version: 66.09
glider: 143
mission: 12
dive: 18
start: 9 8 111 10 52 16
data:
$ID,143
$MISSION,12
$DIVE,18
$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,-80026.305
$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,44
$R_STBD_OVSHOOT,31
$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
$GPS1,080911,104735,4807.163,-12222.499,27,1.6,27,16.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-77.2
$GPS2,080911,105143,4807.146,-12222.487,19,1.2,19,16.7
$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,293.5,2450,-16.8,-9.091
$D_GRID,107
$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,-146.6,0.0,0.0,0,105,0.00,0.00,-87.03,0.000,2,0.000,0.000,127,2416,2951,0,0,0,0,0,0
$GC,108,-0.72,-146.6,3.3,-6.1,15,140,9.77,2.33,-15.48,0.000,4,0.261,0.069,2449,986,3564,0,0,0,0,0,0
$GC,248,-0.49,-146.6,24.5,-15.3,39,256,0.30,2.25,0.00,0.000,6,0.155,0.051,2526,2399,3565,0,0,0,0,0,0
$GC,395,-0.55,-146.6,39.2,-10.0,64,402,0.00,2.28,0.00,0.000,4,0.000,0.067,2517,3809,3565,0,0,0,0,0,0
$GC,454,-0.55,-146.6,45.5,-9.9,74,461,0.00,2.17,0.00,0.000,6,0.000,0.039,2517,2409,3565,0,0,0,0,0,0
$GC,597,-0.55,-146.6,59.8,-10.0,99,603,0.00,2.30,0.00,0.000,4,0.000,0.067,2507,3816,3565,0,0,0,0,0,0
$GC,633,-0.55,-146.6,63.5,-10.5,105,640,0.00,2.20,0.00,0.000,6,0.000,0.040,2507,2398,3566,0,0,0,0,0,0
$GC,775,-0.55,-146.6,78.0,-10.3,130,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2398,3566,0,0,0,0,0,0
$GC,918,-0.55,-146.6,92.5,-10.1,155,925,0.00,2.30,0.00,0.000,4,0.000,0.068,2497,3816,3566,0,0,0,0,0,0
$GC,1017,-0.55,-146.6,102.8,-10.4,172,1024,0.00,2.20,0.00,0.000,6,0.000,0.040,2497,2394,3566,0,0,0,0,0,0
$STATE,1045,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1046,begin apogee
$GC,1051,-0.16,0.0,106.1,-9.9,177,1165,0.43,0.03,105.85,0.776,6,0.129,0.193,2635,2281,2963,0,0,0,0,0,0
$STATE,1166,end apogee,CONTROL_FINISHED_OK
$STATE,1166,begin climb
$GC,1168,0.72,146.6,110.6,0.0,196,1288,0.85,2.33,108.65,0.747,4,0.090,0.054,2929,909,2365,0,0,0,0,0,0
$GC,1329,0.47,146.6,101.5,11.1,223,1337,0.32,2.33,0.00,0.000,6,0.149,0.047,2841,2319,2363,0,0,0,0,0,0
$GC,1475,0.63,193.1,90.5,7.2,248,1518,0.17,0.00,35.20,0.731,6,0.076,0.000,2912,2320,2174,0,0,0,0,0,0
$GC,1654,0.52,193.1,69.5,11.6,279,1661,0.20,2.28,0.00,0.000,4,0.151,0.053,2870,905,2171,0,0,0,0,0,0
$GC,1697,0.63,193.1,65.2,9.4,286,1704,0.00,2.25,0.00,0.000,6,0.000,0.047,2869,2308,2172,0,0,0,0,0,0
$GC,1842,0.69,196.3,52.0,9.0,311,1850,0.12,2.25,0.00,0.000,4,0.092,0.054,2937,899,2171,0,0,0,0,0,0
$GC,1890,0.53,196.3,46.2,12.2,319,1898,0.28,2.22,0.00,0.000,6,0.153,0.047,2860,2298,2171,0,0,0,0,0,0
$GC,2033,0.66,207.6,33.7,8.6,344,2053,0.15,2.25,11.12,0.679,4,0.083,0.056,2935,906,2116,0,0,0,0,0,0
$GC,2088,0.54,207.6,27.6,12.2,353,2096,0.25,2.22,0.00,0.000,6,0.153,0.047,2866,2303,2116,0,0,0,0,0,0
$GC,2235,0.70,221.8,14.7,8.5,378,2249,0.15,2.22,6.30,0.093,4,0.079,0.054,2941,907,2058,0,0,0,0,0,0
$GC,2284,0.59,221.8,8.8,12.2,386,2292,0.22,2.22,0.00,0.000,6,0.151,0.048,2879,2309,2057,0,0,0,0,0,0
$STATE,2370,end climb,SURFACE_DEPTH_REACHED
$STATE,2370,begin surface coast
$FINISH,1.0,1.019136
$STATE,2417,end surface coast,CONTROL_FINISHED_OK
$STATE,2417,begin surface
$SM_CCo,2434,98.25,0.059,0,0,1128,450.13
$SM_GC,1.09,0.00,0.00,98.25,0.000,0.000,0.059,125,2411,1128,-8.02,0.28,450.13,0,0,0,0,0,0
$RAFOS_CLK,109
$RAFOS,1,1315481044,11.416667,11.401111,72,60,59,0,0,0,221,200,133,0,0,0
$RAFOS,0,1315479842,11.083333,11.067223,57,57,54,0,0,0,177,218,158,0,0,0
$RAFOS,2,1315478641,10.750000,10.733611,59,58,55,0,0,0,217,204,125,0,0,0
$RAFOS_FIX,4741.090820,-12146.910156,070911,232357,3,122,0.00
$IRIDIUM_FIX,4748.51,-12220.12,080911,101025
$TT8_MAMPS,0.026964,0.026964
$HUMID,58.30
$INTERNAL_PRESSURE,10.1859
$TCM_TEMP,19.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,90.2,30.7
$24V_AH,24.4,1.416
$10V_AH,10.6,2.111
$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,20.800,40.925,267.125,98.250,0.000,0.000,0.000,154.575,1.000,0.000,20.975,912.871,567.125,474.631,752.132,95.901,0.000,1007.616,0.000,599.823,780.000,5.506,0.000
$DEVICE_MAMPS,260.865,192.780,776.475,58.905,0.000,0.000,0.000,229.957,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,274.331,300.302,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319408
$DATA_FILE_SIZE,13486,409
$CAP_FILE_SIZE,53607,0
$CFSIZE,260165632,253194240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1483.7
$GPS,080911,113525,4807.393,-12222.693,12,1.6,12,16.7