version: 66.09
glider: 143
mission: 13
dive: 3
start: 10 7 111 19 39 38
data:
$ID,143
$MISSION,13
$DIVE,3
$N_DIVES,4
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$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,50
$T_MISSION,70
$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,4
$CALL_WAIT,20
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-80351.289
$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,2470
$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,2400
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,21
$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
$GPS1,071011,193443,6638.086,-6041.891,14,1.1,14,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-65.8
$GPS2,071011,193907,6638.050,-6041.837,20,1.5,20,-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,108.5,175072,-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,-165.43,0.000,2,0.000,0.000,120,2405,2776,0,0,0,0,0,0
$GC,187,-0.77,-146.0,3.5,-7.8,29,218,8.82,2.35,-14.25,0.000,4,0.267,0.083,2215,978,3346,0,0,1,0,0,0
$GC,306,-0.77,-146.0,27.7,-15.8,49,313,0.00,2.40,0.00,0.000,6,0.000,0.079,2206,2404,3348,0,0,1,0,0,0
$GC,651,-0.77,-146.0,76.3,-13.3,110,658,0.00,2.40,0.00,0.000,4,0.000,0.096,2195,3812,3349,0,0,0,0,0,0
$GC,710,-0.71,-146.0,84.4,-13.4,120,718,0.17,2.22,0.00,0.000,6,0.160,0.049,2243,2395,3349,0,0,1,0,0,0
$GC,1050,-0.84,-146.0,121.3,-10.3,163,1055,0.12,2.47,0.00,0.000,4,0.104,0.096,2189,3812,3350,0,0,0,0,0,0
$GC,1147,-0.84,-146.0,134.2,-13.5,171,1151,0.00,2.25,0.00,0.000,6,0.000,0.050,2189,2395,3349,0,0,1,0,0,0
$STATE,1268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1268,begin apogee
$GC,1274,-0.16,0.0,150.8,-13.6,182,1396,0.70,0.00,111.72,0.996,6,0.150,0.000,2408,2277,2748,0,0,0,0,0,0
$STATE,1396,end apogee,CONTROL_FINISHED_OK
$STATE,1397,begin climb
$GC,1399,0.77,146.0,157.1,0.0,193,1530,0.88,2.40,116.68,0.942,4,0.070,0.068,2725,906,2149,0,0,0,0,0,0
$GC,1782,0.57,196.0,146.8,7.7,227,1833,0.28,2.40,38.70,0.937,6,0.173,0.073,2654,2312,1948,0,0,1,0,0,0
$GC,2151,0.67,235.7,117.1,8.2,262,2188,0.00,2.42,31.75,0.939,4,0.000,0.070,2662,909,1786,0,0,1,0,0,0
$GC,2250,0.77,246.7,108.7,9.5,270,2269,0.17,2.40,10.02,0.871,6,0.093,0.071,2725,2305,1742,0,0,1,0,0,0
$GC,2603,0.66,246.7,63.7,12.7,327,2611,0.17,2.35,0.00,0.000,4,0.174,0.068,2691,907,1736,0,0,0,0,0,0
$GC,2656,0.66,246.7,57.5,10.9,336,2663,0.00,2.35,0.00,0.000,6,0.000,0.072,2691,2302,1735,0,0,1,0,0,0
$GC,3002,0.85,354.9,25.6,5.0,397,3067,0.15,2.47,58.92,0.880,4,0.096,0.070,2757,912,1299,0,0,1,0,0,0
$GC,3152,0.85,354.9,9.2,12.5,423,3159,0.00,2.40,0.00,0.000,6,0.000,0.073,2757,2304,1291,0,0,1,0,0,0
$STATE,3202,end climb,SURFACE_DEPTH_REACHED
$STATE,3203,begin surface coast
$FINISH,0.3,1.015951
$STATE,3215,end surface coast,CONTROL_FINISHED_OK
$STATE,3215,begin surface
$SM_CCo,3231,28.58,0.082,0,0,1035,420.20
$SM_GC,1.52,7.43,0.17,28.58,0.060,0.096,0.082,126,2402,1035,-7.29,-0.62,420.20,0,0,0,0,0,0
$RAFOS_CLK,185
$RAFOS,3,1318019102,20.433332,20.417223,73,62,61,0,0,0,815,218,230,0,0,0
$RAFOS,2,1318018621,20.299999,20.283611,64,60,59,0,0,0,120,181,676,0,0,0
$RAFOS,1,1318018143,20.166666,20.150833,54,54,54,0,0,0,165,184,193,0,0,0
$RAFOS,0,1318017662,20.033333,20.017221,67,62,55,0,0,0,171,209,133,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6609.62,-6046.20,071011,191920
$TT8_MAMPS,0.028462,0.028462
$HUMID,70.51
$INTERNAL_PRESSURE,9.86366
$TCM_TEMP,16.10
$XPDR_PINGS,43
$24V_AH,23.9,2.001
$10V_AH,10.4,2.713
$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,18.900,33.625,367.800,28.575,0.000,0.000,0.000,0.000,10.750,0.000,21.361,953.529,1082.539,500.118,756.745,63.602,0.000,958.559,0.000,732.890,1800.000,0.995,0.000
$DEVICE_MAMPS,266.985,95.625,996.030,81.855,0.000,0.000,0.000,0.000,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,309.807,290.409,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150484
$DATA_FILE_SIZE,16791,434
$CAP_FILE_SIZE,64634,0
$CFSIZE,260165632,247537664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,1
$SOUNDSPEED,1442.9
$GPS,071011,203506,6638.140,-6040.775,22,1.2,22,-33.8