version: 66.09
glider: 143
mission: 13
dive: 2
start: 10 7 111 18 39 14
data:
$ID,143
$MISSION,13
$DIVE,2
$N_DIVES,2
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$D_ABORT,140
$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,30
$T_MISSION,40
$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,450
$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,-80314.844
$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,2545
$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,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,290
$ROLL_MAX,3915
$ROLL_DEG,40
$C_ROLL_DIVE,2102
$C_ROLL_CLIMB,2102
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,071011,183430,6638.266,-6042.739,14,1.4,14,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-65.0
$GPS2,071011,183843,6638.242,-6042.677,19,1.3,19,-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,108.7,175564,-18.3,-10.000
$D_GRID,444
$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,15,-0.77,-146.0,0.0,0.0,0,184,0.00,0.00,-165.32,0.000,2,0.000,0.000,128,2106,2885,0,0,0,0,0,0
$GC,187,-0.77,-146.0,3.8,-8.9,29,213,9.05,2.30,-11.10,0.000,4,0.264,0.080,2294,715,3346,0,0,1,0,0,0
$GC,294,-1.00,-146.0,22.8,-10.6,47,302,0.20,2.30,0.00,0.000,6,0.082,0.070,2209,2102,3348,0,0,0,0,0,0
$GC,640,-1.00,-146.0,69.0,-13.0,108,647,0.00,2.38,0.00,0.000,4,0.000,0.090,2198,3512,3348,0,0,0,0,0,0
$STATE,793,end dive,TARGET_DEPTH_EXCEEDED
$STATE,794,begin apogee
$GC,801,-0.16,0.0,90.3,-14.3,135,918,0.93,0.00,110.25,0.940,6,0.147,0.000,2487,2112,2748,0,0,0,0,0,0
$STATE,919,end apogee,CONTROL_FINISHED_OK
$STATE,919,begin climb
$GC,921,0.77,146.0,97.7,0.0,155,1049,0.85,2.47,114.68,0.894,4,0.065,0.065,2801,700,2150,0,0,0,0,0,0
$GC,1247,0.35,195.0,91.5,7.7,195,1295,0.52,2.38,38.00,0.887,6,0.186,0.068,2662,2103,1950,0,0,0,0,0,0
$GC,1633,0.49,244.3,62.3,7.7,263,1681,0.15,2.53,37.92,0.896,4,0.095,0.085,2717,3511,1751,0,0,0,0,0,0
$GC,1807,0.37,244.3,42.5,11.9,293,1815,0.22,2.33,0.00,0.000,6,0.174,0.053,2670,2096,1747,0,0,1,0,0,0
$GC,2155,0.65,330.8,17.8,6.0,354,2204,0.25,2.35,41.47,0.117,4,0.077,0.069,2773,695,1397,0,0,0,0,0,0
$GC,2224,0.56,330.8,10.6,11.6,365,2231,0.17,2.35,0.00,0.000,6,0.168,0.069,2729,2103,1393,0,0,1,0,0,0
$STATE,2292,end climb,SURFACE_DEPTH_REACHED
$STATE,2292,begin surface coast
$FINISH,0.2,1.025183
$STATE,2305,end surface coast,CONTROL_FINISHED_OK
$STATE,2306,begin surface
$SM_CCo,2322,51.62,0.080,0,0,913,450.13
$SM_GC,0.88,7.18,0.00,51.62,0.060,0.000,0.080,122,2104,913,-7.53,0.06,450.13,0,0,0,0,0,0
$RAFOS_CLK,121
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6030.83,071011,181857
$TT8_MAMPS,0.026964,0.026964
$HUMID,66.34
$INTERNAL_PRESSURE,9.88319
$TCM_TEMP,16.30
$XPDR_PINGS,15
$24V_AH,24.2,1.900
$10V_AH,10.6,2.640
$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,19.525,23.625,342.325,51.625,0.000,0.000,0.000,0.000,3.750,0.000,20.899,772.533,551.451,494.163,597.851,52.012,0.000,861.978,0.000,579.562,0.000,0.997,0.000
$DEVICE_MAMPS,263.925,89.505,940.185,79.560,0.000,0.000,0.000,0.000,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,266.394,250.697,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150488
$DATA_FILE_SIZE,13498,379
$CAP_FILE_SIZE,51274,0
$CFSIZE,260165632,247586816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,1
$SOUNDSPEED,1442.8
$GPS,071011,191948,6638.174,-6042.053,16,0.9,16,-33.8