version: 66.09
glider: 143
mission: 13
dive: 14
start: 10 8 111 11 31 24
data:
$ID,143
$MISSION,13
$DIVE,14
$N_DIVES,16
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,500
$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,120
$T_MISSION,150
$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,-80435.523
$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,28
$R_STBD_OVSHOOT,17
$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,2485
$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,1
$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
$GPS1,081011,112604,6634.854,-6030.079,24,1.0,37,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-63.9
$GPS2,081011,113055,6634.792,-6030.150,29,1.3,29,-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,105.7,168717,-18.3,-10.000
$D_GRID,481
$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,14,begin dive
$GC,17,-0.77,-146.0,0.0,0.0,0,122,0.00,0.00,-102.25,0.000,2,0.000,0.000,118,2414,2195,0,0,0,0,0,0
$GC,125,-0.77,-146.0,3.3,-4.6,18,168,8.88,1.27,-27.88,0.000,4,0.269,0.092,2161,1693,3083,0,0,0,0,0,0
$GC,405,-0.77,-146.0,50.9,-15.0,67,411,0.00,1.25,0.00,0.000,6,0.000,0.076,2157,2395,3084,0,0,0,0,0,0
$GC,615,-0.77,-146.0,80.8,-14.0,104,621,0.00,1.20,0.00,0.000,4,0.000,0.086,2152,3105,3085,0,0,0,0,0,0
$GC,741,-0.77,-146.0,99.1,-14.1,126,747,0.00,1.15,0.00,0.000,6,0.000,0.055,2152,2421,3085,0,0,0,0,0,0
$GC,946,-0.77,-146.0,126.9,-13.3,146,949,0.00,1.20,0.00,0.000,4,0.000,0.083,2147,3104,3085,0,0,0,0,0,0
$GC,1092,-0.77,-146.0,146.9,-14.0,159,1096,0.00,1.05,0.00,0.000,6,0.000,0.055,2147,2471,3084,0,0,0,0,0,0
$GC,1317,-0.77,-146.0,177.4,-13.6,180,1321,0.00,1.10,0.00,0.000,4,0.000,0.086,2143,3098,3085,0,0,0,0,0,0
$GC,1355,-0.77,-146.0,182.2,-13.5,183,1363,0.00,1.00,0.00,0.000,6,0.000,0.057,2143,2499,3085,0,0,0,0,0,0
$GC,1575,-0.77,-146.0,212.8,-13.4,204,1576,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2499,3085,0,0,0,0,0,0
$GC,1790,-0.77,-146.0,240.4,-12.6,224,1794,0.00,1.05,0.00,0.000,4,0.000,0.088,2139,3101,3084,0,0,0,0,0,0
$GC,1828,-0.77,-146.0,245.0,-12.9,227,1835,0.00,1.00,0.00,0.000,6,0.000,0.057,2139,2503,3084,0,0,0,0,0,0
$GC,2048,-0.77,-146.0,272.8,-12.0,248,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2502,3084,0,0,0,0,0,0
$GC,2261,-0.77,-146.0,297.4,-11.5,268,2265,0.00,1.05,0.00,0.000,4,0.000,0.087,2135,3103,3084,0,0,0,0,0,0
$GC,2300,-0.77,-146.0,301.6,-11.5,271,2307,0.10,1.05,0.00,0.000,6,0.160,0.057,2165,2472,3083,0,0,0,0,0,0
$GC,2520,-0.77,-146.0,325.1,-10.9,292,2524,0.00,1.10,0.00,0.000,4,0.000,0.086,2162,3103,3083,0,0,0,0,0,0
$GC,2577,-0.77,-146.0,331.6,-11.1,297,2581,0.00,0.98,0.00,0.000,6,0.000,0.057,2162,2511,3083,0,0,0,0,0,0
$GC,2804,-0.77,-146.0,356.0,-10.7,318,2807,0.00,1.02,0.00,0.000,4,0.000,0.085,2158,3104,3083,0,0,0,0,0,0
$STATE,2847,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2847,begin apogee
$GC,2854,-0.16,0.0,361.3,-11.2,322,2976,0.62,0.00,116.40,1.126,4,0.148,0.000,2354,2279,2485,0,0,0,0,0,0
