version: 66.09
glider: 127
mission: 8
dive: 24
start: 6 13 112 9 45 8
data:
$ID,127
$MISSION,8
$DIVE,24
$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,-102204.43
$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,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
$GPS1,130612,093644,4743.740,-12223.759,10,1.6,10,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-70.5
$GPS2,130612,094403,4743.812,-12223.736,15,2.1,34,18.2
$SPEED_LIMITS,0.104,0.245
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.140,0.112
$KALMAN_X,-3082.3,-844.2,631.3,4582.1,-534.4
$KALMAN_Y,-5674.4,1011.7,-1425.0,8189.7,-467.6
$MHEAD_RNG_PITCHd_Wd,290.5,1334,-14.6,-6.006
$D_GRID,169
$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,-1.24,-93.5,0.0,0.0,0,48,0.00,0.00,-30.42,0.000,2,0.000,0.000,391,2083,1418,0,0,0,0,0,0
$GC,49,-1.24,-93.5,3.3,-6.1,4,102,13.48,2.62,-30.55,0.000,4,0.175,0.081,2661,3500,2255,0,0,0,0,0,0
$GC,332,-1.24,-93.5,44.5,-18.3,56,340,0.00,2.60,0.00,0.000,6,0.000,0.060,2661,2091,2256,0,0,0,0,0,0
$GC,405,-1.24,-93.5,57.1,-17.4,69,412,0.00,2.60,0.00,0.000,4,0.000,0.067,2661,3501,2256,0,0,0,0,0,0
$GC,538,-1.24,-93.5,82.1,-19.5,93,545,0.00,2.58,0.00,0.000,6,0.000,0.061,2661,2090,2256,0,0,0,0,0,0
$GC,678,-1.24,-93.5,107.8,-18.0,118,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2089,2256,0,0,0,0,0,0
$GC,817,-1.24,-93.5,131.4,-18.8,143,824,0.00,2.65,0.00,0.000,4,0.000,0.080,2661,673,2256,0,0,0,0,0,0
$GC,864,-1.24,-93.5,140.9,-21.4,151,871,0.00,2.55,0.00,0.000,6,0.000,0.060,2661,2098,2255,0,0,0,0,0,0
$GC,1001,-1.24,-93.5,166.4,-17.5,176,1009,0.00,2.67,0.00,0.000,4,0.000,0.080,2661,675,2256,0,0,0,0,0,0
$STATE,1021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1021,begin apogee
$GC,1027,-0.38,0.0,170.0,18.4,179,1114,0.93,0.00,82.22,0.685,6,0.110,0.000,2842,2080,1875,0,0,0,0,0,0
$STATE,1114,end apogee,CONTROL_FINISHED_OK
$STATE,1115,begin climb
$GC,1116,1.24,93.5,175.5,0.0,192,1209,1.75,2.67,81.38,0.679,4,0.085,0.073,3196,3479,1492,0,0,0,0,0,0
$GC,1229,1.24,93.5,163.9,14.5,209,1236,0.00,2.60,0.00,0.000,6,0.000,0.062,3196,2079,1490,0,0,0,0,0,0
$GC,1366,1.24,93.5,145.5,12.8,234,1374,0.00,2.67,0.00,0.000,4,0.000,0.080,3196,668,1487,0,0,0,0,0,0
$GC,1390,1.24,93.5,142.0,14.2,238,1398,0.00,2.58,0.00,0.000,6,0.000,0.059,3196,2082,1487,0,0,0,0,0,0
$GC,1529,1.24,93.5,122.1,11.5,263,1536,0.00,2.62,0.00,0.000,4,0.000,0.074,3196,3491,1485,0,0,0,0,0,0
$GC,1575,1.24,93.5,116.2,13.1,271,1582,0.00,2.60,0.00,0.000,6,0.000,0.061,3196,2077,1485,0,0,0,0,0,0
$GC,1711,1.24,93.5,96.5,14.0,296,1719,0.00,2.67,0.00,0.000,4,0.000,0.081,3197,664,1485,0,0,0,0,0,0
$GC,1757,1.24,93.5,89.8,14.5,304,1765,0.00,2.58,0.00,0.000,6,0.000,0.060,3197,2081,1484,0,0,0,0,0,0
$GC,1896,1.24,93.5,71.7,13.4,329,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2081,1485,0,0,0,0,0,0
$GC,2031,1.24,93.5,52.5,15.2,354,2041,0.00,2.62,0.00,0.000,4,0.000,0.068,3196,3484,1483,0,0,0,0,0,0
$GC,2089,1.24,93.5,44.0,14.8,364,2096,0.00,2.60,0.00,0.000,6,0.000,0.062,3196,2080,1483,0,0,0,0,0,0
$GC,2159,1.24,93.5,34.9,12.4,377,2166,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2079,1483,0,0,0,0,0,0
$GC,2229,1.24,93.5,24.9,16.4,390,2237,0.00,2.62,0.00,0.000,4,0.000,0.069,3196,3486,1482,0,0,0,0,0,0
$GC,2290,1.24,93.5,17.1,12.0,401,2298,0.00,2.60,0.00,0.000,6,0.000,0.063,3196,2080,1482,0,0,0,0,0,0
$GC,2360,1.24,93.5,8.2,9.9,414,2368,0.00,2.67,0.00,0.000,4,0.000,0.081,3197,665,1482,0,0,0,0,0,0
$GC,2604,1.59,380.6,10.4,-6.4,460,2708,0.35,2.55,97.18,0.640,2,0.053,0.062,3289,2076,1025,0,0,0,0,0,0
$STATE,2710,end climb,SURFACE_DEPTH_REACHED
$STATE,2710,begin surface coast
$FINISH,0.2,1.009707
$STATE,2742,end surface coast,CONTROL_FINISHED_OK
$STATE,2742,begin surface
$SM_CCo,2761,89.72,0.576,1,0,612,310.05
$SM_GC,2.52,0.00,0.00,89.72,0.000,0.000,0.576,393,2077,612,-11.69,-0.40,310.05,0,0,0,0,1,0
$RAFOS_CLK,131
$RAFOS,1,1339582746,10.333333,10.318334,47,45,45,0,0,0,545,96,1086,0,0,0
$RAFOS,0,1339582143,10.166667,10.150833,43,43,39,0,0,0,64,1494,1529,0,0,0
$RAFOS,2,1339579743,9.500000,9.484167,43,40,38,0,0,0,896,842,1183,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4707.04,-11616.85,130612,080844
$TT8_MAMPS,0.023219,0.023219
$HUMID,40.39
$INTERNAL_PRESSURE,8.89871
$TCM_TEMP,16.40
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,100.5,50.9
$24V_AH,23.6,2.514
$10V_AH,10.4,2.009
$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,29.925,57.500,260.775,89.725,0.000,30.033,28.930,268.462,2.000,0.000,36.051,1113.925,232.156,427.555,1484.958,57.442,33.302,908.073,0.000,1134.169,1440.000,5.857,0.000
$DEVICE_MAMPS,175.185,81.090,684.675,576.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,330.163,338.896,850.497,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,318992
$DATA_FILE_SIZE,33713,480
$CAP_FILE_SIZE,61163,0
$CFSIZE,260280320,255410176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1484.0
$GPS,130612,103338,4744.200,-12223.831,13,1.6,13,18.2