version: 66.09
glider: 143
mission: 12
dive: 8
start: 9 8 111 2 59 21
data:
$ID,143
$MISSION,12
$DIVE,8
$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,-80013.602
$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,56
$R_STBD_OVSHOOT,29
$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
$GPS1,080911,025504,4807.318,-12223.253,20,1.0,28,16.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-76.3
$GPS2,080911,025848,4807.310,-12223.267,15,2.0,15,16.7
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$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,133.4,662,-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,-87.97,0.000,2,0.000,0.000,120,2404,2961,0,0,0,0,0,0
$GC,108,-0.77,-146.6,3.1,-5.7,15,140,9.62,2.22,-15.57,0.000,4,0.259,0.070,2434,999,3563,0,0,0,0,0,0
$GC,289,-0.56,-146.6,30.7,-15.9,46,297,0.30,2.22,0.00,0.000,6,0.159,0.052,2510,2401,3564,0,0,0,0,0,0
$GC,436,-0.62,-146.6,46.5,-10.1,71,442,0.00,2.25,0.00,0.000,4,0.000,0.068,2501,3812,3564,0,0,0,0,0,0
$GC,483,-0.69,-146.6,51.8,-10.3,79,490,0.00,2.15,0.00,0.000,6,0.000,0.041,2501,2426,3564,0,0,0,0,0,0
$GC,627,-0.75,-146.6,66.6,-10.3,104,635,0.15,2.25,0.00,0.000,4,0.092,0.068,2430,3806,3565,0,0,0,0,0,0
$GC,665,-0.52,-146.6,71.7,-14.8,110,673,0.30,2.20,0.00,0.000,6,0.158,0.043,2516,2387,3565,0,0,0,0,0,0
$GC,811,-0.66,-146.6,86.0,-9.2,135,819,0.12,2.30,0.00,0.000,4,0.101,0.068,2460,3813,3565,0,0,0,0,0,0
$GC,883,-0.58,-146.6,94.9,-12.7,147,891,0.15,2.20,0.00,0.000,6,0.157,0.042,2498,2389,3565,0,0,0,0,0,0
$STATE,980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,980,begin apogee
$GC,986,-0.16,0.0,105.5,-10.3,164,1100,0.40,0.00,105.12,0.777,6,0.135,0.000,2630,2279,2963,0,0,0,0,0,0
$STATE,1101,end apogee,CONTROL_FINISHED_OK
$STATE,1101,begin climb
$GC,1103,0.77,146.6,110.0,0.0,183,1224,0.90,2.33,107.70,0.747,4,0.096,0.058,2940,907,2365,0,0,0,0,0,0
$GC,1276,0.55,146.6,98.4,12.4,212,1284,0.28,2.28,0.00,0.000,6,0.163,0.048,2869,2300,2364,0,0,0,0,0,0
$GC,1423,0.66,190.7,85.2,8.0,237,1461,0.12,0.00,33.15,0.726,6,0.097,0.000,2918,2301,2186,0,0,0,0,0,0
$GC,1596,0.58,190.7,64.2,13.2,267,1603,0.15,2.25,0.00,0.000,4,0.170,0.058,2892,907,2183,0,0,0,0,0,0
$GC,1639,0.65,190.7,59.4,10.5,274,1646,0.00,2.25,0.00,0.000,6,0.000,0.048,2892,2311,2183,0,0,0,0,0,0
$GC,1784,0.65,190.7,44.1,11.2,299,1791,0.00,2.22,0.00,0.000,4,0.000,0.058,2901,906,2183,0,0,0,0,0,0
$GC,1837,0.65,190.7,38.4,10.3,308,1844,0.00,2.22,0.00,0.000,6,0.000,0.048,2902,2308,2183,0,0,0,0,0,0
$GC,1981,0.65,190.7,23.6,10.4,333,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2307,2182,0,0,0,0,0,0
$GC,2124,0.65,191.0,9.3,10.0,358,2130,0.00,2.20,0.00,0.000,4,0.000,0.057,2912,900,2182,0,0,0,0,0,0
$STATE,2203,end climb,SURFACE_DEPTH_REACHED
$STATE,2203,begin surface coast
$FINISH,1.6,1.019993
$STATE,2209,end surface coast,CONTROL_FINISHED_OK
$STATE,2209,begin surface
$SM_CCo,2229,110.18,0.060,0,0,1128,450.13
$SM_GC,1.09,0.00,0.00,110.18,0.000,0.000,0.060,125,2411,1128,-8.02,0.31,450.13,0,0,0,0,0,0
$RAFOS_CLK,100
$RAFOS,1,1315452243,3.416667,3.400833,67,66,57,0,0,0,220,188,157,0,0,0
$RAFOS,0,1315451046,3.083333,3.068333,64,60,59,0,0,0,199,212,130,0,0,0
$RAFOS,2,1315449845,2.750000,2.734722,59,57,57,0,0,0,193,157,221,0,0,0
$RAFOS_FIX,4741.090820,-12146.910156,070911,232357,3,122,0.00
$IRIDIUM_FIX,4748.51,-12226.29,080911,020213
$TT8_MAMPS,0.026215,0.026215
$HUMID,60.94
$INTERNAL_PRESSURE,10.1957
$TCM_TEMP,19.50
$XPDR_PINGS,4
$24V_AH,24.5,0.865
$10V_AH,10.6,1.753
$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,20.225,36.100,245.975,110.175,0.000,0.000,0.000,136.325,1.500,0.000,16.741,838.252,515.253,463.921,679.246,89.194,0.000,945.109,0.000,547.890,780.000,5.368,0.000
$DEVICE_MAMPS,258.570,83.385,777.240,60.435,0.000,0.000,0.000,232.953,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,250.203,273.538,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319488
$DATA_FILE_SIZE,13492,373
$CAP_FILE_SIZE,47657,0
$CFSIZE,260165632,253530112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1483.3
$GPS,080911,033918,4807.090,-12222.980,13,1.5,13,16.7