version: 66.06
glider: 143
mission: 10
dive: 377
start: 12 25 109 12 50 42
data:
$ID,143
$MISSION,10
$DIVE,377
$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,-43439.543
$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,21
$R_STBD_OVSHOOT,30
$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
$GPS1,124437,6718.889,-5736.678,37,1.8,43,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-69.6
$GPS2,125025,6718.861,-5736.769,10,2.0,21,-38.1
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6718.861,-5708.768
$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,522
$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,15,-0.73,-146.0,0.0,0.0,0,113,0.00,0.00,-95.10,0.000,2,0.000,0.000,128,2700,3091,0,0,0,0,0,0
$GC,117,-0.73,-146.0,3.3,-5.4,19,144,11.73,2.40,-8.38,0.000,4,0.304,0.094,2447,1101,3397,0,0,0,0,0,0
$GC,284,-0.73,-146.0,27.0,-12.2,49,290,0.00,2.30,0.00,0.000,6,0.000,0.071,2447,2680,3399,0,0,0,0,0,0
$GC,627,-0.73,-146.0,63.4,-10.4,110,633,0.00,3.00,0.00,0.000,4,0.000,0.091,2447,3922,3400,0,0,6,0,0,0
$GC,886,-0.77,-146.0,89.1,-9.4,156,893,0.00,2.83,0.00,0.000,6,0.000,0.064,2447,2694,3399,0,0,4,0,0,0
$GC,1225,-0.84,-146.0,119.2,-8.9,198,1230,0.00,2.97,0.00,0.000,4,0.000,0.089,2447,3933,3398,0,0,6,0,0,0
$GC,1392,-0.90,-146.0,134.7,-9.3,212,1399,0.15,2.85,0.00,0.000,6,0.120,0.064,2399,2697,3398,0,0,3,0,0,0
$GC,1717,-0.84,-146.0,171.2,-11.4,243,1722,0.00,2.95,0.00,0.000,4,0.000,0.089,2399,3924,3398,0,0,6,0,0,0
$GC,1959,-0.74,-146.0,197.5,-9.9,264,1965,0.20,2.83,0.00,0.000,6,0.203,0.065,2446,2702,3397,0,0,4,0,0,0
$GC,2284,-0.82,-146.0,224.9,-8.3,294,2289,0.00,2.97,0.00,0.000,4,0.000,0.089,2446,3924,3397,0,0,4,0,0,0
$GC,2515,-0.91,-146.0,243.6,-8.2,314,2520,0.15,2.83,0.00,0.000,6,0.120,0.064,2397,2699,3397,0,0,4,0,0,0
$GC,2839,-0.85,-146.0,275.0,-10.1,344,2844,0.00,2.97,0.00,0.000,4,0.000,0.090,2397,3922,3397,0,0,6,0,0,0
$GC,2985,-0.79,-146.0,289.9,-9.8,356,2991,0.15,2.83,0.00,0.000,6,0.206,0.064,2430,2698,3396,0,0,4,0,0,0
$GC,3310,-0.85,-146.0,317.2,-8.1,387,3315,0.00,2.97,0.00,0.000,4,0.000,0.088,2430,3931,3396,0,0,5,0,0,0
$GC,3500,-0.92,-146.0,332.3,-7.7,403,3506,0.12,2.83,0.00,0.000,6,0.127,0.063,2391,2700,3395,0,0,4,0,0,0
$GC,3825,-0.86,-146.0,361.2,-8.9,434,3829,0.00,2.97,0.00,0.000,4,0.000,0.086,2391,3926,3396,0,0,5,0,0,0
$GC,4021,-0.79,-146.0,379.6,-9.1,451,4027,0.17,2.83,0.00,0.000,6,0.200,0.061,2431,2691,3396,0,0,4,0,0,0
$GC,4346,-0.86,-146.0,402.6,-6.8,481,4351,0.00,2.95,0.00,0.000,4,0.000,0.084,2431,3930,3397,0,0,6,0,0,0
