version: 66.06
glider: 143
mission: 10
dive: 166
start: 11 20 109 4 59 40
data:
$ID,143
$MISSION,10
$DIVE,166
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,360
$T_MISSION,420
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.5
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,578.41736
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-32322.438
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,127
$PITCH_MAX,4070
$C_PITCH,2700
$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
$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,19
$R_STBD_OVSHOOT,22
$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,20
$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,8
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$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
$GPS1,043331,6704.507,-5701.676,41,1.3,41,-37.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-59.6
$GPS2,045920,6704.483,-5701.902,45,1.9,63,-37.6
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_E_IN
$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,164.6,10408,-16.9,-9.167
$D_GRID,612
$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,13,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,176,0.00,0.00,-156.93,0.000,2,0.000,0.000,119,2466,3140,0,0,0,0,0,0
$GC,179,-0.73,-146.0,3.7,-6.6,30,206,11.43,2.72,-6.47,0.000,4,0.304,0.094,2458,862,3399,0,0,0,0,0,0
$GC,375,-0.73,-146.0,32.6,-12.7,65,380,0.00,2.60,0.00,0.000,6,0.000,0.075,2458,2454,3402,0,0,0,0,0,0
$GC,717,-0.73,-146.0,70.4,-9.9,126,723,0.00,2.53,0.00,0.000,4,0.000,0.093,2459,3918,3402,0,0,0,0,0,0
$GC,751,-0.73,-146.0,73.9,-10.2,132,757,0.00,2.42,0.00,0.000,6,0.000,0.064,2458,2454,3401,0,0,0,0,0,0
$GC,1095,-0.73,-146.0,109.3,-11.1,186,1100,0.00,2.53,0.00,0.000,4,0.000,0.090,2458,3916,3402,0,0,0,0,0,0
$GC,1207,-0.73,-146.0,122.3,-11.1,195,1213,0.00,2.38,0.00,0.000,6,0.000,0.064,2458,2472,3401,0,0,0,0,0,0
$GC,1531,-0.73,-146.0,156.2,-10.0,226,1535,0.00,2.58,0.00,0.000,4,0.000,0.083,2458,873,3401,0,0,0,0,0,0
$GC,1574,-0.73,-146.0,160.7,-10.4,229,1580,0.00,2.60,0.00,0.000,6,0.000,0.072,2458,2487,3401,0,0,0,0,0,0
$GC,1900,-0.73,-146.0,190.9,-9.0,260,1904,0.00,2.42,0.00,0.000,4,0.000,0.089,2458,3912,3402,0,0,0,0,0,0
$GC,1974,-0.73,-146.0,197.2,-8.8,266,1978,0.00,2.35,0.00,0.000,6,0.000,0.063,2458,2478,3402,0,0,0,0,0,0
$GC,2299,-0.73,-146.0,224.2,-8.4,296,2303,0.00,2.58,0.00,0.000,4,0.000,0.081,2458,870,3402,0,0,0,0,0,0
$GC,2350,-0.73,-146.0,228.6,-9.1,300,2354,0.00,2.58,0.00,0.000,6,0.000,0.071,2458,2482,3402,0,0,0,0,0,0
$GC,2674,-0.73,-146.0,254.6,-7.7,330,2678,0.00,2.42,0.00,0.000,4,0.000,0.087,2458,3913,3403,0,0,0,0,0,0
$GC,2758,-0.73,-146.0,261.3,-8.1,337,2762,0.00,2.35,0.00,0.000,6,0.000,0.061,2458,2472,3403,0,0,0,0,0,0
$GC,3082,-0.73,-146.0,285.2,-7.3,367,3083,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2473,3404,0,0,0,0,0,0
$GC,3403,-0.73,-146.0,307.9,-7.0,397,3407,0.00,2.45,0.00,0.000,4,0.000,0.086,2458,3911,3405,0,0,0,0,0,0
$GC,3453,-0.73,-146.0,311.8,-7.9,401,3457,0.00,2.35,0.00,0.000,6,0.000,0.061,2458,2465,3406,0,0,0,0,0,0
$GC,3777,-0.73,-146.0,334.8,-7.2,431,3781,0.00,2.45,0.00,0.000,4,0.000,0.086,2458,3910,3405,0,0,0,0,0,0
