version: 66.09
glider: 127
mission: 8
dive: 9
start: 6 12 112 23 9 55
data:
$ID,127
$MISSION,8
$DIVE,9
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,4
$T_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,111
$T_MISSION,120
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51911
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4212
$TGT_DEFAULT_LON,-7043
$TGT_AUTO_DEFAULT,0
$SM_CC,310
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-102185.55
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,10800
$PITCH_MIN,391
$PITCH_MAX,3672
$C_PITCH,2935
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2090
$C_ROLL_CLIMB,2080
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,495
$VBD_MAX,3955
$C_VBD,1875
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-2.3478327
$PRESSURE_SLOPE,9.1981688e-05
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.75
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,55
$DEVICE3,37
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,0
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043778275
$SEABIRD_T_H,0.00064372126
$SEABIRD_T_I,2.4597961e-05
$SEABIRD_T_J,2.4457499e-06
$SEABIRD_C_G,-9.9928436
$SEABIRD_C_H,1.1249512
$SEABIRD_C_I,-0.0005112022
$SEABIRD_C_J,0.00011811146
$GPS1,120612,230144,4743.938,-12224.541,12,1.2,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-72.0
$GPS2,120612,230850,4743.920,-12224.475,14,1.2,14,18.2
$SPEED_LIMITS,0.104,0.245
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.064,0.236
$KALMAN_X,159.9,-398.5,-7.7,616.1,386.9
$KALMAN_Y,-2123.3,-1289.2,-85.9,5801.5,-985.6
$MHEAD_RNG_PITCHd_Wd,326.7,42783,-9.1,-6.006
$D_GRID,174
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.94,-195.4,0.0,0.0,0,47,0.00,0.00,-29.98,0.000,2,0.000,0.000,392,2070,1415,0,0,0,0,0,0
$GC,48,-0.94,-195.4,3.6,-7.1,4,107,13.80,2.60,-36.65,0.000,4,0.174,0.089,2724,675,2673,0,0,0,0,0,0
$GC,130,-0.94,-195.4,17.9,-23.6,16,138,0.00,2.58,0.00,0.000,6,0.000,0.059,2724,2094,2673,0,0,0,0,0,0
$GC,200,-0.94,-195.4,27.5,-10.4,29,208,0.00,2.60,0.00,0.000,4,0.000,0.068,2724,3490,2674,0,0,0,0,0,0
$GC,251,-0.94,-195.4,37.0,-20.6,38,259,0.00,2.58,0.00,0.000,6,0.000,0.061,2724,2094,2674,0,0,0,0,0,0
$GC,321,-0.94,-195.4,50.4,-17.4,51,327,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2094,2673,0,0,0,0,0,0
$GC,457,-0.94,-195.4,74.9,-17.7,76,465,0.00,2.67,0.00,0.000,4,0.000,0.080,2724,676,2674,0,0,0,0,0,0
$GC,499,-0.94,-195.4,81.8,-16.9,83,506,0.00,2.55,0.00,0.000,6,0.000,0.068,2724,2097,2674,0,0,0,0,0,0
$GC,635,-0.94,-195.4,102.1,-15.8,108,643,0.00,2.60,0.00,0.000,4,0.000,0.069,2724,3494,2674,0,0,0,0,0,0
$GC,674,-0.94,-195.4,108.8,-16.9,114,682,0.00,2.60,0.00,0.000,6,0.000,0.063,2724,2090,2674,0,0,0,0,0,0
$GC,817,-0.94,-195.4,131.6,-15.7,139,824,0.00,2.62,0.00,0.000,4,0.000,0.081,2724,678,2673,0,0,0,0,0,0
$GC,888,-0.94,-195.4,144.7,-18.4,152,896,0.00,2.55,0.00,0.000,6,0.000,0.061,2724,2084,2674,0,0,0,0,0,0
$GC,1027,-0.94,-195.4,168.4,-17.5,177,1034,0.00,2.60,0.00,0.000,4,0.000,0.072,2724,3498,2674,0,0,0,0,0,0
$STATE,1062,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1062,begin apogee
