064,20.033333,20.017778,65,59,58,0,0,0,188,199,133,0,0,0
$RAFOS_FIX,6709.177246,-5710.703613,171209,202056,2,104,0.34
$IRIDIUM_FIX,6631.12,-5902.17,130399,151522
$TT8_MAMPS,0.027612
$HUMID,47.04
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,19.0
$ALTIM_BOTTOM_PING,350.2,176.8
$24V_AH,22.7,62.423
$10V_AH,10.1,33.020
$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,23.225,131.925,289.875,131.875,0.000,27.012,41.710,164.883,1.500,0.000,11.665,1935.884,6179.190,580.233,2040.146,427.145,0.000,1620.387,0.000,2009.574,2520.000,10.371,0.000
$DEVICE_MAMPS,287.625,96.642,1038.518,717.145,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,844.298,782.880,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152480
$DATA_FILE_SIZE,44152,1150
$CAP_FILE_SIZE,131628,0
$CFSIZE,260165632,224415744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,78,0,0
$SOUNDSPEED,1467.9
$GPS,171209,213206,6708.442,-5705.278,27,1.2,27,-37.7