$GC,4526,-0.93,-146.0,415.5,-7.3,496,4532,0.12,2.80,0.00,0.000,6,0.123,0.059,2391,2700,3397,0,0,4,0,0,0
$GC,4850,-0.87,-146.0,443.1,-8.6,527,4855,0.00,2.92,0.00,0.000,4,0.000,0.083,2390,3933,3398,0,0,6,0,0,0
$GC,5016,-0.80,-146.0,458.6,-9.8,541,5023,0.15,2.83,0.00,0.000,6,0.202,0.058,2423,2698,3399,0,0,3,0,0,0
$GC,5342,-0.86,-146.0,483.2,-7.6,572,5347,0.00,2.92,0.00,0.000,4,0.000,0.083,2424,3924,3399,0,0,5,0,0,0
$GC,5462,-0.91,-146.0,492.3,-7.5,582,5466,0.00,2.83,0.00,0.000,6,0.000,0.058,2424,2692,3399,0,0,3,0,0,0
$GC,5786,-0.98,-146.0,518.1,-7.5,612,5792,0.15,2.95,0.00,0.000,4,0.113,0.081,2361,3934,3400,0,0,6,0,0,0
$STATE,5829,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5829,begin apogee
$GC,5837,-0.16,0.0,522.2,10.2,615,5964,1.00,0.00,121.53,1.058,6,0.195,0.000,2626,1993,2800,0,0,0,0,0,0
$STATE,5965,end apogee,CONTROL_FINISHED_OK
$STATE,5965,begin climb
$GC,5967,0.73,146.0,525.3,0.0,628,6101,0.95,1.92,125.78,1.010,4,0.128,0.084,2919,398,2203,0,0,0,0,0,0
$GC,6159,0.66,146.0,508.9,12.9,646,6163,0.00,1.88,0.00,0.000,6,0.000,0.056,2920,2029,2200,0,0,0,0,0,0
$GC,6489,0.58,146.0,469.9,11.8,677,6499,0.17,3.72,0.00,0.000,4,0.200,0.074,2877,3584,2196,0,0,6,0,0,0
$GC,6650,0.58,146.0,451.9,10.7,691,6656,0.00,3.75,0.00,0.000,6,0.000,0.068,2892,2000,2195,0,0,4,0,0,0
$GC,6975,0.58,146.0,417.8,10.4,722,6984,0.00,3.72,0.00,0.000,4,0.000,0.074,2893,3583,2195,0,0,6,0,0,0
$GC,7110,0.53,146.0,402.1,11.8,734,7120,0.20,3.75,0.00,0.000,6,0.200,0.068,2863,1997,2193,0,0,3,0,0,0
$GC,7439,0.65,148.4,371.4,9.1,765,7449,0.12,3.75,0.00,0.000,4,0.122,0.074,2905,3589,2194,0,0,6,0,0,0
$GC,7600,0.56,148.4,351.9,12.5,779,7607,0.20,3.72,0.00,0.000,6,0.201,0.068,2876,1989,2194,0,0,5,0,0,0
$GC,7925,0.64,148.4,322.0,9.3,810,7934,0.00,3.72,0.00,0.000,4,0.000,0.074,2876,3589,2194,0,0,6,0,0,0
$GC,8070,0.64,148.4,307.5,10.0,823,8079,0.00,3.75,0.00,0.000,6,0.000,0.067,2891,1990,2194,0,0,3,0,0,0
$GC,8398,0.64,148.4,275.8,10.2,854,8407,0.00,3.72,0.00,0.000,4,0.000,0.074,2891,3585,2194,0,0,6,0,0,0
$GC,8561,0.64,148.4,257.7,11.9,868,8567,0.00,3.72,0.00,0.000,6,0.000,0.067,2908,1998,2194,0,0,3,0,0,0
$GC,8885,0.64,148.8,224.7,9.1,899,8895,0.00,3.75,0.00,0.000,4,0.000,0.074,2908,3592,2194,0,0,6,0,0,0
$GC,8997,0.58,148.8,213.5,10.1,909,9007,0.20,3.75,0.00,0.000,6,0.199,0.067,2878,1990,2194,0,0,3,0,0,0
$GC,9326,0.76,191.4,189.2,7.4,940,9371,0.17,3.83,37.50,0.826,4,0.108,0.074,2938,3603,2018,0,0,6,0,0,0
$GC,9523,0.68,191.4,165.8,12.7,958,9534,0.20,3.80,0.00,0.000,6,0.199,0.067,2910,1992,2014,0,0,3,0,0,0
$GC,9852,0.76,191.4,134.5,9.6,989,9861,0.00,3.72,0.00,0.000,4,0.000,0.074,2910,3589,2013,0,0,7,0,0,0