$GC,1068,-0.38,0.0,174.8,17.6,183,1239,0.60,0.00,165.50,0.719,6,0.098,0.000,2846,2072,1875,0,0,0,0,0,0
$STATE,1240,end apogee,CONTROL_FINISHED_OK
$STATE,1240,begin climb
$GC,1241,0.94,195.4,188.4,0.0,209,1414,1.40,0.00,163.48,0.705,6,0.083,0.000,3133,2072,1077,0,0,0,0,0,0
$GC,1544,0.94,195.4,156.9,13.5,260,1552,0.00,2.67,0.00,0.000,4,0.000,0.069,3132,3491,1073,0,0,0,0,0,0
$GC,1568,0.94,195.4,153.4,14.0,264,1576,0.00,2.65,0.00,0.000,6,0.000,0.063,3133,2079,1072,0,0,0,0,0,0
$GC,1708,0.94,195.4,133.5,15.2,289,1715,0.00,2.67,0.00,0.000,4,0.000,0.083,3132,662,1072,0,0,0,0,0,0
$GC,1736,0.94,195.4,128.6,16.2,294,1744,0.00,2.60,0.00,0.000,6,0.000,0.060,3133,2085,1072,0,0,0,0,0,0
$GC,1876,0.94,195.4,107.8,14.2,319,1882,0.00,2.62,0.00,0.000,4,0.000,0.072,3133,3496,1071,0,0,0,0,0,0
$GC,1911,0.94,195.4,102.8,13.9,325,1918,0.00,2.60,0.00,0.000,6,0.000,0.072,3132,2080,1070,0,0,0,0,0,0
$GC,2047,0.94,195.4,84.4,12.9,350,2055,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2080,1070,0,0,0,0,0,0
$GC,2186,0.94,195.4,66.9,13.2,375,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2080,1070,0,0,0,0,0,0
$GC,2321,0.94,195.4,49.3,13.9,400,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2080,1070,0,0,0,0,0,0
$GC,2391,0.94,195.4,39.7,13.6,413,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2080,1070,0,0,0,0,0,0
$GC,2460,0.94,195.4,31.0,11.3,426,2468,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2080,1070,0,0,0,0,0,0
$GC,2531,0.94,195.4,21.9,14.1,439,2539,0.00,2.67,0.00,0.000,4,0.000,0.083,3132,665,1070,0,0,0,0,0,0
$GC,2566,0.94,195.4,16.5,15.8,445,2574,0.00,2.58,0.00,0.000,6,0.000,0.060,3132,2082,1070,0,0,0,0,0,0
$GC,2636,0.94,195.4,8.4,10.4,458,2644,0.00,2.62,0.00,0.000,4,0.000,0.075,3132,3484,1069,0,0,0,0,0,0
$GC,2880,1.30,490.9,4.9,-0.2,504,2943,0.32,2.60,56.33,0.668,2,0.061,0.063,3218,2073,811,0,0,0,0,0,0
$STATE,2944,end climb,SURFACE_DEPTH_REACHED
$STATE,2944,begin surface coast
$FINISH,0.2,1.013666
$STATE,3210,end surface coast,CONTROL_FINISHED_OK
$STATE,3210,begin surface
$SM_CCo,3229,47.55,0.547,1,0,610,310.05
$SM_GC,3.26,0.00,0.00,47.55,0.000,0.000,0.547,392,2070,610,-11.69,-0.54,310.05,0,0,0,0,1,0
$RAFOS_CLK,147
$RAFOS,2,1339543746,23.500000,23.485001,51,48,47,0,0,0,90,1532,490,0,0,0
$RAFOS,1,1339543143,23.333334,23.317499,40,40,40,0,0,0,591,702,1185,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12223.37,120612,222215
$TT8_MAMPS,0.02247,0.02247
$HUMID,42.47
$INTERNAL_PRESSURE,8.91824
$TCM_TEMP,16.70
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,120.1,62.3
$24V_AH,23.6,1.122
$10V_AH,10.5,1.296
$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,29.175,57.500,385.300,47.550,0.000,23.741,28.655,283.439,3.250,0.000,15.214,1257.350,260.057,485.932,1670.075,55.931,33.309,1059.318,0.000,1322.129,960.000,15.042,0.000
$DEVICE_MAMPS,173.655,88.740,719.100,546.975,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,385.569,393.697,989.124,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,318752
$DATA_FILE_SIZE,37008,562
$CAP_FILE_SIZE,68235,0
$CFSIZE,260280320,255864832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1483.9
$GPS,130612,000526,4744.293,-12224.547,9,1.2,9,18.2