version: 66.09
glider: 143
mission: 13
dive: 11
start: 10 8 111 7 11 43
data:
$ID,143
$MISSION,13
$DIVE,11
$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,-80431.766
$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,35
$R_STBD_OVSHOOT,20
$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
$GPS1,081011,070704,6635.201,-6033.764,23,1.4,23,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-70.6
$GPS2,081011,071112,6635.136,-6033.707,19,1.7,19,-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,106.1,170968,-18.3,-10.000
$D_GRID,477
$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,-92.60,0.000,2,0.000,0.000,120,2417,2301,0,0,0,0,0,0
$GC,114,-0.77,-146.0,3.5,-5.0,16,158,9.00,1.27,-30.17,0.000,4,0.275,0.093,2158,1697,3345,0,0,0,0,0,0
$GC,411,-0.77,-146.0,49.9,-12.7,68,418,0.00,1.25,0.00,0.000,6,0.000,0.079,2155,2395,3347,0,0,0,0,0,0
$GC,621,-0.77,-146.0,78.4,-13.7,105,628,0.00,1.20,0.00,0.000,4,0.000,0.089,2150,3102,3347,0,0,0,0,0,0
$GC,725,-0.77,-146.0,92.5,-13.4,123,731,0.00,1.15,0.00,0.000,6,0.000,0.055,2150,2416,3347,0,0,0,0,0,0
$GC,932,-0.77,-146.0,120.5,-13.1,147,936,0.00,1.23,0.00,0.000,4,0.000,0.086,2145,3106,3347,0,0,0,0,0,0
$GC,1071,-0.77,-146.0,139.4,-14.1,159,1078,0.00,1.17,0.00,0.000,6,0.000,0.055,2145,2405,3347,0,0,0,0,0,0
$GC,1291,-0.77,-146.0,170.9,-13.9,180,1294,0.00,1.23,0.00,0.000,4,0.000,0.085,2140,3102,3347,0,0,0,0,0,0
$GC,1454,-0.77,-146.0,191.6,-12.4,194,1460,0.00,1.15,0.00,0.000,6,0.000,0.055,2141,2412,3347,0,0,0,0,0,0
$GC,1673,-0.77,-146.0,218.9,-11.9,215,1677,0.00,1.23,0.00,0.000,4,0.000,0.086,2136,3108,3347,0,0,0,0,0,0
$GC,1890,-0.77,-146.0,245.3,-12.5,234,1898,0.08,1.15,0.00,0.000,6,0.159,0.056,2159,2414,3346,0,0,0,0,0,0
$GC,2111,-0.77,-146.0,270.0,-10.9,255,2115,0.00,1.23,0.00,0.000,4,0.000,0.087,2156,3109,3346,0,0,0,0,0,0
$STATE,2121,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2121,begin apogee
$GC,2128,-0.16,0.0,271.5,-10.6,256,2250,0.62,0.00,114.68,1.079,4,0.145,0.000,2354,2285,2748,0,0,0,0,0,0
$STATE,2251,end apogee,CONTROL_FINISHED_OK
$STATE,2251,begin climb
$GC,2253,0.77,146.0,279.0,0.0,267,2387,0.88,1.20,121.28,1.019,4,0.067,0.070,2663,1609,2151,0,0,0,0,0,0
$GC,2444,1.07,391.4,290.2,-1.3,284,2656,0.25,1.30,204.35,0.985,6,0.071,0.071,2755,2306,1151,0,0,0,0,0,0
$GC,2875,1.07,391.4,211.5,23.7,324,2879,0.00,1.27,0.00,0.000,4,0.000,0.068,2760,1609,1144,0,0,0,0,0,0
$GC,3014,1.07,391.4,180.6,23.1,336,3021,0.00,1.25,0.00,0.000,6,0.000,0.070,2760,2295,1143,0,0,0,0,0,0
$GC,3234,1.07,391.4,128.9,23.4,357,3237,0.00,1.23,0.00,0.000,4,0.000,0.068,2765,1609,1143,0,0,0,0,0,0
$GC,3361,1.07,391.4,101.4,22.0,368,3368,0.00,1.23,0.00,0.000,6,0.000,0.071,2765,2289,1142,0,0,0,0,0,0
$GC,3593,1.07,391.4,50.0,20.4,409,3600,0.00,1.23,0.00,0.000,4,0.000,0.070,2769,1600,1142,0,0,0,0,0,0
$GC,3854,1.07,391.4,3.0,18.6,455,3860,0.00,1.15,0.00,0.000,6,0.000,0.071,2769,2250,1141,0,0,0,0,0,0
$STATE,3865,end climb,SURFACE_DEPTH_REACHED
$STATE,3865,begin surface coast
$FINISH,0.9,1.024706
$STATE,3878,end surface coast,CONTROL_FINISHED_OK
$STATE,3878,begin surface
$SM_CCo,3895,12.25,0.087,0,0,1034,420.20
$SM_GC,2.85,7.53,0.28,12.25,0.068,0.090,0.087,122,2399,1034,-7.12,-0.62,420.20,0,0,0,0,0,0
$RAFOS_CLK,239
$RAFOS,1,1318061343,8.166667,8.150833,89,62,58,0,0,0,626,181,214,0,0,0
$RAFOS,0,1318060867,8.033334,8.018611,66,59,58,0,0,0,203,158,170,0,0,0
$RAFOS_FIX,6637.593262,-6033.002441,081011,040407,5,84,0.00
$IRIDIUM_FIX,6609.62,-6034.11,081011,050525
$TT8_MAMPS,0.026215,0.026215
$HUMID,62.40
$INTERNAL_PRESSURE,9.80506
$TCM_TEMP,16.20
$XPDR_PINGS,12
$24V_AH,23.1,2.922
$10V_AH,10.3,3.137
$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,18.350,24.750,440.300,12.250,0.000,0.000,0.000,151.375,3.000,0.000,20.401,1062.679,1517.218,495.805,997.003,103.114,0.000,1167.364,0.000,843.162,720.000,0.990,0.000
$DEVICE_MAMPS,275.400,93.330,1079.415,87.210,0.000,0.000,0.000,232.953,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,327.752,311.784,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150480
$DATA_FILE_SIZE,16795,459
$CAP_FILE_SIZE,59337,0
$CFSIZE,260165632,247222272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1447.0
$GPS,081011,081806,6634.856,-6032.506,30,1.9,30,-33.7