version: 66.09
glider: 127
mission: 8
dive: 22
start: 6 13 112 7 56 13
data:
$ID,127
$MISSION,8
$DIVE,22
$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,-102201.91
$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,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
$GPS1,130612,074743,4742.949,-12223.752,7,1.6,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-71.4
$GPS2,130612,075508,4742.954,-12223.739,14,1.4,14,18.2
$SPEED_LIMITS,0.104,0.245
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.011,0.245
$KALMAN_X,-2347.2,-581.2,-485.0,4701.9,-46.9
$KALMAN_Y,-5906.2,1146.4,-345.8,5620.6,-1133.5
$MHEAD_RNG_PITCHd_Wd,339.2,2194,-9.1,-6.006
$D_GRID,156
$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,-30.35,0.000,2,0.000,0.000,392,2095,1420,0,0,0,0,0,0
$GC,49,-0.94,-195.4,3.4,-6.0,4,108,13.88,0.00,-39.80,0.000,6,0.175,0.000,2724,2095,2673,0,0,0,0,0,0
$GC,172,-0.94,-195.4,17.9,-17.0,24,180,0.00,2.62,0.00,0.000,4,0.000,0.068,2724,3497,2674,0,0,0,0,0,0
$GC,207,-0.94,-195.4,24.5,-18.1,30,215,0.00,2.60,0.00,0.000,6,0.000,0.060,2724,2091,2674,0,0,0,0,0,0
$GC,278,-0.94,-195.4,36.5,-17.7,43,286,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2092,2674,0,0,0,0,0,0
$GC,349,-0.94,-195.4,49.2,-18.3,56,357,0.00,2.62,0.00,0.000,4,0.000,0.067,2724,3498,2674,0,0,0,0,0,0
$GC,384,-0.94,-195.4,55.7,-17.9,62,392,0.00,2.62,0.00,0.000,6,0.000,0.061,2724,2080,2674,0,0,0,0,0,0
$GC,524,-0.94,-195.4,80.4,-17.7,87,531,0.00,2.62,0.00,0.000,4,0.000,0.080,2724,678,2674,0,0,0,0,0,0
$GC,550,-0.94,-195.4,85.0,-18.2,91,557,0.00,2.55,0.00,0.000,6,0.000,0.059,2724,2099,2674,0,0,0,0,0,0
$GC,688,-0.94,-195.4,107.5,-17.1,116,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2101,2674,0,0,0,0,0,0
$GC,829,-0.94,-195.4,129.6,-15.0,141,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2101,2674,0,0,0,0,0,0
$GC,964,-0.94,-195.4,153.1,-16.4,166,972,0.00,2.67,0.00,0.000,4,0.000,0.081,2724,681,2674,0,0,0,0,0,0
$STATE,983,end dive,TARGET_DEPTH_EXCEEDED
$STATE,983,begin apogee
$GC,989,-0.38,0.0,156.4,16.6,169,1159,0.60,0.00,164.12,0.682,6,0.098,0.000,2846,2083,1875,0,0,0,0,0,0
$STATE,1159,end apogee,CONTROL_FINISHED_OK
$STATE,1159,begin climb
$GC,1160,0.94,195.4,168.8,0.0,195,1337,1.40,2.70,163.00,0.677,4,0.084,0.071,3131,3488,1075,0,0,0,0,0,0
$GC,1356,0.94,195.4,149.4,13.5,225,1363,0.00,2.60,0.00,0.000,6,0.000,0.062,3130,2077,1074,0,0,0,0,0,0
$GC,1494,0.94,195.4,131.3,13.4,250,1502,0.00,2.70,0.00,0.000,4,0.000,0.083,3131,664,1073,0,0,0,0,0,0
$GC,1507,0.94,195.4,129.3,13.6,252,1515,0.00,2.58,0.00,0.000,6,0.000,0.060,3131,2076,1073,0,0,0,0,0,0
$GC,1646,0.94,195.4,108.2,15.7,277,1653,0.00,2.62,0.00,0.000,4,0.000,0.069,3130,3487,1071,0,0,0,0,0,0
$GC,1685,0.94,195.4,101.7,16.8,284,1694,0.00,2.62,0.00,0.000,6,0.000,0.062,3130,2079,1070,0,0,0,0,0,0
$GC,1825,0.94,195.4,82.3,13.5,309,1831,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2079,1070,0,0,0,0,0,0
$GC,1961,0.94,195.4,64.4,11.9,334,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2079,1070,0,0,0,0,0,0
$GC,2098,0.94,195.4,47.7,12.1,359,2107,0.00,2.65,0.00,0.000,4,0.000,0.068,3131,3492,1070,0,0,0,0,0,0
$GC,2134,0.94,195.4,43.0,13.0,365,2142,0.00,2.62,0.00,0.000,6,0.000,0.063,3131,2083,1069,0,0,0,0,0,0
$GC,2204,0.94,195.4,33.5,12.8,378,2212,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2083,1069,0,0,0,0,0,0
$GC,2274,0.94,195.4,24.7,12.3,391,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2083,1069,0,0,0,0,0,0
$GC,2344,0.94,195.4,15.6,14.5,404,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2083,1069,0,0,0,0,0,0
$GC,2414,0.94,195.4,6.4,12.1,417,2422,0.00,2.62,0.00,0.000,4,0.000,0.069,3130,3483,1069,0,0,0,0,0,0
$GC,2429,0.94,195.4,4.6,12.0,419,2437,0.00,2.62,0.00,0.000,6,0.000,0.063,3130,2069,1069,0,0,0,0,0,0
$STATE,2447,end climb,SURFACE_DEPTH_REACHED
$STATE,2448,begin surface coast
$FINISH,2.2,1.018286
$STATE,2476,end surface coast,CONTROL_FINISHED_OK
$STATE,2476,begin surface
$SM_CCo,2494,85.75,0.578,1,0,611,310.05
$SM_GC,2.43,0.00,0.00,85.75,0.000,0.000,0.578,392,2066,611,-11.70,-0.68,310.05,0,0,0,0,1,0
$RAFOS_CLK,111
$RAFOS,2,1339576146,8.500000,8.485000,44,41,39,0,0,0,63,1167,821,0,0,0
$RAFOS,1,1339575542,8.333333,8.317223,45,43,42,0,0,0,1442,819,1008,0,0,0
$RAFOS,0,1339574945,8.166667,8.151389,44,40,40,0,0,0,1053,227,1507,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12229.50,130612,070706
$TT8_MAMPS,0.02247,0.02247
$HUMID,40.39
$INTERNAL_PRESSURE,8.86941
$TCM_TEMP,16.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,100.2,50.5
$24V_AH,23.6,2.330
$10V_AH,10.5,1.879
$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,28.550,47.225,327.125,85.750,0.000,29.069,35.428,290.112,1.000,0.000,15.093,950.666,217.599,484.641,1346.569,53.486,33.329,955.685,0.000,988.032,1440.000,5.856,0.000
$DEVICE_MAMPS,175.185,82.620,681.615,577.575,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,292.990,281.976,707.019,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,318960
$DATA_FILE_SIZE,27014,427
$CAP_FILE_SIZE,59258,0
$CFSIZE,260280320,255492096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1483.3
$GPS,130612,084028,4743.267,-12223.810,9,5.5,28,18.2