$GC,9967,0.76,191.4,122.2,10.3,999,9974,0.00,3.75,0.00,0.000,6,0.000,0.068,2924,1989,2013,0,0,4,0,0,0
$GC,10296,0.76,191.4,90.7,9.4,1038,10302,0.00,3.72,0.00,0.000,4,0.000,0.076,2924,3584,2012,0,0,7,0,0,0
$GC,10465,0.76,191.4,72.6,10.5,1068,10471,0.00,3.75,0.00,0.000,6,0.000,0.070,2941,1998,2010,0,0,3,0,0,0
$GC,10809,0.76,192.5,41.7,9.1,1129,10815,0.00,3.78,0.00,0.000,4,0.000,0.076,2941,3584,2009,0,0,5,0,0,0
$GC,10957,0.72,192.5,27.0,10.2,1155,10963,0.15,3.75,0.00,0.000,6,0.202,0.070,2924,1998,2009,0,0,3,0,0,0
$FREEZE,8.94,-1.397,-1.823,0,1,0
$FREEZE,8.50,-1.379,-1.823,0,1,0
$FREEZE,7.98,-1.389,-1.823,0,1,0
$FREEZE,7.50,-1.439,-1.823,0,1,0
$FREEZE,7.16,-1.524,-1.824,0,1,0
$FREEZE,6.67,-1.540,-1.823,0,1,0
$FREEZE,6.24,-1.574,-1.822,0,1,0
$FREEZE,5.77,-1.640,-1.823,0,1,0
$FREEZE,5.35,-1.647,-1.822,0,1,0
$FREEZE,4.80,-1.651,-1.821,0,1,0
$FREEZE,4.41,-1.641,-1.820,0,1,0
$FREEZE,3.95,-1.639,-1.820,0,1,0
$FREEZE,3.50,-1.633,-1.819,0,1,0
$FREEZE,3.09,-1.636,-1.819,0,1,0
$FREEZE,2.72,-1.636,-1.818,0,1,0
$FREEZE,2.25,-1.639,-1.818,0,1,0
$FREEZE,1.76,-1.648,-1.818,0,1,0
$STATE,11270,end climb,SURFACE_DEPTH_REACHED
$STATE,11271,begin surface coast
$FREEZE,1.27,-1.654,-1.817,0,1,0
$FREEZE,0.92,-1.661,-1.817,0,1,0
$FREEZE,0.59,-1.700,-1.818,0,1,0
$FREEZE,0.60,-1.320,-1.793,0,1,0
$FREEZE,0.56,-1.478,-1.804,0,1,0
$FINISH,0.6,1.026483
$STATE,11299,end surface coast,CONTROL_FINISHED_OK
$STATE,11300,begin surface
$SM_CCo,11318,80.62,0.749,0,0,1475,325.02
$SM_GC,1.45,0.00,0.00,80.62,0.000,0.000,0.749,127,2685,1475,-8.01,-0.42,325.02
$RAFOS_CLK,707
$RAFOS,5,1261744867,12.700000,12.685278,57,56,55,0,0,0,194,143,115,0,0,0
$RAFOS_FIX,6717.058105,-5737.313477,251209,080822,3,82,0.27
$IRIDIUM_FIX,6652.93,-5736.01,210399,090948
$TT8_MAMPS,0.027612
$HUMID,47.87
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,19.8
$ALTIM_BOTTOM_PING,450.2,124.8
$24V_AH,22.4,68.762
$10V_AH,10.1,36.890
$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,24.725,149.800,284.800,80.625,0.000,30.762,30.933,154.630,2.750,0.000,23.466,2041.190,6536.124,541.531,2193.974,424.422,0.000,1652.565,0.000,2140.063,0.000,18.834,0.000
$DEVICE_MAMPS,304.499,94.341,1058.460,749.359,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,891.017,832.523,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152592
$DATA_FILE_SIZE,47276,1216
$CAP_FILE_SIZE,137603,0
$CFSIZE,260165632,220573696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,197,0,0
$SOUNDSPEED,1463.8
$GPS,251209,160207,6719.200,-5737.968,39,1.2,39,-38.1