version: 66.09
glider: 143
mission: 12
dive: 22
start: 9 8 111 14 5 52
data:
$ID,143
$MISSION,12
$DIVE,22
$N_DIVES,24
$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,-80031.352
$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,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
$GPS1,080911,140125,4807.935,-12223.586,12,2.0,12,16.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-77.5
$GPS2,080911,140519,4807.946,-12223.588,16,2.0,16,16.7
$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,264.5,519,-19.2,-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,-0.76,-113.3,0.0,0.0,0,98,0.00,0.00,-80.40,0.000,2,0.000,0.000,126,2405,2819,0,0,0,0,0,0
$GC,101,-0.80,-146.6,3.1,-5.6,14,138,9.55,2.20,-20.42,0.000,4,0.257,0.066,2430,1002,3563,0,0,0,0,0,0
$GC,291,-0.61,-146.6,32.2,-16.6,47,299,0.25,2.22,0.00,0.000,6,0.164,0.053,2490,2397,3565,0,0,0,0,0,0
$GC,437,-0.61,-146.6,49.1,-11.1,72,444,0.00,2.28,0.00,0.000,4,0.000,0.067,2482,3807,3565,0,0,0,0,0,0
$GC,485,-0.61,-146.6,55.0,-11.8,80,492,0.00,2.15,0.00,0.000,6,0.000,0.039,2481,2422,3565,0,0,0,0,0,0
$GC,628,-0.61,-146.6,72.4,-11.9,105,634,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2422,3565,0,0,0,0,0,0
$GC,770,-0.61,-146.6,89.2,-11.9,130,777,0.00,2.28,0.00,0.000,4,0.000,0.067,2471,3816,3565,0,0,0,0,0,0
$GC,848,-0.61,-146.6,98.6,-12.4,143,855,0.00,2.20,0.00,0.000,6,0.000,0.040,2471,2395,3565,0,0,0,0,0,0
$STATE,898,end dive,TARGET_DEPTH_EXCEEDED
$STATE,899,begin apogee
$GC,904,-0.16,0.0,105.3,-12.8,152,1017,0.50,0.00,105.62,0.770,6,0.135,0.000,2631,2269,2963,0,0,0,0,0,0
$STATE,1018,end apogee,CONTROL_FINISHED_OK
$STATE,1018,begin climb
$GC,1020,0.80,146.6,110.4,0.0,171,1140,0.93,2.28,108.50,0.742,4,0.090,0.053,2951,902,2365,0,0,0,0,0,0
$GC,1198,0.59,146.6,97.8,13.0,201,1205,0.25,2.30,0.00,0.000,6,0.157,0.047,2886,2302,2363,0,0,0,0,0,0
$GC,1343,0.59,146.6,83.0,9.6,226,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2302,2362,0,0,0,0,0,0
$GC,1487,0.59,146.6,69.6,9.5,251,1493,0.00,2.25,0.00,0.000,4,0.000,0.053,2895,895,2362,0,0,0,0,0,0
$GC,1539,0.59,146.6,64.9,9.1,260,1546,0.00,2.25,0.00,0.000,6,0.000,0.047,2895,2306,2362,0,0,0,0,0,0
$GC,1683,0.61,163.0,52.5,8.2,285,1703,0.00,2.22,12.88,0.693,4,0.000,0.052,2905,904,2298,0,0,0,0,0,0
$GC,1801,0.63,176.1,41.7,8.4,305,1820,0.00,2.22,10.93,0.679,6,0.000,0.047,2905,2299,2246,0,0,0,0,0,0
$GC,1956,0.63,176.1,26.5,9.7,332,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2299,2245,0,0,0,0,0,0
$GC,2098,0.63,177.5,12.8,9.0,357,2105,0.00,2.22,0.00,0.000,4,0.000,0.054,2915,896,2244,0,0,0,0,0,0
$GC,2158,0.68,186.2,7.7,8.6,367,2171,0.00,2.22,4.18,0.073,6,0.000,0.047,2915,2299,2204,0,0,0,0,0,0
$GC,2306,1.19,382.1,2.8,-1.5,393,2360,0.40,0.00,49.80,0.061,2,0.056,0.000,3080,2299,1730,0,0,0,0,0,0
$STATE,2360,end climb,SURFACE_DEPTH_REACHED
$STATE,2360,begin surface coast
$FINISH,0.2,1.018240
$STATE,2412,end surface coast,CONTROL_FINISHED_OK
$STATE,2413,begin surface
$SM_CCo,2430,63.35,0.060,0,0,1128,450.13
$SM_GC,1.48,0.00,0.00,63.35,0.000,0.000,0.060,120,2417,1128,-8.03,0.45,450.13,0,0,0,0,0,0
$RAFOS_CLK,112
$RAFOS,1,1315491847,14.416667,14.401944,67,58,55,0,0,0,208,134,167,0,0,0
$RAFOS_FIX,4741.090820,-12146.910156,070911,232357,3,122,0.00
$IRIDIUM_FIX,4758.15,-12523.62,080911,131336
$TT8_MAMPS,0.029211,0.029211
$HUMID,59.29
$INTERNAL_PRESSURE,10.2152
$TCM_TEMP,19.60
$XPDR_PINGS,6
$24V_AH,24.3,1.641
$10V_AH,10.6,2.252
$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,20.125,31.625,291.900,63.350,0.000,0.000,0.000,144.825,2.000,0.000,17.393,894.953,574.295,445.882,745.213,90.090,0.000,968.919,0.000,601.861,960.000,5.366,0.000
$DEVICE_MAMPS,257.040,81.090,770.355,59.670,0.000,0.000,0.000,235.200,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,276.196,300.185,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319412
$DATA_FILE_SIZE,13463,411
$CAP_FILE_SIZE,48510,0
$CFSIZE,260165632,253071360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1484.4
$GPS,080911,144835,4808.028,-12223.915,25,1.3,25,16.7