version: 66.09
glider: 143
mission: 12
dive: 11
start: 9 8 111 5 16 11
data:
$ID,143
$MISSION,12
$DIVE,11
$N_DIVES,30
$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,44
$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,-80017.383
$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,52
$R_STBD_OVSHOOT,33
$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
$GPS1,080911,051044,4806.682,-12222.398,19,1.9,19,16.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-76.7
$GPS2,080911,051538,4806.658,-12222.427,16,1.0,17,16.7
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$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,139.9,1328,-16.8,-9.091
$D_GRID,108
$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,-0.72,-146.6,0.0,0.0,0,105,0.00,0.00,-87.57,0.000,2,0.000,0.000,118,2418,2976,0,0,0,0,0,0
$GC,108,-0.72,-146.6,3.3,-6.7,15,140,9.62,2.22,-15.10,0.000,4,0.256,0.069,2451,1002,3563,0,0,0,0,0,0
$GC,327,-0.51,-146.6,35.2,-15.0,53,334,0.28,2.20,0.00,0.000,6,0.151,0.052,2520,2393,3564,0,0,0,0,0,0
$GC,472,-0.56,-146.6,49.6,-9.2,78,480,0.00,2.25,0.00,0.000,4,0.000,0.067,2511,3808,3565,0,0,0,0,0,0
$GC,538,-0.56,-146.6,56.4,-10.3,89,545,0.00,2.15,0.00,0.000,6,0.000,0.041,2511,2422,3565,0,0,0,0,0,0
$GC,681,-0.56,-146.6,70.5,-10.3,114,687,0.00,2.25,0.00,0.000,4,0.000,0.068,2502,3816,3565,0,0,0,0,0,0
$GC,700,-0.56,-146.6,72.4,-10.0,117,706,0.00,2.20,0.00,0.000,6,0.000,0.041,2502,2399,3565,0,0,0,0,0,0
$GC,842,-0.56,-146.6,87.5,-9.8,142,849,0.00,2.30,0.00,0.000,4,0.000,0.068,2492,3807,3565,0,0,0,0,0,0
$GC,907,-0.56,-146.6,94.6,-11.6,153,914,0.00,2.20,0.00,0.000,6,0.000,0.041,2492,2381,3565,0,0,0,0,0,0
$STATE,1030,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1030,begin apogee
$GC,1038,-0.16,0.0,108.2,-10.7,175,1152,0.43,0.00,105.15,0.782,6,0.130,0.000,2630,2289,2964,0,0,0,0,0,0
$STATE,1152,end apogee,CONTROL_FINISHED_OK
$STATE,1152,begin climb
$GC,1155,0.72,146.6,112.9,0.0,194,1275,0.85,2.35,108.18,0.751,4,0.090,0.057,2926,909,2366,0,0,0,0,0,0
$GC,1344,0.50,146.6,100.1,11.8,226,1352,0.28,2.28,0.00,0.000,6,0.155,0.047,2853,2301,2363,0,0,0,0,0,0
$GC,1490,0.57,167.3,88.1,8.2,251,1508,0.00,0.00,16.33,0.709,6,0.000,0.000,2853,2301,2281,0,0,0,0,0,0
$GC,1648,0.67,193.7,75.2,8.0,278,1675,0.17,0.00,20.62,0.723,6,0.076,0.000,2926,2301,2173,0,0,0,0,0,0
$GC,1810,0.51,193.7,54.7,13.0,306,1818,0.25,2.25,0.00,0.000,4,0.154,0.055,2868,896,2171,0,0,0,0,0,0
$GC,1904,0.62,193.7,45.5,9.2,322,1911,0.00,2.25,0.00,0.000,6,0.000,0.047,2868,2308,2171,0,0,0,0,0,0
$GC,2049,0.70,195.6,32.7,9.0,347,2055,0.15,0.00,0.00,0.000,6,0.083,0.000,2933,2308,2171,0,0,0,0,0,0
$GC,2193,0.54,195.6,16.0,11.7,372,2200,0.25,2.25,0.00,0.000,4,0.158,0.056,2874,899,2170,0,0,0,0,0,0
$GC,2264,0.70,220.1,9.4,8.1,384,2284,0.12,2.22,11.30,0.079,6,0.090,0.048,2929,2309,2065,0,0,0,0,0,0
$STATE,2340,end climb,SURFACE_DEPTH_REACHED
$STATE,2340,begin surface coast
$FINISH,0.9,1.018711
$STATE,2363,end surface coast,CONTROL_FINISHED_OK
$STATE,2363,begin surface
$SM_CCo,2380,98.22,0.059,0,0,1129,450.13
$SM_GC,1.07,0.00,0.00,98.22,0.000,0.000,0.059,123,2412,1129,-8.03,0.34,450.13,0,0,0,0,0,0
$RAFOS_CLK,111
$RAFOS,2,1315460642,5.750000,5.733889,63,61,59,0,0,0,197,210,153,0,0,0
$RAFOS,1,1315459448,5.416667,5.402222,64,63,62,0,0,0,219,184,141,0,0,0
$RAFOS,0,1315458241,5.083333,5.066945,71,59,53,0,0,0,157,222,195,0,0,0
$RAFOS_FIX,4741.090820,-12146.910156,070911,232357,3,122,0.00
$IRIDIUM_FIX,4748.51,-12224.57,080911,040438
$TT8_MAMPS,0.026215,0.026215
$HUMID,60.43
$INTERNAL_PRESSURE,10.1957
$TCM_TEMP,19.50
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,90.2,32.6
$24V_AH,24.4,1.035
$10V_AH,10.6,1.857
$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,20.175,31.625,261.575,98.225,0.000,0.000,0.000,203.625,2.250,0.000,18.498,888.801,567.356,456.832,791.461,90.891,0.000,1026.367,0.000,587.435,960.000,5.514,0.000
$DEVICE_MAMPS,255.510,94.860,781.830,58.905,0.000,0.000,0.000,225.463,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,269.273,294.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319480
$DATA_FILE_SIZE,13482,401
$CAP_FILE_SIZE,49206,0
$CFSIZE,260165632,253427712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1483.4
$GPS,080911,055852,4806.440,-12222.194,18,1.2,37,16.7