$GC,3831,-0.73,-146.0,339.0,-7.2,435,3838,0.00,2.33,0.00,0.000,6,0.000,0.060,2458,2472,3406,0,0,0,0,0,0
$GC,4156,-0.73,-146.0,364.1,-8.3,466,4161,0.00,2.45,0.00,0.000,4,0.000,0.085,2458,3914,3406,0,0,0,0,0,0
$GC,4223,-0.73,-146.0,369.7,-7.8,471,4229,0.00,2.33,0.00,0.000,6,0.000,0.060,2459,2477,3406,0,0,0,0,0,0
$GC,4547,-0.73,-146.0,396.9,-8.4,502,4552,0.00,2.45,0.00,0.000,4,0.000,0.084,2458,3920,3406,0,0,0,0,0,0
$GC,4591,-0.73,-146.0,400.9,-8.5,505,4597,0.00,2.33,0.00,0.000,6,0.000,0.059,2458,2486,3406,0,0,0,0,0,0
$GC,4917,-0.73,-146.0,427.6,-7.9,536,4918,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2486,3407,0,0,0,0,0,0
$GC,5236,-0.73,-146.0,452.5,-8.0,566,5237,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2486,3407,0,0,0,0,0,0
$GC,5555,-0.73,-146.0,476.5,-7.5,596,5559,0.00,2.42,0.00,0.000,4,0.000,0.084,2458,3912,3407,0,0,0,0,0,0
$GC,5621,-0.73,-146.0,481.6,-7.3,601,5627,0.00,2.30,0.00,0.000,6,0.000,0.059,2458,2492,3407,0,0,0,0,0,0
$GC,5947,-0.73,-146.0,504.5,-7.1,632,5951,0.00,2.42,0.00,0.000,4,0.000,0.084,2458,3917,3407,0,0,0,0,0,0
$GC,5986,-0.73,-146.0,507.3,-7.1,635,5990,0.00,2.30,0.00,0.000,6,0.000,0.059,2458,2497,3407,0,0,0,0,0,0
$GC,6310,-0.73,-146.0,530.7,-6.9,665,6315,0.00,2.42,0.00,0.000,4,0.000,0.085,2458,3920,3407,0,0,0,0,0,0
$GC,6354,-0.73,-146.0,533.9,-8.1,668,6360,0.00,2.30,0.00,0.000,6,0.000,0.059,2458,2497,3407,0,0,0,0,0,0
$GC,6681,-0.73,-146.0,557.1,-7.2,699,6682,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2497,3407,0,0,0,0,0,0
$GC,6999,-0.73,-146.0,579.9,-7.1,729,7000,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2498,3407,0,0,0,0,0,0
$GC,7316,-0.73,-146.0,603.0,-7.5,757,7321,0.00,2.40,0.00,0.000,4,0.000,0.085,2458,3909,3407,0,0,0,0,0,0
$GC,7378,-0.73,-146.0,607.9,-8.2,759,7382,0.00,2.28,0.00,0.000,6,0.000,0.059,2458,2502,3407,0,0,0,0,0,0
$STATE,7440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7440,begin apogee
$GC,7446,-0.16,0.0,612.7,7.4,761,7569,0.65,0.00,120.22,1.137,6,0.174,0.000,2643,1953,2800,0,0,0,0,0,0
$STATE,7570,end apogee,CONTROL_FINISHED_OK
$STATE,7570,begin climb
$GC,7572,0.73,146.0,615.3,0.0,765,7699,0.93,0.00,122.82,1.088,6,0.126,0.000,2924,1953,2204,0,0,0,0,0,0
$GC,8008,0.73,146.0,571.6,11.0,793,8009,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,1954,2196,0,0,0,0,0,0
$GC,8329,0.73,146.0,535.8,11.8,823,8333,0.00,2.70,0.00,0.000,4,0.000,0.079,2924,3537,2195,0,0,0,0,0,0
$GC,8367,0.73,146.0,530.8,13.1,826,8372,0.00,2.65,0.00,0.000,6,0.000,0.066,2936,1953,2193,0,0,0,0,0,0
$GC,8693,0.73,146.0,491.1,11.9,856,8694,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,1953,2194,0,0,0,0,0,0
$GC,9012,0.73,146.0,453.4,11.8,886,9013,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,1953,2193,0,0,0,0,0,0
$GC,9330,0.73,146.0,414.9,11.8,916,9335,0.00,2.67,0.00,0.000,4,0.000,0.079,2936,3543,2193,0,0,0,0,0,0
$GC,9369,0.73,146.0,409.6,12.8,919,9373,0.00,2.65,0.00,0.000,6,0.000,0.067,2948,1943,2191,0,0,0,0,0,0
$GC,9693,0.73,146.0,368.2,12.8,949,9694,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1943,2191,0,0,0,0,0,0
