version: 66.06
glider: 143
mission: 10
dive: 375
start: 12 25 109 6 1 50
data:
$ID,143
$MISSION,10
$DIVE,375
$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,90
$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,325
$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,-43399.539
$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,2700
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,055536,6717.456,-5733.737,36,1.0,36,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-70.1
$GPS2,060132,6717.486,-5733.847,12,1.8,12,-38.1
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6717.486,-5705.873
$TGT_RADIUS,1852.000
$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,128.1,20000,-16.9,-9.167
$D_GRID,550
$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,16,-0.73,-146.0,0.0,0.0,0,114,0.00,0.00,-95.12,0.000,2,0.000,0.000,125,2696,3114,0,0,0,0,0,0
$GC,117,-0.73,-146.0,3.4,-5.7,19,144,11.62,3.03,-7.70,0.000,4,0.302,0.100,2446,3916,3398,0,0,5,0,0,0
$GC,386,-0.73,-146.0,37.3,-10.9,67,391,0.00,2.83,0.00,0.000,6,0.000,0.064,2447,2701,3400,0,0,4,0,0,0
$GC,730,-0.73,-146.0,72.8,-9.6,128,735,0.00,2.95,0.00,0.000,4,0.000,0.089,2447,3917,3400,0,0,6,0,0,0
$GC,843,-0.73,-146.0,84.2,-10.1,148,849,0.00,2.83,0.00,0.000,6,0.000,0.064,2446,2699,3400,0,0,4,0,0,0
$GC,1184,-0.80,-146.0,113.2,-7.4,194,1188,0.00,2.95,0.00,0.000,4,0.000,0.089,2447,3908,3398,0,0,6,0,0,0
$GC,1358,-0.88,-146.0,126.7,-8.1,209,1364,0.12,2.83,0.00,0.000,6,0.127,0.065,2408,2693,3398,0,0,4,0,0,0
$GC,1682,-0.83,-146.0,160.1,-10.9,239,1687,0.00,2.92,0.00,0.000,4,0.000,0.087,2408,3909,3398,0,0,6,0,0,0
$GC,1879,-0.83,-146.0,181.6,-10.6,256,1884,0.00,2.80,0.00,0.000,6,0.000,0.064,2408,2701,3398,0,0,4,0,0,0
$GC,2203,-0.78,-146.0,213.3,-9.5,286,2209,0.12,2.97,0.00,0.000,4,0.218,0.085,2428,3921,3398,0,0,4,0,0,0
$GC,2344,-0.78,-146.0,225.8,-9.1,298,2349,0.00,2.80,0.00,0.000,6,0.000,0.062,2428,2701,3397,0,0,4,0,0,0
$GC,2669,-0.78,-146.0,253.9,-8.9,328,2674,0.00,2.92,0.00,0.000,4,0.000,0.085,2428,3914,3398,0,0,5,0,0,0
$GC,2822,-0.78,-146.0,267.7,-9.5,341,2826,0.00,2.80,0.00,0.000,6,0.000,0.061,2428,2697,3398,0,0,4,0,0,0
$GC,3147,-0.78,-146.0,295.6,-8.6,371,3151,0.00,2.92,0.00,0.000,4,0.000,0.084,2428,3912,3399,0,0,5,0,0,0
$GC,3336,-0.78,-146.0,312.1,-8.8,387,3342,0.00,2.83,0.00,0.000,6,0.000,0.061,2428,2698,3399,0,0,2,0,0,0
$GC,3662,-0.84,-146.0,337.9,-7.9,418,3666,0.00,2.92,0.00,0.000,4,0.000,0.084,2428,3914,3399,0,0,5,0,0,0
$GC,3774,-0.89,-146.0,346.8,-7.9,427,3780,0.00,2.80,0.00,0.000,6,0.000,0.060,2428,2692,3398,0,0,4,0,0,0
$GC,4099,-0.94,-146.0,371.6,-7.5,458,4104,0.12,2.95,0.00,0.000,4,0.114,0.082,2373,3910,3399,0,0,6,0,0,0
$GC,4262,-0.82,-146.0,387.2,-9.5,472,4268,0.20,2.78,0.00,0.000,6,0.200,0.059,2419,2700,3399,0,0,4,0,0,0
$GC,4587,-0.82,-146.0,410.8,-7.2,502,4592,0.00,2.92,0.00,0.000,4,0.000,0.082,2419,3924,3400,0,0,5,0,0,0
