version: 66.09
glider: 143
mission: 13
dive: 8
start: 10 8 111 3 29 58
data:
$ID,143
$MISSION,13
$DIVE,8
$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,-80428.008
$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,27
$R_STBD_OVSHOOT,13
$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
$GPS1,081011,032458,6637.398,-6036.972,30,1.5,43,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-70.5
$GPS2,081011,032927,6637.367,-6036.980,18,1.8,18,-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,107.8,172036,-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,-146.0,0.0,0.0,0,111,0.00,0.00,-92.70,0.000,2,0.000,0.000,124,2400,2290,0,0,0,0,0,0
$GC,114,-0.77,-146.0,3.4,-5.1,16,163,8.82,1.23,-31.10,0.000,4,0.272,0.098,2158,1694,3347,0,0,0,0,0,0
$GC,259,-0.77,-146.0,28.2,-15.5,41,266,0.00,1.27,0.00,0.000,6,0.000,0.081,2155,2405,3348,0,0,0,0,0,0
$GC,469,-0.77,-146.0,59.0,-14.1,78,476,0.00,1.20,0.00,0.000,4,0.000,0.090,2150,3113,3348,0,0,0,0,0,0
$GC,731,-0.77,-146.0,94.7,-12.8,124,738,0.00,1.17,0.00,0.000,6,0.000,0.056,2150,2409,3348,0,0,0,0,0,0
$GC,932,-0.77,-146.0,120.2,-12.4,146,936,0.00,1.23,0.00,0.000,4,0.000,0.086,2144,3105,3348,0,0,0,0,0,0
$GC,1078,-0.77,-146.0,138.4,-12.3,159,1082,0.00,1.15,0.00,0.000,6,0.000,0.056,2145,2414,3348,0,0,0,0,0,0
$GC,1303,-0.77,-146.0,166.7,-12.7,180,1307,0.00,1.23,0.00,0.000,4,0.000,0.088,2140,3111,3348,0,0,0,0,0,0
$GC,1463,-0.77,-146.0,186.2,-12.3,194,1466,0.00,1.12,0.00,0.000,6,0.000,0.057,2140,2431,3348,0,0,0,0,0,0
$GC,1687,-0.77,-146.0,213.9,-12.6,215,1691,0.00,1.17,0.00,0.000,4,0.000,0.087,2136,3101,3348,0,0,0,0,0,0
$GC,1860,-0.77,-146.0,235.2,-12.5,230,1869,0.08,1.10,0.00,0.000,6,0.158,0.057,2159,2437,3348,0,0,0,0,0,0
$GC,2081,-0.77,-146.0,260.8,-11.5,251,2085,0.00,1.17,0.00,0.000,4,0.000,0.088,2156,3108,3348,0,0,0,0,0,0
$STATE,2169,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2169,begin apogee
$GC,2176,-0.16,0.0,270.9,-11.1,259,2297,0.62,0.00,114.53,1.072,4,0.143,0.000,2355,2284,2748,0,0,0,0,0,0
$STATE,2298,end apogee,CONTROL_FINISHED_OK
$STATE,2298,begin climb
$GC,2300,0.77,146.0,278.8,0.0,270,2434,0.88,1.20,121.05,1.023,4,0.065,0.071,2668,1607,2151,0,0,0,0,0,0
$GC,2687,0.97,313.6,287.9,2.3,304,2836,0.15,1.27,138.05,1.008,6,0.077,0.072,2727,2309,1468,0,0,0,0,0,0
$GC,3047,0.97,313.6,232.9,17.9,338,3051,0.00,1.27,0.00,0.000,4,0.000,0.067,2732,1606,1460,0,0,0,0,0,0
$GC,3306,0.97,313.6,185.7,18.1,361,3310,0.00,1.25,0.00,0.000,6,0.000,0.073,2732,2299,1458,0,0,0,0,0,0
$GC,3531,0.97,313.6,146.0,17.4,382,3535,0.00,1.23,0.00,0.000,4,0.000,0.069,2736,1606,1458,0,0,0,0,0,0
$GC,3790,0.97,313.6,104.2,15.4,405,3794,0.00,1.23,0.00,0.000,6,0.000,0.074,2736,2296,1457,0,0,0,0,0,0
$GC,4020,0.97,313.6,69.4,15.1,443,4026,0.00,1.23,0.00,0.000,4,0.000,0.070,2741,1600,1457,0,0,0,0,0,0
$GC,4190,0.97,313.6,45.0,13.9,473,4197,0.00,1.20,0.00,0.000,6,0.000,0.073,2741,2279,1457,0,0,0,0,0,0
$GC,4399,0.97,313.6,17.9,12.9,510,4405,0.00,1.23,0.00,0.000,4,0.000,0.079,2741,3006,1456,0,0,0,0,0,0
$STATE,4534,end climb,SURFACE_DEPTH_REACHED
$STATE,4534,begin surface coast
$FINISH,0.8,1.013946
$STATE,4552,end surface coast,CONTROL_FINISHED_OK
$STATE,4552,begin surface
$SM_CCo,4569,48.75,0.086,0,0,1034,420.20
$SM_GC,1.53,7.32,1.02,48.75,0.065,0.055,0.086,122,2407,1034,-7.12,0.99,420.20,0,0,0,0,0,0
$RAFOS_CLK,289
$RAFOS,4,1318048385,4.566667,4.551389,59,57,55,0,0,0,227,198,140,0,0,0
$RAFOS,3,1318047901,4.433333,4.416945,82,62,56,0,0,0,802,171,153,0,0,0
$RAFOS,2,1318047425,4.300000,4.284722,67,60,59,0,0,0,645,192,159,0,0,0
$RAFOS,1,1318046941,4.166667,4.150278,91,68,62,0,0,0,648,120,188,0,0,0
$RAFOS,0,1318046464,4.033333,4.017778,115,73,59,0,0,0,559,224,182,0,0,0
$RAFOS_FIX,6637.293457,-6033.640625,081011,040428,4,89,0.89
$IRIDIUM_FIX,6609.62,-6031.45,081011,020241
$TT8_MAMPS,0.028462,0.028462
$HUMID,63.74
$INTERNAL_PRESSURE,9.80506
$TCM_TEMP,16.20
$XPDR_PINGS,15
$24V_AH,23.3,2.537
$10V_AH,10.3,3.013
$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,17.875,26.550,373.625,48.750,0.000,0.000,0.000,174.225,3.750,0.000,19.995,1280.630,1852.207,478.397,1192.997,115.436,0.000,1240.086,0.000,1006.406,2160.000,0.990,0.000
$DEVICE_MAMPS,272.340,97.920,1071.765,86.445,0.000,0.000,0.000,236.698,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,385.716,365.902,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150412
$DATA_FILE_SIZE,20102,537
$CAP_FILE_SIZE,66261,0
$CFSIZE,260165632,247316480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1446.6
$GPS,081011,044825,6636.359,-6036.299,31,1.1,31,-33.7