version: 66.09
glider: 127
mission: 8
dive: 17
start: 6 13 112 5 36 0
data:
$ID,127
$MISSION,8
$DIVE,17
$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,-102195.62
$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,14
$R_STBD_OVSHOOT,22
$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
$GPS1,130612,052944,4742.868,-12223.344,13,1.7,13,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-69.6
$GPS2,130612,053455,4742.840,-12223.348,10,1.7,15,18.2
$SPEED_LIMITS,0.104,0.245
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.163,0.182
$KALMAN_X,-1350.5,-660.3,-1071.7,4854.3,29.0
$KALMAN_Y,-4245.0,324.0,454.2,3775.1,21.3
$MHEAD_RNG_PITCHd_Wd,300.0,352,-9.1,-6.006
$D_GRID,28
$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,-195.4,0.0,0.0,0,55,0.00,0.00,-37.72,0.000,2,0.000,0.000,388,2093,1623,0,0,0,0,0,0
$GC,57,-0.94,-195.4,3.2,-4.0,5,119,13.73,2.65,-38.15,0.000,4,0.170,0.080,2726,3497,2673,1,0,0,0,0,0
$GC,131,-0.94,-195.4,8.8,-13.8,15,139,0.00,2.62,0.00,0.000,6,0.000,0.060,2726,2081,2673,0,0,0,0,0,0
$GC,202,-0.94,-195.4,20.4,-16.6,28,210,0.00,2.65,0.00,0.000,4,0.000,0.080,2726,682,2673,0,0,0,0,0,0
$STATE,247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,247,begin apogee
$GC,253,-0.38,0.0,28.7,18.4,36,423,0.57,0.00,162.85,0.643,6,0.099,0.000,2842,2080,1874,0,0,0,0,0,0
$STATE,424,end apogee,CONTROL_FINISHED_OK
$STATE,424,begin climb
$GC,425,0.94,195.4,42.0,0.0,59,599,1.42,2.65,162.90,0.626,4,0.083,0.067,3133,3488,1076,0,0,0,0,0,0
$GC,632,0.94,195.4,20.8,14.6,89,640,0.00,2.62,0.00,0.000,6,0.000,0.060,3133,2083,1073,0,0,0,0,0,0
$GC,704,0.94,195.4,10.3,15.4,102,712,0.00,2.70,0.00,0.000,4,0.000,0.080,3133,663,1072,0,0,0,0,0,0
$STATE,769,end climb,SURFACE_DEPTH_REACHED
$STATE,769,begin surface coast
$FINISH,0.2,1.018572
$STATE,801,end surface coast,CONTROL_FINISHED_OK
$STATE,801,begin surface
$SM_CCo,822,89.70,0.560,1,0,611,310.05
$SM_GC,2.01,0.00,0.00,89.70,0.000,0.000,0.560,392,2096,611,-11.70,0.17,310.05,0,0,0,0,1,0
$RAFOS_CLK,24
$RAFOS,1,1339564745,5.333333,5.318056,45,41,41,0,0,0,1333,676,1521,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12225.08,130612,050527
$TT8_MAMPS,0.02247,0.02247
$HUMID,38.65
$INTERNAL_PRESSURE,8.90848
$TCM_TEMP,16.60
$XPDR_PINGS,1
$24V_AH,23.6,1.883
$10V_AH,10.4,1.686
$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,28.325,21.075,325.750,89.700,0.000,27.732,31.809,169.616,0.250,0.000,16.743,251.586,1.376,397.952,583.631,23.376,33.324,647.261,0.000,346.717,0.000,1.302,0.000
$DEVICE_MAMPS,169.830,80.325,643.365,559.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,81.486,122.188,306.474,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,318980
$DATA_FILE_SIZE,7022,120
$CAP_FILE_SIZE,26206,0
$CFSIZE,260280320,255668224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,1,0
$SOUNDSPEED,1484.3
$GPS,130612,055208,4742.802,-12223.475,12,1.1,12,18.2