version: 66.09
glider: 143
mission: 12
dive: 16
start: 9 8 111 9 16 21
data:
$ID,143
$MISSION,12
$DIVE,16
$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,-80023.773
$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,32
$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
$GPS1,080911,091123,4806.681,-12222.152,20,1.6,20,16.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-78.1
$GPS2,080911,091548,4806.662,-12222.137,17,0.9,17,16.7
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$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,300.4,3383,-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,13,begin dive
$GC,15,-0.72,-146.6,0.0,0.0,0,99,0.00,0.00,-81.43,0.000,2,0.000,0.000,124,2417,2872,0,0,0,0,0,0
$GC,102,-0.72,-146.6,3.6,-8.0,14,140,9.57,2.30,-17.50,0.000,4,0.254,0.070,2450,1002,3565,0,0,0,0,0,0
$GC,272,-0.50,-146.6,27.5,-15.1,43,279,0.30,2.20,0.00,0.000,6,0.152,0.050,2527,2394,3566,0,0,0,0,0,0
$GC,417,-0.57,-146.6,42.1,-9.3,68,424,0.00,2.28,0.00,0.000,4,0.000,0.067,2518,3810,3566,0,0,0,0,0,0
$GC,476,-0.62,-146.6,47.9,-9.5,78,482,0.00,2.15,0.00,0.000,6,0.000,0.039,2518,2422,3566,0,0,0,0,0,0
$GC,621,-0.69,-146.6,61.3,-8.9,103,627,0.15,0.00,0.00,0.000,6,0.086,0.000,2455,2422,3567,0,0,0,0,0,0
$GC,765,-0.52,-146.6,80.1,-13.4,128,772,0.22,2.28,0.00,0.000,4,0.149,0.065,2509,3814,3567,0,0,0,0,0,0
$GC,826,-0.58,-146.6,86.5,-9.4,138,833,0.00,2.20,0.00,0.000,6,0.000,0.040,2509,2393,3567,0,0,0,0,0,0
$GC,972,-0.58,-146.6,100.3,-9.0,163,979,0.00,2.30,0.00,0.000,4,0.000,0.067,2500,3805,3567,0,0,0,0,0,0
$GC,1019,-0.58,-146.6,105.5,-9.9,171,1026,0.00,2.17,0.00,0.000,6,0.000,0.040,2499,2399,3567,0,0,0,0,0,0
$STATE,1042,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1042,begin apogee
$GC,1048,-0.16,0.0,108.1,-10.4,175,1161,0.40,0.00,105.75,0.779,6,0.129,0.000,2630,2272,2964,0,0,0,0,0,0
$STATE,1162,end apogee,CONTROL_FINISHED_OK
$STATE,1162,begin climb
$GC,1164,0.72,146.6,113.0,0.0,194,1284,0.85,2.28,108.60,0.747,4,0.092,0.057,2925,910,2365,0,0,0,0,0,0
$GC,1332,0.50,146.6,103.1,11.6,222,1340,0.28,2.28,0.00,0.000,6,0.153,0.047,2852,2300,2363,0,0,0,0,0,0
$GC,1478,0.59,177.8,90.7,7.8,247,1509,0.00,0.00,24.08,0.722,6,0.000,0.000,2852,2300,2238,0,0,0,0,0,0
$GC,1645,0.69,181.2,76.4,8.9,276,1659,0.17,2.30,3.78,0.501,4,0.076,0.056,2936,908,2225,0,0,0,0,0,0
$GC,1722,0.51,181.2,67.2,12.4,289,1730,0.30,2.25,0.00,0.000,6,0.154,0.047,2853,2312,2224,0,0,0,0,0,0
$GC,1868,0.64,205.5,54.7,8.1,314,1893,0.15,2.35,19.20,0.717,4,0.083,0.055,2925,899,2125,0,0,0,0,0,0
$GC,1923,0.52,205.5,48.7,12.3,323,1931,0.25,2.25,0.00,0.000,6,0.154,0.047,2857,2301,2125,0,0,0,0,0,0
$GC,2069,0.67,210.8,36.0,8.9,348,2082,0.15,0.00,5.45,0.594,6,0.082,0.000,2921,2300,2104,0,0,0,0,0,0
$GC,2217,0.58,210.8,17.6,12.9,374,2225,0.17,2.22,0.00,0.000,4,0.156,0.056,2884,903,2103,0,0,0,0,0,0
$GC,2305,0.67,210.8,8.9,9.1,389,2312,0.00,2.22,0.00,0.000,6,0.000,0.047,2884,2307,2103,0,0,0,0,0,0
$STATE,2395,end climb,SURFACE_DEPTH_REACHED
$STATE,2395,begin surface coast
$FINISH,1.1,1.019010
$STATE,2439,end surface coast,CONTROL_FINISHED_OK
$STATE,2439,begin surface
$SM_CCo,2456,102.90,0.059,0,0,1129,450.13
$SM_GC,1.10,0.00,0.00,102.90,0.000,0.000,0.059,125,2410,1129,-8.02,0.28,450.13,0,0,0,0,0,0
$RAFOS_CLK,108
$RAFOS,2,1315475045,9.750000,9.734722,66,59,58,0,0,0,203,181,134,0,0,0
$RAFOS,1,1315473843,9.416667,9.400833,62,57,56,0,0,0,207,123,156,0,0,0
$RAFOS,0,1315472644,9.083333,9.067778,63,61,60,0,0,0,202,225,116,0,0,0
$RAFOS_FIX,4741.090820,-12146.910156,070911,232357,3,122,0.00
$IRIDIUM_FIX,4748.51,-12224.57,080911,080836
$TT8_MAMPS,0.026964,0.026964
$HUMID,58.26
$INTERNAL_PRESSURE,10.1859
$TCM_TEMP,19.50
$XPDR_PINGS,4
$24V_AH,24.4,1.295
$10V_AH,10.6,2.039
$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,20.575,36.325,266.850,102.900,0.000,0.000,0.000,175.100,1.500,0.000,18.606,921.481,576.129,475.378,774.791,98.551,0.000,1026.845,0.000,602.785,960.000,5.385,0.000
$DEVICE_MAMPS,253.980,87.975,778.770,58.905,0.000,0.000,0.000,228.459,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,276.266,302.701,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319444
$DATA_FILE_SIZE,16808,412
$CAP_FILE_SIZE,53089,0
$CFSIZE,260165632,253259776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1484.2
$GPS,080911,100000,4806.922,-12222.294,15,1.1,15,16.7