version: 66.09
glider: 143
mission: 13
dive: 5
start: 10 7 111 22 29 56
data:
$ID,143
$MISSION,13
$DIVE,5
$N_DIVES,5
$D_SURF,2
$D_FLARE,3
$D_TGT,270
$D_ABORT,400
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,90
$T_MISSION,120
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,200
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51400
$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,2
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,420
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,4
$CALL_WAIT,20
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-80424.25
$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,2456
$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,0
$ROLL_MIN,290
$ROLL_MAX,3915
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,442
$VBD_MAX,3793
$C_VBD,2748
$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,-1
$PRESSURE_YINT,-22.40402
$PRESSURE_SLOPE,0.0001163694
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$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
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043394179
$SEABIRD_T_H,0.00062698836
$SEABIRD_T_I,2.474318e-05
$SEABIRD_T_J,2.7476094e-06
$SEABIRD_C_G,-9.9261332
$SEABIRD_C_H,1.1046007
$SEABIRD_C_I,-0.00064730336
$SEABIRD_C_J,0.00014311814
$GPS1,071011,222506,6638.247,-6039.660,26,1.7,26,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-69.4
$GPS2,071011,222925,6638.220,-6039.759,19,1.1,19,-33.8
$SPEED_LIMITS,0.173,0.260
$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,108.5,173542,-18.3,-10.000
$D_GRID,462
$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,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.77,-146.0,0.0,0.0,0,126,0.00,0.00,-106.47,0.000,2,0.000,0.000,120,2408,2474,0,0,0,0,0,0
$GC,129,-0.77,-146.0,3.5,-5.5,19,171,9.10,2.40,-24.60,0.000,4,0.271,0.086,2200,993,3346,0,0,1,0,0,0
$GC,241,-0.77,-146.0,23.8,-16.1,38,248,0.00,2.42,0.00,0.000,6,0.000,0.079,2192,2401,3348,0,0,1,0,0,0
$GC,451,-0.77,-146.0,55.4,-14.5,75,458,0.00,2.45,0.00,0.000,4,0.000,0.094,2181,3814,3347,0,0,0,0,0,0
$GC,515,-0.77,-146.0,64.9,-14.8,86,522,0.00,2.25,0.00,0.000,6,0.000,0.047,2181,2419,3347,0,0,1,0,0,0
$GC,725,-0.77,-146.0,94.8,-14.0,123,732,0.00,2.45,0.00,0.000,4,0.000,0.090,2171,3812,3348,0,0,0,0,0,0
$GC,787,-0.77,-146.0,103.3,-14.2,131,796,0.15,2.28,0.00,0.000,6,0.169,0.047,2208,2413,3348,0,0,1,0,0,0
$GC,1008,-0.77,-146.0,130.5,-11.7,152,1013,0.00,2.45,0.00,0.000,4,0.000,0.090,2199,3813,3348,0,0,0,0,0,0
$GC,1041,-0.77,-146.0,134.1,-11.9,154,1048,0.00,2.12,0.00,0.000,6,0.000,0.047,2199,2467,3348,0,0,1,0,0,0
$GC,1260,-0.77,-146.0,160.9,-11.9,175,1265,0.00,2.35,0.00,0.000,4,0.000,0.092,2190,3810,3348,0,0,0,0,0,0
$GC,1291,-0.77,-146.0,164.5,-12.4,177,1295,0.00,2.05,0.00,0.000,6,0.000,0.048,2191,2525,3348,0,0,1,0,0,0
$GC,1510,-0.77,-146.0,190.6,-11.8,197,1514,0.00,2.25,0.00,0.000,4,0.000,0.094,2181,3810,3348,0,0,0,0,0,0
$GC,1538,-0.77,-146.0,194.2,-12.3,199,1542,0.00,1.92,0.00,0.000,6,0.000,0.048,2181,2593,3347,0,0,1,0,0,0
$GC,1763,-0.77,-146.0,220.8,-11.0,220,1767,0.00,2.65,0.00,0.000,4,0.000,0.072,2181,975,3348,0,0,0,0,0,0
$GC,1772,-0.77,-146.0,220.8,-11.0,220,1780,0.15,2.80,0.00,0.000,6,0.168,0.076,2208,2628,3348,0,0,1,0,0,0
