version: 66.09
glider: 143
mission: 12
dive: 13
start: 9 8 111 6 50 21
data:
$ID,143
$MISSION,12
$DIVE,13
$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,-80019.898
$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,53
$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
$GPS1,080911,064542,4806.219,-12221.993,16,1.5,16,16.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-77.6
$GPS2,080911,064948,4806.213,-12221.981,20,1.0,20,16.7
$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,166.7,395,-26.3,-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,-0.92,-60.9,0.0,0.0,0,110,0.00,0.00,-92.88,0.000,2,0.000,0.000,126,2418,3081,0,0,0,0,0,0
$GC,113,-0.93,-65.0,3.8,-8.7,16,134,9.32,2.22,-3.62,0.000,4,0.256,0.075,2373,3806,3230,0,0,0,0,0,0
$GC,388,-0.62,-65.0,53.9,-18.0,64,395,0.43,2.17,0.00,0.000,6,0.179,0.043,2489,2418,3232,0,0,0,0,0,0
$GC,535,-0.85,-65.0,70.5,-11.2,89,542,0.22,2.28,0.00,0.000,4,0.077,0.065,2395,3807,3232,0,0,0,0,0,0
$STATE,769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,769,begin apogee
$GC,777,-0.16,0.0,108.3,-15.8,130,832,0.80,0.00,47.67,0.779,6,0.174,0.000,2630,2284,2963,0,0,0,0,0,0
$STATE,832,end apogee,CONTROL_FINISHED_OK
$STATE,833,begin climb
$GC,835,0.93,65.0,112.5,0.0,139,893,1.02,2.33,47.95,0.762,4,0.091,0.056,2993,893,2698,0,0,0,0,0,0
$GC,1024,0.79,90.9,102.8,6.5,172,1054,0.20,2.25,19.88,0.733,6,0.186,0.047,2946,2302,2592,0,0,0,0,0,0
$GC,1190,0.79,95.9,89.7,8.6,201,1197,0.00,0.00,5.40,0.601,6,0.000,0.000,2946,2302,2572,0,0,0,0,0,0
$GC,1336,0.80,103.9,77.4,8.3,226,1350,0.00,2.35,7.47,0.662,4,0.000,0.056,2955,885,2539,0,0,0,0,0,0
$GC,1413,0.80,106.6,70.4,8.8,239,1427,0.00,2.28,3.55,0.494,6,0.000,0.047,2955,2309,2529,0,0,0,0,0,0
$GC,1563,0.80,106.6,56.6,9.3,265,1569,0.00,2.28,0.00,0.000,4,0.000,0.056,2965,886,2529,0,0,0,0,0,0
$GC,1720,0.81,113.8,42.6,8.4,292,1733,0.00,2.25,6.70,0.646,6,0.000,0.048,2965,2306,2500,0,0,0,0,0,0
$GC,1869,0.81,113.8,29.0,9.2,318,1876,0.00,2.25,0.00,0.000,4,0.000,0.060,2966,3710,2499,0,0,0,0,0,0
$GC,1911,0.71,113.8,24.9,10.3,325,1919,0.22,2.20,0.00,0.000,6,0.185,0.044,2919,2294,2499,0,0,0,0,0,0
$GC,2056,0.94,139.0,14.7,6.6,350,2075,0.22,2.17,11.20,0.095,4,0.075,0.056,3016,895,2397,0,0,0,0,0,0
$GC,2123,0.83,139.0,8.2,11.1,361,2131,0.22,2.22,0.00,0.000,6,0.189,0.050,2961,2302,2396,0,0,0,0,0,0
$GC,2269,1.17,227.7,2.9,0.2,386,2316,0.28,2.28,36.95,0.062,4,0.071,0.060,3072,3702,2032,0,0,0,0,0,0
$STATE,2321,end climb,SURFACE_DEPTH_REACHED
$STATE,2321,begin surface coast
$FINISH,1.5,1.018667
$STATE,2394,end surface coast,CONTROL_FINISHED_OK
$STATE,2395,begin surface
$SM_CCo,2414,94.32,0.059,0,0,1128,450.13
$SM_GC,1.18,0.00,0.00,94.32,0.000,0.000,0.059,123,2402,1128,-8.03,0.03,450.13,0,0,0,0,0,0
$RAFOS_CLK,109
$RAFOS,0,1315465444,7.083333,7.067778,65,59,54,0,0,0,199,147,216,0,0,0
$RAFOS_FIX,4741.090820,-12146.910156,070911,232357,3,122,0.00
$IRIDIUM_FIX,4751.72,-12219.12,080911,060616
$TT8_MAMPS,0.027713,0.027713
$HUMID,61.10
$INTERNAL_PRESSURE,10.225
$TCM_TEMP,19.60
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,90.7,37.5
$24V_AH,24.8,1.124
$10V_AH,10.6,1.926
$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,21.500,36.000,186.775,94.325,0.000,0.000,0.000,153.675,1.500,0.000,21.591,943.372,599.619,392.453,750.930,89.855,0.000,898.686,0.000,596.483,780.000,6.831,0.000
$DEVICE_MAMPS,256.275,74.970,778.770,58.905,0.000,0.000,0.000,235.949,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,276.172,300.663,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319468
$DATA_FILE_SIZE,13504,408
$CAP_FILE_SIZE,48282,0
$CFSIZE,260165632,253366272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1484.8
$GPS,080911,073313,4806.114,-12222.058,20,1.2,20,16.7