version: 66.09
glider: 143
mission: 12
dive: 7
start: 9 8 111 2 15 5
data:
$ID,143
$MISSION,12
$DIVE,7
$N_DIVES,9
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$D_ABORT,150
$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,40
$T_MISSION,55
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,50916
$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,0.25
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$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,-80012.352
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,127
$PITCH_MAX,4070
$C_PITCH,2690
$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,55
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,442
$VBD_MAX,3793
$C_VBD,2964
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,600
$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,-22.81876
$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,90
$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
$GPS1,080911,021053,4807.583,-12223.534,29,0.9,37,16.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-75.6
$GPS2,080911,021432,4807.565,-12223.544,14,1.1,15,16.7
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$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,130.6,1244,-18.2,-10.000
$D_GRID,105
$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
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.77,-146.6,0.0,0.0,0,105,0.00,0.00,-88.15,0.000,2,0.000,0.000,118,2402,2969,0,0,0,0,0,0
$GC,108,-0.77,-146.6,3.2,-5.7,15,140,9.65,2.17,-15.20,0.000,4,0.259,0.069,2437,1007,3563,0,0,0,0,0,0
$GC,288,-0.58,-146.6,30.5,-15.0,46,296,0.25,2.20,0.00,0.000,6,0.161,0.053,2498,2397,3564,0,0,0,0,0,0
$GC,433,-0.58,-146.6,47.1,-10.9,71,440,0.00,2.25,0.00,0.000,4,0.000,0.069,2494,3808,3565,0,0,0,0,0,0
$GC,503,-0.58,-146.6,54.8,-10.5,83,510,0.00,2.15,0.00,0.000,6,0.000,0.041,2494,2421,3565,0,0,0,0,0,0
$GC,645,-0.58,-146.6,70.5,-11.0,108,652,0.00,2.28,0.00,0.000,4,0.000,0.070,2493,3813,3565,0,0,0,0,0,0
$GC,693,-0.64,-146.6,75.6,-10.3,116,700,0.00,2.20,0.00,0.000,6,0.000,0.041,2493,2389,3565,0,0,0,0,0,0
$GC,840,-0.69,-146.6,91.1,-10.4,141,846,0.00,2.30,0.00,0.000,4,0.000,0.069,2493,3814,3565,0,0,0,0,0,0
$GC,893,-0.77,-146.6,96.9,-10.7,150,900,0.15,2.17,0.00,0.000,6,0.090,0.041,2431,2402,3565,0,0,0,0,0,0
$STATE,956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,956,begin apogee
$GC,961,-0.16,0.0,105.8,-14.7,161,1074,0.65,0.00,105.07,0.782,6,0.148,0.000,2634,2274,2964,0,0,0,0,0,0
$STATE,1075,end apogee,CONTROL_FINISHED_OK
$STATE,1075,begin climb
$GC,1077,0.77,146.6,110.6,0.0,180,1198,0.90,2.30,107.95,0.750,4,0.094,0.059,2945,915,2366,0,0,0,0,0,0
$GC,1239,0.52,146.6,100.5,12.2,207,1247,0.32,2.28,0.00,0.000,6,0.165,0.048,2859,2303,2364,0,0,0,0,0,0
$GC,1385,0.66,192.6,87.5,7.9,232,1428,0.15,2.33,34.58,0.734,4,0.088,0.058,2927,904,2178,0,0,0,0,0,0
$GC,1459,0.56,192.6,78.8,13.1,244,1467,0.22,2.28,0.00,0.000,6,0.165,0.048,2870,2305,2176,0,0,0,0,0,0
$GC,1606,0.68,196.3,63.7,9.8,269,1620,0.12,2.30,3.97,0.514,4,0.099,0.057,2927,905,2163,0,0,0,0,0,0
$GC,1650,0.60,196.3,58.5,12.0,276,1657,0.17,2.22,0.00,0.000,6,0.170,0.050,2884,2299,2163,0,0,0,0,0,0
$GC,1795,0.67,202.3,43.7,9.7,301,1807,0.00,0.00,6.20,0.616,6,0.000,0.000,2884,2299,2137,0,0,0,0,0,0
$GC,1946,0.76,202.3,28.6,10.5,327,1953,0.15,2.20,0.00,0.000,4,0.086,0.058,2950,903,2137,0,0,0,0,0,0
$GC,2022,0.65,202.3,18.7,13.2,340,2030,0.20,2.22,0.00,0.000,6,0.170,0.049,2899,2309,2137,0,0,0,0,0,0
$GC,2168,0.77,221.2,3.7,9.1,365,2182,0.12,2.28,7.75,0.063,4,0.092,0.057,2958,906,2061,0,0,0,0,0,0
$STATE,2187,end climb,SURFACE_DEPTH_REACHED
$STATE,2187,begin surface coast
$FINISH,1.1,1.018652
$STATE,2211,end surface coast,CONTROL_FINISHED_OK
$STATE,2211,begin surface
$SM_CCo,2230,97.40,0.060,0,0,1128,450.13
$SM_GC,1.50,0.00,0.00,97.40,0.000,0.000,0.060,120,2403,1128,-8.03,0.08,450.13,0,0,0,0,0,0
$RAFOS_CLK,102
$RAFOS,1,1315448642,2.416667,2.400556,61,58,56,0,0,0,213,187,199,0,0,0
$RAFOS,0,1315447445,2.083333,2.068056,71,64,59,0,0,0,197,225,211,0,0,0
$RAFOS_FIX,4741.090820,-12146.910156,070911,232357,3,122,0.00
$IRIDIUM_FIX,4751.72,-12226.29,080911,010142
$TT8_MAMPS,0.028462,0.028462
$HUMID,62.32
$INTERNAL_PRESSURE,10.2152
$TCM_TEMP,19.60
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,90.4,30.2
$24V_AH,24.5,0.810
$10V_AH,10.6,1.720
$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,21.050,40.675,265.525,97.400,0.000,0.000,0.000,131.725,1.750,0.000,16.621,828.069,506.996,470.685,674.105,89.290,0.000,953.357,0.000,546.749,960.000,5.507,0.000
$DEVICE_MAMPS,259.335,74.970,781.830,59.670,0.000,0.000,0.000,238.196,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,248.874,271.576,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319516
$DATA_FILE_SIZE,13490,372
$CAP_FILE_SIZE,50082,0
$CFSIZE,260165632,253558784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1483.4
$GPS,080911,025504,4807.318,-12223.253,20,1.0,28,16.7