version: 66.06
glider: 141
mission: 9
dive: 11
start: 8 20 109 2 12 11
data:
$ID,141
$MISSION,9
$DIVE,11
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$D_ABORT,150
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,40
$T_MISSION,60
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$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,51430
$NAV_MODE,0
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-15585.854
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,73
$PITCH_MAX,4041
$C_PITCH,2960
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,256
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,751
$VBD_MAX,4044
$C_VBD,3389
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$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,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-33.255871
$PRESSURE_SLOPE,0.000115925
$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,7
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,70
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$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
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043482846
$SEABIRD_T_H,0.00064259337
$SEABIRD_T_I,2.4116636e-05
$SEABIRD_T_J,2.3731232e-06
$SEABIRD_C_G,-9.926631
$SEABIRD_C_H,1.0917815
$SEABIRD_C_I,-0.00047649047
$SEABIRD_C_J,0.00015061456
$GPS1,020736,4807.968,-12223.840,24,2.0,24,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-80.2
$GPS2,021149,4807.969,-12223.839,11,1.7,28,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,100.000
$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,268.0,207,-27.2,-10.000
$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,14,-0.93,-63.1,0.0,0.0,0,73,0.00,0.00,-56.00,0.000,2,0.000,0.000,80,2215,3073,0,0,0,0,0,0
$GC,75,-1.00,-123.0,3.4,-3.6,11,117,11.88,2.22,-20.92,0.000,4,0.307,0.074,2628,3584,3893,0,0,0,0,0,0
$GC,218,-0.88,-123.0,34.5,-25.3,33,223,0.17,2.12,0.00,0.000,6,0.242,0.043,2667,2201,3895,0,0,0,0,0,0
$GC,416,-0.84,-123.0,77.5,-21.7,51,420,0.00,2.20,0.00,0.000,4,0.000,0.061,2667,3592,3895,0,0,0,0,0,0
$STATE,537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,537,begin apogee
$GC,544,-0.16,0.0,105.3,22.0,61,681,0.85,0.00,122.05,0.673,6,0.218,0.000,2902,2105,3389,0,0,0,0,2,0
$STATE,682,end apogee,CONTROL_FINISHED_OK
$STATE,682,begin climb
$GC,684,1.00,123.0,113.4,0.0,75,808,1.20,2.38,104.62,0.703,4,0.141,0.051,3284,689,2886,0,0,0,0,2,0
$GC,925,0.88,123.0,99.8,13.6,97,932,0.15,2.17,0.00,0.000,6,0.232,0.044,3252,2085,2885,0,0,0,0,0,0
$GC,1251,0.79,123.0,62.7,10.7,128,1256,0.12,2.22,0.00,0.000,4,0.249,0.055,3223,3510,2885,0,0,0,0,0,0
$GC,1324,0.69,123.0,54.7,10.6,134,1329,0.17,2.17,0.00,0.000,6,0.227,0.042,3190,2085,2883,0,0,0,0,0,0
$GC,1648,0.72,143.4,28.8,7.8,164,1680,0.00,2.25,19.33,0.584,4,0.000,0.057,3190,3509,2804,0,0,0,0,1,0
$GC,1771,0.69,146.3,17.6,9.7,177,1778,0.00,2.15,0.98,0.102,6,0.000,0.044,3198,2097,2792,0,0,0,0,0,0
$GC,1847,0.72,166.6,11.6,7.8,190,1862,0.00,0.00,10.20,0.716,6,0.000,0.000,3198,2098,2709,0,0,0,0,0,0
$GC,1931,0.79,195.1,4.6,7.0,205,1952,0.00,2.25,13.20,0.693,4,0.000,0.057,3206,702,2592,0,0,0,0,0,0
$STATE,1967,end climb,SURFACE_DEPTH_REACHED
$STATE,1967,begin surface coast
$FINISH,2.1,1.019593
$STATE,1997,end surface coast,CONTROL_FINISHED_OK
$STATE,1997,begin surface
$SM_CCo,2017,95.43,0.765,0,0,1758,400.08
$SM_GC,1.75,0.00,0.00,95.43,0.000,0.000,0.765,77,2200,1758,-9.01,0.00,400.08
$RAFOS_CLK,78
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12226.29,141198,010106
$TT8_MAMPS,0.026845
$HUMID,1078667732
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,19.60
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,100.4,18.9
$24V_AH,24.3,1.296
$10V_AH,10.4,0.362
$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,23.975,26.850,270.375,95.425,0.000,30.150,30.283,86.570,2.000,0.000,30.351,385.285,923.806,431.817,427.896,214.344,0.000,703.849,0.000,403.518,0.000,10.386,0.000
$DEVICE_MAMPS,306.800,74.399,715.611,764.699,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,144.902,158.824,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,264148
$DATA_FILE_SIZE,9610,217
$CAP_FILE_SIZE,38354,0
$CFSIZE,260165632,256614400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$SOUNDSPEED,1484.4
$GPS,200809,024836,4808.001,-12224.056,12,1.3,28,18.3