$GC,1994,-0.77,-146.0,242.8,-9.0,241,1997,0.00,2.03,0.00,0.000,4,0.000,0.095,2200,3815,3347,0,0,0,0,0,0
$GC,2032,-0.77,-146.0,246.3,-9.4,244,2039,0.00,1.92,0.00,0.000,6,0.000,0.049,2201,2605,3347,0,0,1,0,0,0
$GC,2252,-0.77,-146.0,268.7,-9.8,265,2256,0.00,2.65,0.00,0.000,4,0.000,0.070,2200,980,3348,0,0,0,0,0,0
$STATE,2267,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2267,begin apogee
$GC,2275,-0.16,0.0,270.5,-9.9,266,2396,0.65,0.00,114.40,1.083,4,0.139,0.000,2399,2314,2748,0,0,0,0,0,0
$STATE,2397,end apogee,CONTROL_FINISHED_OK
$STATE,2397,begin climb
$GC,2399,0.77,146.0,277.7,0.0,277,2532,0.93,2.58,119.95,1.027,4,0.077,0.071,2706,892,2152,0,0,1,0,0,0
$GC,2784,0.85,214.9,274.4,6.8,311,2846,0.00,2.45,55.70,1.013,6,0.000,0.070,2706,2306,1871,0,0,1,0,0,0
$GC,3057,0.85,214.9,243.6,12.0,337,3061,0.00,2.47,0.00,0.000,4,0.000,0.084,2706,3707,1863,0,0,0,0,0,0
$GC,3313,0.85,214.9,212.5,11.9,359,3320,0.00,2.38,0.00,0.000,6,0.000,0.058,2717,2292,1860,0,0,1,0,0,0
$GC,3533,0.85,214.9,188.7,10.8,380,3537,0.00,2.47,0.00,0.000,4,0.000,0.086,2717,3705,1860,0,0,1,0,0,0
$GC,3699,0.85,214.9,168.5,12.4,394,3707,0.00,2.35,0.00,0.000,6,0.000,0.060,2727,2295,1859,0,0,1,0,0,0
$GC,3919,0.85,214.9,143.3,11.2,415,3923,0.00,2.35,0.00,0.000,4,0.000,0.076,2738,892,1858,0,0,0,0,0,0
$GC,4128,0.85,214.9,119.8,11.1,433,4133,0.00,2.40,0.00,0.000,6,0.000,0.073,2738,2314,1858,0,0,1,0,0,0
$GC,4351,0.85,214.9,96.4,10.2,456,4357,0.00,2.40,0.00,0.000,4,0.000,0.088,2737,3711,1858,0,0,0,0,0,0
$GC,4432,0.85,214.9,87.2,10.7,470,4438,0.00,2.22,0.00,0.000,6,0.000,0.059,2747,2353,1857,0,0,1,0,0,0
$GC,4642,0.85,214.9,67.1,10.2,507,4648,0.00,2.42,0.00,0.000,4,0.000,0.075,2758,890,1857,0,0,0,0,0,0
$GC,4786,0.89,242.8,53.7,8.7,532,4816,0.00,2.47,21.67,0.949,6,0.000,0.071,2758,2363,1757,0,0,1,0,0,0
$GC,5019,0.94,288.4,30.2,7.9,573,5060,0.00,2.42,32.72,0.918,4,0.000,0.086,2758,3706,1571,0,0,0,0,0,0
$GC,5151,0.94,288.4,16.0,12.9,596,5158,0.00,2.17,0.00,0.000,6,0.000,0.058,2768,2422,1566,0,0,1,0,0,0
$STATE,5269,end climb,SURFACE_DEPTH_REACHED
$STATE,5269,begin surface coast
$FINISH,0.9,1.025511
$STATE,5283,end surface coast,CONTROL_FINISHED_OK
$STATE,5283,begin surface
$SM_CCo,5299,60.67,0.084,0,0,1034,420.20
$SM_GC,1.84,7.60,0.00,60.67,0.071,0.000,0.084,121,2422,1034,-7.26,0.59,420.20,0,0,0,0,0,0
$RAFOS_CLK,338
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6609.62,-6040.90,071011,202006
$TT8_MAMPS,0.026964,0.026964
$HUMID,68.07
$INTERNAL_PRESSURE,9.81483
$TCM_TEMP,16.20
$XPDR_PINGS,13
$24V_AH,23.5,2.211
$10V_AH,10.3,2.847
$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,18.575,75.300,344.450,60.675,0.000,0.000,0.000,159.750,3.250,0.000,21.016,1431.181,2290.521,526.251,1251.001,135.171,0.000,1315.774,0.000,1084.365,0.000,0.990,0.000
$DEVICE_MAMPS,270.810,94.860,1083.240,84.150,0.000,0.000,0.000,244.188,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,448.548,421.049,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150472
$DATA_FILE_SIZE,23423,619
$CAP_FILE_SIZE,78561,0
$CFSIZE,260165632,247427072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,1
$SOUNDSPEED,1445.2
$GPS,081011,000034,6638.460,-6038.600,31,0.9,33,-33.8