version: 66.09
glider: 143
mission: 13
dive: 9
start: 10 8 111 4 53 13
data:
$ID,143
$MISSION,13
$DIVE,9
$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,-80429.258
$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,23
$R_STBD_OVSHOOT,17
$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
$GPS1,081011,044825,6636.359,-6036.299,31,1.1,31,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-70.5
$GPS2,081011,045242,6636.312,-6036.235,18,1.4,18,-33.7
$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,107.0,172070,-18.3,-10.000
$D_GRID,476
$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,-146.0,0.0,0.0,0,105,0.00,0.00,-86.97,0.000,2,0.000,0.000,122,2406,2208,0,0,0,0,0,0
$GC,108,-0.77,-146.0,3.3,-4.4,15,158,8.80,1.20,-34.88,0.000,4,0.271,0.097,2159,1693,3345,0,0,0,0,0,0
$GC,338,-0.77,-146.0,39.7,-13.7,55,345,0.00,1.25,0.00,0.000,6,0.000,0.079,2156,2395,3347,0,0,0,0,0,0
$GC,549,-0.77,-146.0,68.5,-13.0,92,555,0.00,1.20,0.00,0.000,4,0.000,0.087,2151,3107,3347,0,0,0,0,0,0
$GC,801,-0.77,-146.0,101.0,-12.6,136,809,0.00,1.17,0.00,0.000,6,0.000,0.056,2151,2405,3347,0,0,0,0,0,0
$GC,1021,-0.77,-146.0,129.6,-13.1,157,1025,0.00,1.23,0.00,0.000,4,0.000,0.085,2146,3103,3347,0,0,0,0,0,0
$GC,1123,-0.77,-146.0,143.4,-13.6,166,1126,0.00,1.12,0.00,0.000,6,0.000,0.054,2146,2425,3346,0,0,0,0,0,0
$GC,1348,-0.77,-146.0,174.8,-14.5,187,1351,0.00,1.20,0.00,0.000,4,0.000,0.086,2141,3111,3347,0,0,0,0,0,0
$GC,1487,-0.77,-146.0,194.3,-14.1,199,1494,0.00,1.15,0.00,0.000,6,0.000,0.056,2141,2422,3347,0,0,0,0,0,0
$GC,1707,-0.77,-146.0,225.1,-13.7,220,1710,0.00,1.20,0.00,0.000,4,0.000,0.086,2137,3107,3347,0,0,0,0,0,0
$GC,1870,-0.77,-146.0,247.2,-13.8,234,1877,0.00,1.10,0.00,0.000,6,0.000,0.056,2137,2439,3346,0,0,0,0,0,0
$STATE,2044,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2044,begin apogee
$GC,2050,-0.16,0.0,270.9,-12.8,251,2173,0.70,0.00,114.40,1.076,4,0.148,0.000,2355,2281,2748,0,0,0,0,0,0
$STATE,2173,end apogee,CONTROL_FINISHED_OK
$STATE,2173,begin climb
$GC,2176,0.77,146.0,279.4,0.0,262,2309,0.88,1.20,121.32,1.020,4,0.073,0.072,2661,1607,2150,0,0,0,0,0,0
$GC,2359,1.11,421.5,290.3,-2.7,278,2597,0.30,1.30,227.93,0.983,6,0.071,0.073,2769,2302,1029,0,0,0,0,0,0
$GC,2806,1.11,421.5,199.8,25.4,320,2810,0.00,1.25,0.00,0.000,4,0.000,0.079,2769,3007,1021,0,0,0,0,0,0
$GC,2829,1.11,421.5,193.5,25.9,322,2833,0.00,1.27,0.00,0.000,6,0.000,0.062,2774,2291,1021,0,0,0,0,0,0
$GC,3054,1.11,421.5,138.9,23.6,343,3058,0.00,1.20,0.00,0.000,4,0.000,0.072,2779,1596,1019,0,0,0,0,0,0
$GC,3312,1.11,421.5,76.8,21.5,374,3319,0.00,1.20,0.00,0.000,6,0.000,0.071,2779,2266,1018,0,0,0,0,0,0
$GC,3522,1.11,421.5,29.8,19.5,411,3529,0.00,1.17,0.00,0.000,4,0.000,0.070,2783,1602,1018,0,0,0,0,0,0
$STATE,3663,end climb,SURFACE_DEPTH_REACHED
$STATE,3665,begin surface coast
$FINISH,0.9,1.003553
$STATE,3676,end surface coast,CONTROL_FINISHED_OK
$STATE,3676,begin surface
$SM_CCo,3754,0.00,0.000,0,0,1016,425.10
$SM_GC,1.92,7.43,1.42,0.00,0.057,0.064,0.000,124,2411,1016,-7.11,-0.45,425.10,0,0,0,0,0,0
$RAFOS_CLK,227
$RAFOS,5,1318048861,4.700000,4.683611,67,62,55,0,0,0,1032,170,211,0,0,0
$RAFOS_FIX,6637.593262,-6033.002441,081011,040407,5,84,0.00
$IRIDIUM_FIX,6609.62,-6034.11,081011,030323
$TT8_MAMPS,0.026215,0.026215
$HUMID,62.99
$INTERNAL_PRESSURE,9.80506
$TCM_TEMP,16.20
$XPDR_PINGS,12
$24V_AH,23.2,2.670
$10V_AH,10.3,3.054
$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,18.100,22.100,463.650,0.000,0.000,0.000,0.000,161.175,3.000,0.000,19.299,1013.705,1487.881,489.479,951.672,97.490,0.000,1146.734,0.000,789.587,0.000,0.989,0.000
$DEVICE_MAMPS,270.810,97.155,1075.590,0.000,0.000,0.000,0.000,241.941,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,313.433,296.605,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150432
$DATA_FILE_SIZE,16772,438
$CAP_FILE_SIZE,54929,0
$CFSIZE,260165632,247291904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1446.5
$GPS,081011,055706,6635.707,-6035.111,23,1.7,23,-33.7