$STATE,2977,end apogee,CONTROL_FINISHED_OK
$STATE,2977,begin climb
$GC,2979,0.77,146.0,367.4,0.0,333,3112,0.85,1.20,123.05,1.064,4,0.060,0.070,2666,1607,1889,0,0,0,0,0,0
$GC,3118,0.95,293.9,369.6,3.2,345,3251,0.12,1.33,125.47,1.025,6,0.074,0.069,2716,2304,1285,0,0,0,0,0,0
$GC,3464,0.95,293.9,304.7,20.8,377,3468,0.00,1.27,0.00,0.000,4,0.000,0.068,2721,1602,1279,0,0,0,0,0,0
$GC,3655,0.95,293.9,265.1,21.0,394,3659,0.00,1.20,0.00,0.000,6,0.000,0.070,2721,2266,1277,0,0,0,0,0,0
$GC,3880,0.95,293.9,219.5,19.4,415,3884,0.00,1.17,0.00,0.000,4,0.000,0.067,2725,1605,1277,0,0,0,0,0,0
$GC,4040,0.95,293.9,188.3,19.0,429,4043,0.00,1.15,0.00,0.000,6,0.000,0.068,2725,2253,1276,0,0,0,0,0,0
$GC,4265,0.95,293.9,146.7,17.6,450,4269,0.00,1.15,0.00,0.000,4,0.000,0.068,2729,1601,1276,0,0,0,0,0,0
$GC,4349,0.95,293.9,132.7,16.6,457,4356,0.00,1.12,0.00,0.000,6,0.000,0.069,2729,2238,1276,0,0,0,0,0,0
$GC,4570,0.95,293.9,95.5,16.1,480,4577,0.00,1.10,0.00,0.000,4,0.000,0.068,2733,1607,1276,0,0,0,0,0,0
$GC,4684,0.95,293.9,77.0,16.4,500,4691,0.00,1.10,0.00,0.000,6,0.000,0.069,2733,2237,1276,0,0,0,0,0,0
$GC,4894,0.95,293.9,45.3,14.5,537,4901,0.00,1.30,0.00,0.000,4,0.000,0.078,2734,3005,1276,0,0,0,0,0,0
$GC,5154,0.95,293.9,4.6,15.0,583,5161,0.00,1.25,0.00,0.000,6,0.000,0.064,2739,2272,1275,0,0,0,0,0,0
$STATE,5165,end climb,SURFACE_DEPTH_REACHED
$STATE,5166,begin surface coast
$FINISH,1.0,1.025235
$STATE,5179,end surface coast,CONTROL_FINISHED_OK
$STATE,5179,begin surface
$SM_CCo,5195,58.25,0.086,0,0,771,420.20
$SM_GC,1.58,7.25,0.30,58.25,0.060,0.085,0.086,126,2402,771,-7.11,-0.48,420.20,0,0,0,0,0,0
$RAFOS_CLK,333
$RAFOS,6,1318078144,12.833333,12.817778,67,58,57,0,0,0,900,228,137,0,0,0
$RAFOS,5,1318077661,12.700000,12.683611,59,56,53,0,0,0,148,196,215,0,0,0
$RAFOS,4,1318077181,12.566667,12.550278,82,62,59,0,0,0,784,166,205,0,0,0
$RAFOS,3,1318076704,12.433333,12.417778,68,67,60,0,0,0,147,756,205,0,0,0
$RAFOS,2,1318076231,12.300000,12.286389,59,58,58,0,0,0,152,170,205,0,0,0
$RAFOS,1,1318075742,12.166667,12.150556,67,65,65,0,0,0,625,218,196,0,0,0
$RAFOS,0,1318075269,12.033333,12.019167,91,62,59,0,0,0,552,156,210,0,0,0
$RAFOS_FIX,6638.015625,-6029.224121,081011,121236,4,77,1.83
$IRIDIUM_FIX,6604.29,-6036.77,081011,090958
$TT8_MAMPS,0.026215,0.026215
$HUMID,61.14
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,16.20
$XPDR_PINGS,15
$24V_AH,23.2,3.266
$10V_AH,10.3,3.287
$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,17.825,32.500,364.925,58.250,0.000,0.000,0.000,178.450,4.250,0.000,30.560,1393.338,2340.233,496.858,1205.126,129.797,0.000,1277.031,0.000,1010.832,2520.000,4.525,0.000
$DEVICE_MAMPS,268.515,91.800,1126.080,85.680,0.000,0.000,0.000,250.180,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,420.486,404.989,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23407,587
$CAP_FILE_SIZE,74264,0
$CFSIZE,260165632,247078912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1449.4
$GPS,081011,130035,6634.871,-6028.841,42,0.9,42,-33.7