version: 66.09
glider: 127
mission: 8
dive: 10
start: 6 13 112 0 14 7
data:
$ID,127
$MISSION,8
$DIVE,10
$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,-102186.8
$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,16
$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
$GPS1,130612,000526,4744.293,-12224.547,9,1.2,9,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-71.8
$GPS2,130612,001302,4744.238,-12224.518,14,1.1,14,18.2
$SPEED_LIMITS,0.104,0.245
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.149,-0.170
$KALMAN_X,213.3,-333.3,188.6,248.4,398.0
$KALMAN_Y,-2919.1,-1648.4,296.0,7163.3,-1302.4
$MHEAD_RNG_PITCHd_Wd,120.5,2620,-10.4,-6.006
$D_GRID,175
$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,-1.00,-160.9,0.0,0.0,0,40,0.00,0.00,-23.35,0.000,2,0.000,0.000,393,2071,1238,0,0,0,0,0,0
$GC,42,-1.00,-160.9,3.0,-6.4,3,104,13.70,2.60,-40.75,0.000,4,0.173,0.086,2712,669,2531,0,0,0,0,0,0
$GC,337,-1.00,-160.9,50.4,-19.2,56,345,0.00,2.58,0.00,0.000,6,0.000,0.058,2712,2095,2532,0,0,0,0,0,0
$GC,476,-1.00,-160.9,74.2,-17.0,81,482,0.00,2.65,0.00,0.000,4,0.000,0.078,2712,670,2532,0,0,0,0,0,0
$GC,522,-1.00,-160.9,82.7,-19.6,89,528,0.00,2.55,0.00,0.000,6,0.000,0.067,2712,2091,2532,0,0,0,0,0,0
$GC,660,-1.00,-160.9,109.5,-19.6,114,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2093,2532,0,0,0,0,0,0
$GC,799,-1.00,-160.9,135.6,-17.9,139,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2093,2532,0,0,0,0,0,0
$GC,936,-1.00,-160.9,161.3,-17.9,164,944,0.00,2.60,0.00,0.000,4,0.000,0.070,2712,3490,2533,0,0,0,0,0,0
$GC,957,-1.00,-160.9,164.8,-17.9,167,964,0.00,2.58,0.00,0.000,6,0.000,0.063,2712,2082,2532,0,0,0,0,0,0
$STATE,1023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1023,begin apogee
$GC,1027,-0.38,0.0,175.6,15.1,179,1170,0.65,0.00,137.45,0.720,6,0.100,0.000,2844,2082,1875,0,0,0,0,0,0
$STATE,1170,end apogee,CONTROL_FINISHED_OK
$STATE,1171,begin climb
$GC,1172,1.00,160.9,185.6,0.0,201,1314,1.48,0.00,136.02,0.701,6,0.083,0.000,3145,2081,1219,0,0,0,0,0,0
$GC,1445,1.00,160.9,151.9,14.8,247,1452,0.00,2.62,0.00,0.000,4,0.000,0.073,3145,3492,1212,0,0,0,0,0,0
$GC,1485,1.00,160.9,145.3,16.8,254,1493,0.00,2.65,0.00,0.000,6,0.000,0.064,3145,2077,1211,0,0,0,0,0,0
$GC,1625,1.00,160.9,123.4,15.1,279,1632,0.00,2.62,0.00,0.000,4,0.000,0.068,3145,3490,1210,0,0,0,0,0,0
$GC,1683,1.00,160.9,114.5,15.5,289,1690,0.00,2.62,0.00,0.000,6,0.000,0.064,3145,2073,1209,0,0,0,0,0,0
$GC,1820,1.00,160.9,97.2,11.5,314,1828,0.00,2.67,0.00,0.000,4,0.000,0.083,3145,669,1209,0,0,0,0,0,0
$GC,1917,1.00,160.9,83.8,15.1,331,1924,0.00,2.55,0.00,0.000,6,0.000,0.064,3145,2087,1209,0,0,0,0,0,0
$GC,2055,1.00,160.9,65.1,13.7,356,2063,0.00,2.62,0.00,0.000,4,0.000,0.070,3145,3488,1209,0,0,0,0,0,0
$GC,2090,1.00,160.9,59.8,14.9,362,2098,0.00,2.62,0.00,0.000,6,0.000,0.063,3145,2077,1209,0,0,0,0,0,0
$GC,2228,1.00,160.9,41.6,13.6,387,2235,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2077,1209,0,0,0,0,0,0
$GC,2298,1.00,160.9,32.2,13.3,400,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2077,1209,0,0,0,0,0,0
$GC,2369,1.00,160.9,22.4,13.7,413,2377,0.00,2.62,0.00,0.000,4,0.000,0.070,3146,3480,1209,0,0,0,0,0,0
$GC,2410,1.00,160.9,17.4,12.3,420,2418,0.00,2.60,0.00,0.000,6,0.000,0.063,3145,2078,1208,0,0,0,0,0,0
$GC,2482,1.00,160.9,9.4,10.1,433,2490,0.00,2.67,0.00,0.000,4,0.000,0.083,3145,669,1208,0,0,0,0,0,0
$GC,2730,1.27,383.9,6.5,0.4,479,2787,0.28,2.55,50.65,0.659,2,0.062,0.060,3211,2080,979,0,0,0,0,0,0
$FREEZE,6.02,13.045,-1.365,0,1,0
$STATE,2789,end climb,NO_VERTICAL_VELOCITY
$STATE,2789,begin surface
$SM_CCo,2791,96.75,0.660,0,0,495,338.51
$SM_GC,2.82,13.18,0.00,0.00,0.057,0.000,0.000,392,2080,489,-11.66,-0.28,339.98,0,0,0,0,0,0
$RAFOS_CLK,132
$RAFOS,2,1339547345,0.500000,0.484722,43,43,42,0,0,0,96,893,64,0,0,0
$RAFOS,1,1339546741,0.333333,0.316944,51,46,44,0,0,0,336,1015,578,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12220.67,120612,232352
$TT8_MAMPS,0.02247,0.02247
$HUMID,41.45
$INTERNAL_PRESSURE,8.88895
$TCM_TEMP,16.50
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,100.7,50.9
$24V_AH,23.6,1.226
$10V_AH,10.5,1.362
$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,29.275,47.000,324.125,96.750,0.000,31.500,30.358,299.791,1.250,0.000,14.962,1120.614,327.162,466.676,1500.957,55.124,33.300,958.200,0.000,1136.839,960.000,5.858,0.000
$DEVICE_MAMPS,172.890,86.445,719.865,660.195,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,333.673,332.874,835.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319072
$DATA_FILE_SIZE,33729,486
$CAP_FILE_SIZE,61327,0
$CFSIZE,260280320,255832064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1484.3
$GPS,130612,010456,4744.132,-12224.196,13,1.6,13,18.2