version: 66.09
glider: 143
mission: 12
dive: 21
start: 9 8 111 13 17 29
data:
$ID,143
$MISSION,12
$DIVE,21
$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,-80030.094
$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,41
$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
$GPS1,080911,131305,4807.747,-12223.256,26,0.8,29,16.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-77.8
$GPS2,080911,131656,4807.750,-12223.255,14,0.8,15,16.7
$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,280.0,1031,-16.8,-9.091
$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,-0.72,-146.6,0.0,0.0,0,98,0.00,0.00,-81.03,0.000,2,0.000,0.000,118,2405,2841,0,0,0,0,0,0
$GC,101,-0.72,-146.6,3.3,-6.8,14,139,9.62,2.25,-18.98,0.000,4,0.255,0.070,2451,986,3564,0,0,0,0,0,0
$GC,224,-0.49,-146.6,20.7,-14.9,35,232,0.30,2.25,0.00,0.000,6,0.151,0.052,2528,2398,3565,0,0,0,0,0,0
$GC,370,-0.54,-146.6,35.6,-10.0,60,376,0.00,2.28,0.00,0.000,4,0.000,0.067,2519,3806,3565,0,0,0,0,0,0
$GC,450,-0.54,-146.6,44.0,-10.1,74,457,0.00,2.17,0.00,0.000,6,0.000,0.039,2520,2402,3566,0,0,0,0,0,0
$GC,593,-0.54,-146.6,57.6,-9.9,99,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2402,3566,0,0,0,0,0,0
$GC,737,-0.60,-146.6,71.3,-9.3,124,743,0.00,2.30,0.00,0.000,4,0.000,0.067,2509,3809,3566,0,0,0,0,0,0
$GC,795,-0.65,-146.6,77.2,-9.7,134,802,0.00,2.17,0.00,0.000,6,0.000,0.039,2509,2401,3566,0,0,0,0,0,0
$GC,941,-0.65,-146.6,91.7,-10.5,159,948,0.00,2.30,0.00,0.000,4,0.000,0.068,2500,3806,3566,0,0,0,0,0,0
$GC,983,-0.65,-146.6,96.0,-10.4,166,989,0.00,2.17,0.00,0.000,6,0.000,0.039,2500,2399,3566,0,0,0,0,0,0
$STATE,1067,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1067,begin apogee
$GC,1073,-0.16,0.0,105.0,-10.2,181,1186,0.40,0.00,105.70,0.775,6,0.130,0.000,2630,2272,2963,0,0,0,0,0,0
$STATE,1187,end apogee,CONTROL_FINISHED_OK
$STATE,1187,begin climb
$GC,1189,0.72,146.6,109.7,0.0,200,1308,0.88,2.28,108.70,0.749,4,0.090,0.054,2934,908,2365,0,0,0,0,0,0
$GC,1356,0.47,146.6,99.6,11.4,228,1364,0.32,2.30,0.00,0.000,6,0.151,0.047,2847,2303,2363,0,0,0,0,0,0
$GC,1502,0.60,191.0,87.9,7.2,253,1545,0.12,2.35,33.50,0.732,4,0.087,0.054,2906,907,2184,0,0,0,0,0,0
$GC,1569,0.52,191.0,81.3,10.8,264,1577,0.17,2.28,0.00,0.000,6,0.156,0.047,2862,2300,2182,0,0,0,0,0,0
$GC,1714,0.59,191.0,67.8,9.2,289,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2301,2182,0,0,0,0,0,0
$GC,1858,0.69,202.2,55.0,8.6,314,1878,0.15,2.30,9.35,0.666,4,0.084,0.054,2935,900,2138,0,0,0,0,0,0
$GC,1948,0.54,202.2,44.2,13.0,329,1956,0.25,2.25,0.00,0.000,6,0.153,0.048,2867,2305,2138,0,0,0,0,0,0
$GC,2093,0.64,202.2,30.6,9.2,354,2100,0.00,2.22,0.00,0.000,4,0.000,0.054,2875,904,2137,0,0,0,0,0,0
$GC,2130,0.75,211.6,27.4,8.7,360,2144,0.17,2.22,5.15,0.565,6,0.074,0.047,2949,2302,2101,0,0,0,0,0,0
$GC,2280,0.58,211.6,8.1,13.5,386,2287,0.25,0.00,0.00,0.000,6,0.156,0.000,2880,2302,2099,0,0,0,0,0,0
$STATE,2364,end climb,SURFACE_DEPTH_REACHED
$STATE,2364,begin surface coast
$FINISH,1.8,1.019429
$STATE,2460,end surface coast,CONTROL_FINISHED_OK
$STATE,2460,begin surface
$SM_CCo,2478,102.50,0.058,0,0,1128,450.13
$SM_GC,1.36,0.00,0.00,102.50,0.000,0.000,0.058,126,2404,1128,-8.01,0.14,450.13,0,0,0,0,0,0
$RAFOS_CLK,113
$RAFOS,2,1315489442,13.750000,13.733889,71,59,59,0,0,0,211,146,224,0,0,0
$RAFOS,1,1315488247,13.416667,13.401944,75,58,56,0,0,0,209,193,183,0,0,0
$RAFOS_FIX,4741.090820,-12146.910156,070911,232357,3,122,0.00
$IRIDIUM_FIX,4748.51,-12226.29,080911,121245
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.99
$INTERNAL_PRESSURE,10.1957
$TCM_TEMP,19.50
$XPDR_PINGS,1
$24V_AH,24.3,1.588
$10V_AH,10.6,2.218
$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,20.250,36.400,262.400,102.500,0.000,0.000,0.000,141.475,0.750,0.000,17.292,925.768,590.195,472.754,748.691,95.245,0.000,993.178,0.000,611.565,960.000,5.363,0.000
$DEVICE_MAMPS,254.745,86.445,774.945,58.140,0.000,0.000,0.000,229.208,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,280.891,306.394,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319416
$DATA_FILE_SIZE,16802,418
$CAP_FILE_SIZE,51901,0
$CFSIZE,260165632,253095936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1483.7
$GPS,080911,140125,4807.935,-12223.586,12,2.0,12,16.7