version: 66.09
glider: 127
mission: 8
dive: 13
start: 6 13 112 3 9 31
data:
$ID,127
$MISSION,8
$DIVE,13
$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,-102190.59
$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,17
$R_STBD_OVSHOOT,23
$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
$GPS1,130612,030125,4743.550,-12223.549,12,1.8,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-68.8
$GPS2,130612,030826,4743.516,-12223.605,14,1.9,14,18.2
$SPEED_LIMITS,0.104,0.245
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.202,-0.138
$KALMAN_X,-2197.0,107.7,173.3,3365.4,-1629.2
$KALMAN_Y,-1757.4,-1894.7,536.5,4675.6,243.8
$MHEAD_RNG_PITCHd_Wd,106.1,964,-9.1,-6.006
$D_GRID,159
$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,-195.4,0.0,0.0,0,41,0.00,0.00,-24.12,0.000,2,0.000,0.000,392,2083,1257,0,0,0,0,0,0
$GC,43,-0.94,-195.4,3.0,-5.4,3,116,13.70,2.62,-50.67,0.000,4,0.170,0.086,2724,671,2672,0,0,0,0,0,0
$GC,204,-0.94,-195.4,26.4,-18.6,30,212,0.00,2.58,0.00,0.000,6,0.000,0.058,2725,2092,2673,0,0,0,0,0,0
$GC,274,-0.94,-195.4,37.5,-15.6,43,281,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2092,2673,0,0,0,0,0,0
$GC,345,-0.94,-195.4,48.5,-15.7,56,352,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2092,2673,0,0,0,0,0,0
$GC,418,-0.94,-195.4,59.8,-16.2,69,424,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2092,2673,0,0,0,0,0,0
$GC,553,-0.94,-195.4,81.1,-14.9,94,561,0.00,2.62,0.00,0.000,4,0.000,0.068,2724,3498,2673,0,0,0,0,0,0
$GC,590,-0.94,-195.4,87.1,-15.9,100,598,0.00,2.60,0.00,0.000,6,0.000,0.061,2725,2094,2673,0,0,0,0,0,0
$GC,732,-0.94,-195.4,110.0,-16.3,125,739,0.00,2.65,0.00,0.000,4,0.000,0.080,2724,673,2673,0,0,0,0,0,0
$GC,749,-0.94,-195.4,113.4,-17.2,128,757,0.00,2.55,0.00,0.000,6,0.000,0.060,2725,2081,2673,0,0,0,0,0,0
$GC,889,-0.94,-195.4,136.6,-17.3,153,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2082,2673,0,0,0,0,0,0
$STATE,1022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1023,begin apogee
$GC,1026,-0.38,0.0,159.0,15.5,178,1200,0.60,0.00,165.45,0.711,6,0.097,0.000,2846,2082,1874,0,0,0,0,0,0
$STATE,1201,end apogee,CONTROL_FINISHED_OK
$STATE,1201,begin climb
$GC,1202,0.94,195.4,169.7,0.0,204,1376,1.40,0.00,164.48,0.690,6,0.083,0.000,3133,2082,1076,0,0,0,0,0,0
$GC,1508,0.94,195.4,130.2,14.0,255,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2083,1073,0,0,0,0,0,0
$GC,1643,0.94,195.4,107.6,15.6,280,1651,0.00,2.65,0.00,0.000,4,0.000,0.069,3133,3492,1071,0,0,0,0,0,0
$GC,1668,0.94,195.4,103.6,15.5,284,1676,0.00,2.65,0.00,0.000,6,0.000,0.063,3133,2079,1070,0,0,0,0,0,0
$GC,1808,0.94,195.4,83.1,14.2,309,1815,0.00,2.67,0.00,0.000,4,0.000,0.082,3133,661,1070,0,0,0,0,0,0
$GC,1833,0.94,195.4,79.2,14.9,313,1840,0.00,2.58,0.00,0.000,6,0.000,0.060,3132,2087,1070,0,0,0,0,0,0
$GC,1971,0.94,195.4,60.3,12.9,338,1979,0.00,2.62,0.00,0.000,4,0.000,0.070,3132,3485,1069,0,0,0,0,0,0
$GC,2002,0.94,195.4,56.1,13.7,343,2010,0.00,2.60,0.00,0.000,6,0.000,0.063,3132,2078,1068,0,0,0,0,0,0
$GC,2136,0.94,195.4,37.5,14.1,368,2144,0.00,2.67,0.00,0.000,4,0.000,0.081,3132,667,1069,0,0,0,0,0,0
$GC,2187,0.94,195.4,29.2,16.2,377,2195,0.00,2.58,0.00,0.000,6,0.000,0.061,3132,2083,1068,0,0,0,0,0,0
$GC,2259,0.94,195.4,19.7,12.8,390,2267,0.00,2.62,0.00,0.000,4,0.000,0.071,3132,3483,1068,0,0,0,0,0,0
$GC,2290,0.94,195.4,15.8,12.8,395,2298,0.00,2.62,0.00,0.000,6,0.000,0.063,3132,2070,1068,0,0,0,0,0,0
$GC,2361,0.94,195.4,7.7,11.0,408,2369,0.00,2.65,0.00,0.000,4,0.000,0.069,3132,3485,1067,0,0,0,0,0,0
$STATE,2421,end climb,SURFACE_DEPTH_REACHED
$STATE,2422,begin surface coast
$FINISH,1.8,1.018822
$STATE,2439,end surface coast,CONTROL_FINISHED_OK
$STATE,2439,begin surface
$SM_CCo,2460,90.93,0.588,2,0,611,310.05
$SM_GC,2.28,0.00,0.00,90.93,0.000,0.000,0.588,394,2081,611,-11.69,-0.25,310.05,0,0,0,0,2,0
$RAFOS_CLK,113
$RAFOS,2,1339558141,3.500000,3.483611,43,41,40,0,0,0,1345,332,318,0,0,0
$RAFOS,1,1339557544,3.333333,3.317778,42,42,41,0,0,0,255,687,1037,0,0,0
$RAFOS,0,1339556995,3.166667,3.165278,50,45,41,0,0,0,188,64,95,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12222.38,130612,020221
$TT8_MAMPS,0.023219,0.023219
$HUMID,41.45
$INTERNAL_PRESSURE,8.87918
$TCM_TEMP,16.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,100.0,50.7
$24V_AH,23.6,1.543
$10V_AH,10.5,1.547
$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,28.500,47.150,329.925,90.925,0.000,27.114,37.226,265.350,0.750,0.000,15.162,937.063,213.229,487.628,1320.565,44.913,33.305,951.168,0.000,980.554,1440.000,5.858,0.000
$DEVICE_MAMPS,169.830,86.445,711.450,587.520,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,289.593,280.954,704.685,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,318988
$DATA_FILE_SIZE,27070,422
$CAP_FILE_SIZE,57211,0
$CFSIZE,260280320,255733760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1483.5
$GPS,130612,035322,4743.250,-12223.304,9,5.4,28,18.2