version: 66.09
glider: 127
mission: 8
dive: 23
start: 6 13 112 8 49 7
data:
$ID,127
$MISSION,8
$DIVE,23
$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,-102203.16
$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,21
$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
$GPS1,130612,084028,4743.267,-12223.810,9,5.5,28,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-70.9
$GPS2,130612,084804,4743.315,-12223.808,16,5.9,35,18.2
$SPEED_LIMITS,0.104,0.245
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.004,0.245
$KALMAN_X,-3110.5,-509.3,176.4,4644.1,-457.2
$KALMAN_Y,-5810.4,1158.2,-1029.1,6861.6,-938.8
$MHEAD_RNG_PITCHd_Wd,340.8,1643,-9.1,-6.006
$D_GRID,167
$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,-30.33,0.000,2,0.000,0.000,391,2066,1416,0,0,0,0,0,0
$GC,49,-0.94,-195.4,3.5,-6.8,4,116,13.85,2.70,-43.15,0.000,4,0.175,0.084,2724,3494,2673,0,0,0,0,0,0
$GC,230,-0.94,-195.4,26.8,-16.0,35,238,0.00,2.60,0.00,0.000,6,0.000,0.060,2724,2089,2673,0,0,0,0,0,0
$GC,301,-0.94,-195.4,39.0,-18.0,48,309,0.00,2.67,0.00,0.000,4,0.000,0.081,2724,679,2674,0,0,0,0,0,0
$GC,342,-0.94,-195.4,46.7,-19.3,55,350,0.00,2.55,0.00,0.000,6,0.000,0.058,2724,2088,2673,0,0,0,0,0,0
$GC,414,-0.94,-195.4,59.7,-17.4,68,422,0.00,2.62,0.00,0.000,4,0.000,0.067,2724,3496,2674,0,0,0,0,0,0
$GC,457,-0.94,-195.4,67.0,-17.5,75,464,0.00,2.58,0.00,0.000,6,0.000,0.061,2724,2090,2674,0,0,0,0,0,0
$GC,593,-0.94,-195.4,90.6,-17.6,100,601,0.00,2.70,0.00,0.000,4,0.000,0.081,2724,675,2674,0,0,0,0,0,0
$GC,635,-0.94,-195.4,98.3,-19.3,107,642,0.00,2.55,0.00,0.000,6,0.000,0.059,2724,2093,2673,0,0,0,0,0,0
$GC,775,-0.94,-195.4,122.9,-15.9,132,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2096,2674,0,0,0,0,0,0
$GC,914,-0.94,-195.4,144.6,-16.4,157,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2096,2674,0,0,0,0,0,0
$STATE,1049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1049,begin apogee
$GC,1052,-0.38,0.0,167.5,17.2,182,1226,0.60,0.00,164.90,0.701,6,0.099,0.000,2846,2096,1874,0,0,0,0,0,0
$STATE,1226,end apogee,CONTROL_FINISHED_OK
$STATE,1227,begin climb
$GC,1228,0.94,195.4,180.3,0.0,208,1403,1.40,2.67,163.38,0.688,4,0.083,0.069,3133,3487,1076,0,0,0,0,0,0
$GC,1427,0.94,195.4,162.0,14.2,239,1434,0.00,2.62,0.00,0.000,6,0.000,0.063,3132,2080,1073,0,0,0,0,0,0
$GC,1563,0.94,195.4,142.3,14.2,264,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2080,1072,0,0,0,0,0,0
$GC,1702,0.94,195.4,124.3,12.7,289,1709,0.00,2.67,0.00,0.000,4,0.000,0.083,3132,664,1072,0,0,0,0,0,0
$GC,1720,0.94,195.4,121.6,13.5,292,1729,0.00,2.60,0.00,0.000,6,0.000,0.060,3133,2089,1072,0,0,0,0,0,0
$GC,1861,0.94,195.4,103.8,12.3,317,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2089,1070,0,0,0,0,0,0
$GC,1996,0.94,195.4,86.0,13.6,342,2004,0.00,2.62,0.00,0.000,4,0.000,0.070,3133,3489,1070,0,0,0,0,0,0
$GC,2017,0.94,195.4,83.1,14.7,345,2024,0.00,2.60,0.00,0.000,6,0.000,0.067,3132,2080,1070,0,0,0,0,0,0
$GC,2153,0.94,195.4,64.9,12.7,370,2161,0.00,2.62,0.00,0.000,4,0.000,0.068,3133,3480,1070,0,0,0,0,0,0
$GC,2173,0.94,195.4,62.5,12.6,373,2180,0.00,2.60,0.00,0.000,6,0.000,0.063,3133,2075,1069,0,0,0,0,0,0
$GC,2311,0.94,195.4,44.6,13.1,398,2319,0.00,2.67,0.00,0.000,4,0.000,0.083,3133,663,1070,0,0,0,0,0,0
$GC,2326,0.94,195.4,42.2,13.9,400,2334,0.00,2.58,0.00,0.000,6,0.000,0.060,3133,2085,1069,0,0,0,0,0,0
$GC,2400,0.94,195.4,32.8,13.0,413,2408,0.00,2.62,0.00,0.000,4,0.000,0.069,3132,3487,1069,0,0,0,0,0,0
$GC,2435,0.94,195.4,27.9,12.9,419,2443,0.00,2.60,0.00,0.000,6,0.000,0.063,3133,2084,1068,0,0,0,0,0,0
$GC,2506,0.94,195.4,18.3,13.6,432,2514,0.00,2.70,0.00,0.000,4,0.000,0.083,3133,665,1069,0,0,0,0,0,0
$GC,2521,0.94,195.4,16.0,14.7,434,2529,0.00,2.58,0.00,0.000,6,0.000,0.060,3132,2084,1069,0,0,0,0,0,0
$GC,2591,0.94,195.4,7.7,11.0,447,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2083,1069,0,0,0,0,0,0
$STATE,2650,end climb,SURFACE_DEPTH_REACHED
$STATE,2650,begin surface coast
$FINISH,2.3,1.018466
$STATE,2687,end surface coast,CONTROL_FINISHED_OK
$STATE,2687,begin surface
$SM_CCo,2706,95.28,0.584,1,0,611,310.05
$SM_GC,2.14,0.00,0.00,95.28,0.000,0.000,0.584,392,2083,611,-11.70,-0.23,310.05,0,0,0,0,1,0
$RAFOS_CLK,126
$RAFOS,1,1339579141,9.333333,9.316944,45,44,44,0,0,0,205,1152,1184,0,0,0
$RAFOS,0,1339578543,9.166667,9.150833,57,43,42,0,0,0,831,97,1490,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4729.30,-12222.38,130612,070700
$TT8_MAMPS,0.023968,0.023968
$HUMID,40.58
$INTERNAL_PRESSURE,8.86941
$TCM_TEMP,16.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,100.9,51.4
$24V_AH,23.6,2.430
$10V_AH,10.4,1.943
$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,28.550,57.750,328.275,95.275,0.000,25.832,33.524,282.032,1.000,0.000,37.159,1037.448,246.068,502.458,1438.508,56.928,33.300,1001.874,0.000,1071.674,1440.000,5.860,0.000
$DEVICE_MAMPS,175.185,84.150,700.740,583.695,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,319.217,304.941,763.254,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319048
$DATA_FILE_SIZE,30245,465
$CAP_FILE_SIZE,62784,0
$CFSIZE,260280320,255447040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1483.5
$GPS,130612,093644,4743.740,-12223.759,10,1.6,10,18.2