$GC,4761,-0.82,-146.0,423.5,-7.3,517,4765,0.00,2.80,0.00,0.000,6,0.000,0.058,2419,2695,3399,0,0,4,0,0,0
$GC,5086,-0.82,-146.0,447.5,-7.3,547,5090,0.00,2.92,0.00,0.000,4,0.000,0.081,2419,3920,3401,0,0,5,0,0,0
$GC,5282,-0.82,-146.0,462.8,-8.2,564,5287,0.00,2.78,0.00,0.000,6,0.000,0.058,2420,2699,3401,0,0,4,0,0,0
$GC,5606,-0.82,-146.0,487.0,-7.6,594,5611,0.00,2.92,0.00,0.000,4,0.000,0.081,2420,3919,3402,0,0,6,0,0,0
$GC,5770,-0.82,-146.0,499.9,-8.2,608,5777,0.00,2.78,0.00,0.000,6,0.000,0.062,2420,2697,3402,0,0,4,0,0,0
$GC,6102,-0.82,-146.0,527.1,-7.8,639,6107,0.00,2.92,0.00,0.000,4,0.000,0.080,2420,3919,3403,0,0,4,0,0,0
$GC,6303,-0.82,-146.0,541.6,-7.6,656,6309,0.00,2.80,0.00,0.000,6,0.000,0.058,2420,2696,3403,0,0,3,0,0,0
$STATE,6413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6413,begin apogee
$GC,6419,-0.16,0.0,550.2,7.4,667,6546,0.75,0.00,122.45,1.074,6,0.176,0.000,2632,1998,2800,0,0,0,0,0,0
$STATE,6547,end apogee,CONTROL_FINISHED_OK
$STATE,6547,begin climb
$GC,6549,0.73,146.0,552.7,0.0,680,6684,0.93,2.00,126.43,1.025,4,0.125,0.084,2920,405,2203,0,0,0,0,0,0
$GC,6730,0.65,146.0,537.0,13.0,697,6734,0.00,1.90,0.00,0.000,6,0.000,0.056,2920,2011,2201,0,0,0,0,0,0
$GC,7060,0.59,146.0,497.9,12.7,728,7070,0.17,3.75,0.00,0.000,4,0.202,0.074,2877,3589,2196,0,0,7,0,0,0
$GC,7217,0.59,146.0,479.9,11.4,742,7226,0.00,3.80,0.00,0.000,6,0.000,0.069,2893,1994,2194,0,0,3,0,0,0
$GC,7547,0.59,146.0,445.5,10.3,773,7558,0.00,3.75,0.00,0.000,4,0.000,0.076,2893,3597,2194,0,0,7,0,0,0
$GC,7705,0.53,146.0,427.4,12.3,787,7715,0.20,3.78,0.00,0.000,6,0.201,0.070,2863,1999,2193,0,0,3,0,0,0
$GC,8033,0.66,160.6,397.8,8.6,818,8055,0.12,3.80,11.75,0.902,4,0.121,0.076,2905,3587,2144,0,0,5,0,0,0
$GC,8207,0.57,160.6,377.0,13.1,833,8213,0.20,3.75,0.00,0.000,6,0.201,0.069,2876,2001,2143,0,0,3,0,0,0
$GC,8531,0.66,160.6,346.1,9.5,864,8541,0.00,3.75,0.00,0.000,4,0.000,0.074,2876,3598,2143,0,0,5,0,0,0
$GC,8688,0.66,160.6,329.6,11.2,878,8698,0.00,3.75,0.00,0.000,6,0.000,0.068,2890,2000,2143,0,0,3,0,0,0
$GC,9017,0.73,170.4,299.0,8.8,909,9038,0.10,3.75,9.90,0.831,4,0.122,0.074,2933,3594,2104,0,0,5,0,0,0
$GC,9178,0.59,170.4,278.7,13.0,923,9185,0.28,3.75,0.00,0.000,6,0.201,0.068,2884,1988,2103,0,0,4,0,0,0
$GC,9503,0.70,173.8,248.4,9.0,954,9514,0.00,3.75,4.60,0.660,4,0.000,0.075,2884,3592,2091,0,0,6,0,0,0
$GC,9654,0.70,173.8,232.7,10.4,967,9660,0.00,3.75,0.00,0.000,6,0.000,0.068,2899,1988,2090,0,0,4,0,0,0
$GC,9980,0.76,173.8,200.8,10.0,998,9990,0.10,3.78,0.00,0.000,4,0.123,0.074,2936,3587,2089,0,0,5,0,0,0
$GC,10148,0.63,173.8,179.4,13.2,1013,10159,0.22,3.75,0.00,0.000,6,0.200,0.069,2898,1997,2089,0,0,3,0,0,0
$GC,10478,0.71,176.4,149.5,9.1,1044,10487,0.00,3.72,0.00,0.000,4,0.000,0.074,2898,3589,2089,0,0,6,0,0,0
$GC,10611,0.71,176.4,136.3,10.5,1056,10620,0.00,3.75,0.00,0.000,6,0.000,0.069,2912,1994,2089,0,0,3,0,0,0
