version: 66.09
glider: 143
mission: 13
dive: 10
start: 10 8 111 6 2 9
data:
$ID,143
$MISSION,13
$DIVE,10
$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,-80430.516
$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,22
$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
$GPS1,081011,055706,6635.707,-6035.111,23,1.7,23,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-70.5
$GPS2,081011,060138,6635.646,-6035.024,22,0.9,22,-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,106.5,171594,-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,-92.38,0.000,2,0.000,0.000,123,2414,2282,0,0,0,0,0,0
$GC,114,-0.77,-146.0,3.4,-4.9,16,163,8.93,1.25,-30.80,0.000,4,0.272,0.094,2158,1694,3346,0,0,0,0,0,0
$GC,416,-0.77,-146.0,51.2,-13.6,69,423,0.00,1.25,0.00,0.000,6,0.000,0.077,2155,2394,3348,0,0,0,0,0,0
$GC,626,-0.77,-146.0,80.1,-13.7,106,633,0.00,1.20,0.00,0.000,4,0.000,0.087,2150,3105,3347,0,0,0,0,0,0
$GC,787,-0.77,-146.0,101.1,-12.2,134,791,0.00,1.17,0.00,0.000,6,0.000,0.054,2150,2401,3347,0,0,0,0,0,0
$GC,1012,-0.77,-146.0,130.0,-12.6,155,1016,0.00,1.25,0.00,0.000,4,0.000,0.086,2145,3106,3347,0,0,0,0,0,0
$GC,1182,-0.77,-146.0,152.1,-12.9,170,1186,0.00,1.17,0.00,0.000,6,0.000,0.057,2145,2405,3348,0,0,0,0,0,0
$GC,1407,-0.77,-146.0,182.4,-13.7,191,1411,0.00,1.23,0.00,0.000,4,0.000,0.086,2140,3102,3347,0,0,0,0,0,0
$GC,1509,-0.77,-146.0,197.1,-14.5,200,1513,0.00,1.15,0.00,0.000,6,0.000,0.057,2140,2414,3347,0,0,0,0,0,0
$GC,1735,-0.77,-146.0,228.7,-14.0,221,1739,0.00,1.23,0.00,0.000,4,0.000,0.088,2135,3108,3348,0,0,0,0,0,0
$GC,1906,-0.77,-146.0,253.5,-15.0,236,1910,0.08,1.12,0.00,0.000,6,0.158,0.057,2159,2432,3347,0,0,0,0,0,0
$STATE,2032,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2032,begin apogee
$GC,2038,-0.16,0.0,270.8,-13.2,248,2161,0.62,0.00,114.82,1.073,4,0.142,0.000,2358,2286,2748,0,0,0,0,0,0
$STATE,2161,end apogee,CONTROL_FINISHED_OK
$STATE,2162,begin climb
$GC,2164,0.77,146.0,279.1,0.0,259,2297,0.85,1.20,121.22,1.019,4,0.068,0.070,2662,1609,2152,0,0,0,0,0,0
$GC,2359,1.06,385.3,290.1,-1.0,276,2565,0.25,1.30,199.15,0.986,6,0.071,0.070,2754,2309,1177,0,0,0,0,0,0
$GC,2778,1.06,385.3,211.1,23.3,315,2782,0.00,1.27,0.00,0.000,4,0.000,0.068,2759,1610,1169,0,0,0,0,0,0
$GC,2891,1.06,385.3,184.6,23.6,325,2894,0.00,1.23,0.00,0.000,6,0.000,0.070,2759,2286,1168,0,0,0,0,0,0
$GC,3116,1.06,385.3,134.0,22.2,346,3119,0.00,1.23,0.00,0.000,4,0.000,0.068,2764,1603,1167,0,0,0,0,0,0
$GC,3290,1.06,385.3,95.4,21.7,363,3297,0.00,1.20,0.00,0.000,6,0.000,0.071,2764,2274,1167,0,0,0,0,0,0
$GC,3500,1.06,385.3,52.2,19.9,400,3507,0.00,1.17,0.00,0.000,4,0.000,0.070,2768,1609,1167,0,0,0,0,0,0
$GC,3761,1.06,385.3,5.9,16.5,446,3767,0.00,1.15,0.00,0.000,6,0.000,0.071,2768,2257,1166,0,0,0,0,0,0
$STATE,3783,end climb,SURFACE_DEPTH_REACHED
$STATE,3783,begin surface coast
$FINISH,0.9,1.012171
$STATE,3795,end surface coast,CONTROL_FINISHED_OK
$STATE,3795,begin surface
$SM_CCo,3813,15.18,0.088,0,0,1035,420.20
$SM_GC,2.48,7.57,0.28,15.18,0.072,0.083,0.088,121,2413,1035,-7.13,-0.31,420.20,0,0,0,0,0,0
$RAFOS_CLK,235
$RAFOS_FIX,6637.593262,-6033.002441,081011,040407,5,84,0.00
$IRIDIUM_FIX,6609.62,-6038.83,081011,040453
$TT8_MAMPS,0.026215,0.026215
$HUMID,62.32
$INTERNAL_PRESSURE,9.80506
$TCM_TEMP,16.20
$XPDR_PINGS,15
$24V_AH,23.1,2.795
$10V_AH,10.2,3.096
$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,18.300,22.275,435.200,15.175,0.000,0.000,0.000,173.000,3.750,0.000,23.687,1049.159,1485.388,479.812,1002.839,101.637,0.000,1162.300,0.000,824.206,0.000,0.991,0.000
$DEVICE_MAMPS,272.340,94.095,1072.530,87.975,0.000,0.000,0.000,232.204,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,322.965,306.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150376
$DATA_FILE_SIZE,16850,452
$CAP_FILE_SIZE,57417,0
$CFSIZE,260165632,247255040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1446.5
$GPS,081011,070704,6635.201,-6033.764,23,1.4,23,-33.7