version: 66.09
glider: 143
mission: 13
dive: 7
start: 10 8 111 2 9 13
data:
$ID,143
$MISSION,13
$DIVE,7
$N_DIVES,12
$D_SURF,2
$D_FLARE,3
$D_TGT,270
$D_ABORT,400
$D_NO_BLEED,200
$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,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-80426.75
$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,2415
$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,20
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,240
$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
$GPS1,081011,020230,6638.104,-6037.591,26,1.0,26,-33.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-69.3
$GPS2,081011,020843,6638.095,-6037.757,18,1.4,18,-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,108.3,172210,-18.3,-10.000
$D_GRID,479
$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,16,-0.77,-146.0,0.0,0.0,0,111,0.00,0.00,-92.55,0.000,2,0.000,0.000,124,2404,2288,0,0,0,0,0,0
$GC,114,-0.77,-146.0,3.2,-3.4,16,163,8.82,1.23,-30.98,0.000,4,0.272,0.095,2158,1699,3346,0,0,0,0,0,0
$GC,293,-0.77,-146.0,35.8,-16.9,47,299,0.00,1.25,0.00,0.000,6,0.000,0.079,2155,2400,3348,0,0,0,0,0,0
$GC,503,-0.77,-146.0,67.4,-15.0,84,509,0.00,1.20,0.00,0.000,4,0.000,0.086,2150,3114,3348,0,0,0,0,0,0
$GC,724,-0.77,-146.0,99.8,-13.8,123,730,0.00,1.17,0.00,0.000,6,0.000,0.053,2150,2405,3348,0,0,0,0,0,0
$GC,921,-0.77,-146.0,126.8,-13.1,142,925,0.00,1.23,0.00,0.000,4,0.000,0.084,2145,3104,3348,0,0,0,0,0,0
$GC,982,-0.77,-146.0,134.8,-14.0,147,989,0.00,1.15,0.00,0.000,6,0.000,0.053,2145,2411,3348,0,0,0,0,0,0
$GC,1202,-0.77,-146.0,165.7,-13.6,168,1205,0.00,1.23,0.00,0.000,4,0.000,0.087,2140,3106,3347,0,0,0,0,0,0
$GC,1337,-0.77,-146.0,183.6,-13.2,180,1341,0.00,1.12,0.00,0.000,6,0.000,0.055,2140,2428,3348,0,0,0,0,0,0
$GC,1562,-0.77,-146.0,212.7,-12.6,201,1566,0.00,1.17,0.00,0.000,4,0.000,0.086,2136,3101,3348,0,0,0,0,0,0
$GC,1798,-0.77,-146.0,244.1,-13.0,222,1802,0.08,1.10,0.00,0.000,6,0.161,0.056,2159,2435,3347,0,0,0,0,0,0
$GC,2025,-0.77,-146.0,269.1,-10.9,243,2029,0.00,1.17,0.00,0.000,4,0.000,0.086,2156,3107,3347,0,0,0,0,0,0
$STATE,2035,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2035,begin apogee
$GC,2042,-0.16,0.0,270.7,-10.8,244,2165,0.62,0.00,114.32,1.077,4,0.146,0.000,2354,2292,2747,0,0,0,0,0,0
$STATE,2165,end apogee,CONTROL_FINISHED_OK
$STATE,2165,begin climb
$GC,2168,0.77,146.0,277.9,0.0,255,2301,0.88,1.23,120.75,1.019,4,0.067,0.070,2665,1609,2150,0,0,0,0,0,0
$GC,2542,0.98,314.5,285.8,2.3,288,2691,0.15,1.25,138.70,1.004,6,0.082,0.072,2725,2301,1464,0,0,0,0,0,0
$GC,2903,0.98,314.5,232.7,17.2,322,2907,0.00,1.25,0.00,0.000,4,0.000,0.067,2730,1609,1457,0,0,0,0,0,0
$GC,3016,0.98,314.5,213.8,16.5,332,3019,0.00,1.25,0.00,0.000,6,0.000,0.073,2730,2301,1455,0,0,0,0,0,0
$GC,3240,0.98,314.5,175.4,16.7,353,3244,0.00,1.23,0.00,0.000,4,0.000,0.080,2729,3010,1455,0,0,0,0,0,0
$GC,3320,0.98,314.5,161.7,17.0,360,3323,0.00,1.23,0.00,0.000,6,0.000,0.061,2733,2301,1454,0,0,0,0,0,0
$GC,3544,0.98,314.5,124.4,16.6,381,3548,0.00,1.17,0.00,0.000,4,0.000,0.072,2738,1605,1453,0,0,0,0,0,0
$GC,3803,0.98,314.5,82.0,15.0,414,3810,0.00,1.20,0.00,0.000,6,0.000,0.073,2738,2286,1452,0,0,0,0,0,0
$GC,4013,0.98,314.5,50.3,15.3,451,4020,0.00,1.20,0.00,0.000,4,0.000,0.069,2743,1600,1453,0,0,0,0,0,0
$GC,4032,0.98,314.5,47.4,15.1,454,4039,0.00,1.27,0.00,0.000,6,0.000,0.070,2743,2328,1453,0,0,0,0,0,0
$GC,4242,0.98,314.5,19.6,12.4,491,4249,0.00,1.12,0.00,0.000,4,0.000,0.080,2743,3002,1452,0,0,0,0,0,0
$GC,4363,0.98,314.5,4.0,13.8,512,4369,0.00,1.15,0.00,0.000,6,0.000,0.067,2748,2331,1452,0,0,0,0,0,0
$STATE,4380,end climb,SURFACE_DEPTH_REACHED
$STATE,4380,begin surface coast
$FINISH,1.0,1.025460
$STATE,4392,end surface coast,CONTROL_FINISHED_OK
$STATE,4392,begin surface
$SM_CCo,4409,48.08,0.086,0,0,1034,420.20
$SM_GC,1.81,7.35,0.17,48.08,0.067,0.081,0.086,124,2394,1034,-7.12,-0.71,420.20,0,0,0,0,0,0
$RAFOS_CLK,273
$RAFOS_FIX,6638.386719,-6032.025391,081011,000012,4,98,3.94
$IRIDIUM_FIX,6609.62,-6038.83,081011,020202
$TT8_MAMPS,0.026964,0.026964
$HUMID,64.41
$INTERNAL_PRESSURE,9.80506
$TCM_TEMP,16.20
$XPDR_PINGS,21
$24V_AH,23.3,2.427
$10V_AH,10.2,2.964
$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,17.900,29.100,373.775,48.075,0.000,0.000,0.000,251.675,5.250,0.000,19.420,1223.954,1822.292,490.642,1190.785,113.969,0.000,1300.700,0.000,938.076,0.000,0.990,0.000
$DEVICE_MAMPS,272.340,94.860,1077.120,85.680,0.000,0.000,0.000,248.682,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,372.310,352.136,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150424
$DATA_FILE_SIZE,20102,517
$CAP_FILE_SIZE,66168,0
$CFSIZE,260165632,247353344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1445.9
$GPS,081011,032458,6637.398,-6036.972,30,1.5,43,-33.8