$GC,10940,0.80,195.5,107.4,8.4,1087,10967,0.10,3.75,19.60,0.795,4,0.126,0.075,2954,3593,2001,0,0,6,0,0,0
$GC,11108,0.68,195.5,87.0,12.8,1110,11115,0.25,3.78,0.00,0.000,6,0.202,0.070,2912,2002,1999,0,0,3,0,0,0
$GC,11454,0.81,216.9,55.7,8.3,1171,11481,0.12,3.78,18.70,0.771,4,0.127,0.077,2954,3586,1914,0,0,5,0,0,0
$GC,11611,0.75,216.9,36.5,12.2,1199,11618,0.15,3.78,0.00,0.000,6,0.201,0.070,2938,1999,1912,0,0,3,0,0,0
$FREEZE,8.56,-1.289,-1.825,0,1,0
$FREEZE,8.07,-1.319,-1.825,0,1,0
$FREEZE,7.56,-1.323,-1.824,0,1,0
$FREEZE,7.11,-1.332,-1.824,0,1,0
$FREEZE,6.59,-1.334,-1.823,0,1,0
$FREEZE,6.14,-1.421,-1.824,0,1,0
$FREEZE,5.61,-1.430,-1.823,0,1,0
$FREEZE,5.15,-1.454,-1.823,0,1,0
$FREEZE,4.53,-1.496,-1.822,0,1,0
$GC,11955,0.82,217.7,4.5,9.1,1260,11961,0.00,3.75,0.00,0.000,4,0.000,0.077,2938,3596,1910,0,0,7,0,0,0
$FREEZE,3.41,-1.565,-1.821,0,1,0
$FREEZE,2.83,-1.582,-1.821,0,1,0
$FREEZE,2.23,-1.552,-1.819,0,1,0
$FREEZE,1.68,-1.584,-1.819,0,1,0
$STATE,11983,end climb,SURFACE_DEPTH_REACHED
$STATE,11983,begin surface coast
$FREEZE,1.06,-1.577,-1.818,0,1,0
$FREEZE,0.48,-1.628,-1.818,0,1,0
$FREEZE,0.54,-1.491,-0.881,0,1,0
$FREEZE,0.58,-1.630,-1.782,0,1,0
$FINISH,0.6,1.026178
$STATE,12007,end surface coast,CONTROL_FINISHED_OK
$STATE,12007,begin surface
$SM_CCo,12027,72.53,0.748,0,0,1474,325.02
$SM_GC,1.35,0.00,0.00,72.53,0.000,0.000,0.748,126,2696,1474,-8.01,-0.14,325.02
$RAFOS_CLK,752
$RAFOS,6,1261730944,8.833333,8.817778,65,64,62,0,0,0,715,171,208,0,0,0
$RAFOS,5,1261730462,8.700000,8.683888,107,68,58,0,0,0,666,195,213,0,0,0
$RAFOS,4,1261729985,8.566667,8.551389,75,58,56,0,0,0,813,202,221,0,0,0
$RAFOS,3,1261729505,8.433333,8.418056,62,59,55,0,0,0,143,203,219,0,0,0
$RAFOS,2,1261729025,8.300000,8.284722,66,64,60,0,0,0,206,184,154,0,0,0
$RAFOS,1,1261728544,8.166667,8.151111,62,60,60,0,0,0,205,178,217,0,0,0
$RAFOS,0,1261728062,8.033334,8.017222,59,58,57,0,0,0,153,218,162,0,0,0
$RAFOS_FIX,6717.058105,-5737.313477,251209,080822,3,82,0.27
$IRIDIUM_FIX,6647.44,-5737.27,210399,020222
$TT8_MAMPS,0.027612
$HUMID,46.85
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,16.90
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.8,19.2
$ALTIM_BOTTOM_PING,500.3,87.6
$24V_AH,22.4,68.529
$10V_AH,10.1,36.747
$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,24.250,161.300,313.425,72.525,0.000,29.172,33.725,167.246,2.750,0.000,13.879,2175.419,6959.368,562.221,2297.003,463.992,0.000,1737.364,0.000,2257.804,2520.000,14.373,0.000
$DEVICE_MAMPS,302.198,100.477,1073.800,747.825,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,932.024,868.021,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152564
$DATA_FILE_SIZE,50431,1269
$CAP_FILE_SIZE,147341,0
$CFSIZE,260165632,220712960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,217,0,0
$SOUNDSPEED,1465.1
$GPS,251209,092507,6718.456,-5735.086,39,1.5,39,-38.1