$GC,10014,0.73,146.0,328.6,12.2,979,10019,0.00,2.67,0.00,0.000,4,0.000,0.080,2949,3545,2191,0,0,0,0,0,0
$GC,10046,0.73,146.0,323.9,14.2,981,10052,0.00,2.62,0.00,0.000,6,0.000,0.067,2961,1945,2191,0,0,0,0,0,0
$GC,10372,0.73,146.0,283.6,12.0,1012,10376,0.00,2.55,0.00,0.000,4,0.000,0.087,2972,357,2191,0,0,0,0,0,0
$GC,10410,0.73,146.0,278.6,13.3,1015,10415,0.15,2.47,0.00,0.000,6,0.203,0.064,2938,1952,2191,0,0,0,0,0,0
$GC,10734,0.77,181.0,248.2,7.7,1045,10767,0.00,2.72,26.80,0.888,4,0.000,0.079,2938,3539,2061,0,0,0,0,0,0
$GC,10891,0.77,181.0,230.5,12.1,1059,10895,0.00,2.62,0.00,0.000,6,0.000,0.068,2949,1965,2057,0,0,0,0,0,0
$GC,11215,0.77,181.0,192.3,12.1,1089,11219,0.00,2.60,0.00,0.000,4,0.000,0.087,2960,358,2056,0,0,0,0,0,0
$GC,11298,0.77,181.0,181.7,12.7,1096,11302,0.00,2.53,0.00,0.000,6,0.000,0.064,2960,1973,2056,0,0,0,0,0,0
$GC,11622,0.77,181.0,143.1,12.0,1126,11626,0.00,2.60,0.00,0.000,4,0.000,0.079,2960,3540,2056,0,0,0,0,0,0
$GC,11649,0.77,181.0,139.8,12.3,1128,11654,0.00,2.60,0.00,0.000,6,0.000,0.068,2972,1962,2056,0,0,0,0,0,0
$GC,11973,0.77,181.0,101.7,11.0,1158,11978,0.00,2.58,0.00,0.000,4,0.000,0.086,2984,358,2056,0,0,0,0,0,0
$GC,12035,0.77,181.0,94.5,11.8,1167,12042,0.15,2.50,0.00,0.000,6,0.200,0.062,2950,1967,2056,0,0,0,0,0,0
$GC,12381,0.79,200.9,62.0,8.3,1228,12402,0.00,0.00,16.50,0.759,6,0.000,0.000,2950,1967,1979,0,0,0,0,0,0
$GC,12739,0.79,200.9,26.8,10.7,1292,12745,0.00,2.60,0.00,0.000,4,0.000,0.086,2959,364,1976,0,0,0,0,0,0
$GC,12768,0.79,200.9,23.7,10.6,1297,12773,0.00,2.50,0.00,0.000,6,0.000,0.063,2960,1970,1977,0,0,0,0,0,0
$STATE,12973,end climb,SURFACE_DEPTH_REACHED
$STATE,12973,begin surface coast
$FINISH,0.3,1.026525
$STATE,12997,end surface coast,CONTROL_FINISHED_OK
$STATE,12997,begin surface
$SM_CCo,13014,210.40,0.711,0,0,441,578.42
$SM_GC,1.05,0.00,0.00,210.40,0.000,0.000,0.711,127,2465,441,-8.04,0.14,578.42
$RAFOS_CLK,880
$RAFOS,3,1258705501,8.433333,8.416945,70,64,64,0,0,0,127,195,426,0,0,0
$RAFOS,2,1258705024,8.300000,8.284445,64,62,59,0,0,0,143,165,152,0,0,0
$RAFOS,1,1258704545,8.166667,8.151389,60,59,57,0,0,0,198,137,220,0,0,0
$RAFOS,0,1258704064,8.033334,8.017777,67,65,62,0,0,0,213,196,178,0,0,0
$RAFOS,3,1258691104,4.433333,4.417778,65,62,55,0,0,0,208,193,221,0,0,0
$RAFOS_FIX,6650.326172,-5724.867188,191109,161624,3,72,11.94
$IRIDIUM_FIX,6636.54,-5704.59,140299,040443
$TT8_MAMPS,0.029146
$HUMID,44.76
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,17.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,19.1
$24V_AH,23.0,39.560
$10V_AH,10.2,20.128
$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,21.500,121.550,286.350,210.400,0.000,153.479,258.958,679.595,0.500,0.000,65.808,2382.724,8148.424,706.303,2191.690,1339.154,0.000,1806.042,0.000,2112.975,1800.000,2.623,0.000
$DEVICE_MAMPS,304.499,94.341,1136.694,711.009,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,984.653,917.008,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,187868
$DATA_FILE_SIZE,50421,1338
$CAP_FILE_SIZE,158729,0
$CFSIZE,260165632,237056000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.2
$CURRENT,0.177,258.5,1
$GPS,201109,084131,6703.133,-5701.662,40,1.0,40,-37.6