version: 66.09
glider: 127
mission: 8
dive: 26
start: 6 13 112 11 38 7
data:
$ID,127
$MISSION,8
$DIVE,26
$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,-102206.96
$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
$GPS1,130612,112919,4744.383,-12224.122,12,1.9,29,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-69.9
$GPS2,130612,113704,4744.415,-12224.081,11,2.2,30,18.2
$SPEED_LIMITS,0.104,0.245
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.124,-0.211
$KALMAN_X,-505.4,-1880.6,694.1,2552.6,1296.8
$KALMAN_Y,-3699.2,20.0,-1060.4,7957.4,1845.0
$MHEAD_RNG_PITCHd_Wd,192.1,1307,-9.1,-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,-0.94,-195.4,0.0,0.0,0,47,0.00,0.00,-30.35,0.000,2,0.000,0.000,393,2073,1413,0,0,0,0,0,0
$GC,50,-0.94,-195.4,3.1,-5.3,4,116,13.88,0.00,-45.12,0.000,6,0.175,0.000,2725,2073,2670,0,0,0,0,0,0
$GC,181,-0.94,-195.4,18.0,-15.1,25,189,0.00,2.65,0.00,0.000,4,0.000,0.067,2725,3496,2671,0,0,0,0,0,0
$GC,262,-0.94,-195.4,31.5,-16.5,40,270,0.00,2.60,0.00,0.000,6,0.000,0.060,2725,2090,2671,0,0,0,0,0,0
$GC,332,-0.94,-195.4,43.6,-17.8,53,340,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2090,2671,0,0,0,0,0,0
$GC,402,-0.94,-195.4,56.7,-18.2,66,410,0.00,2.62,0.00,0.000,4,0.000,0.067,2725,3487,2671,0,0,0,0,0,0
$GC,423,-0.94,-195.4,60.5,-19.1,69,430,0.00,2.58,0.00,0.000,6,0.000,0.063,2725,2083,2671,0,0,0,0,0,0
$GC,560,-0.94,-195.4,86.2,-19.6,94,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2083,2671,0,0,0,0,0,0
$GC,700,-0.94,-195.4,110.2,-17.1,119,707,0.00,2.62,0.00,0.000,4,0.000,0.080,2725,679,2671,0,0,0,0,0,0
$GC,735,-0.94,-195.4,116.7,-18.0,125,742,0.00,2.53,0.00,0.000,6,0.000,0.063,2725,2090,2671,0,0,0,0,0,0
$GC,872,-0.94,-195.4,139.9,-16.1,150,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2091,2671,0,0,0,0,0,0
$GC,1011,-0.94,-195.4,162.5,-16.3,175,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2091,2671,0,0,0,0,0,0
$STATE,1091,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1091,begin apogee
$GC,1094,-0.38,0.0,175.8,16.4,190,1267,0.57,0.00,164.48,0.688,6,0.099,0.000,2843,2091,1874,0,0,0,0,0,0
$STATE,1268,end apogee,CONTROL_FINISHED_OK
$STATE,1268,begin climb
$GC,1269,0.94,195.4,189.3,0.0,216,1442,1.42,2.70,163.73,0.689,4,0.083,0.068,3133,3488,1077,0,0,0,0,0,0
$GC,1470,0.94,195.4,167.8,15.2,247,1477,0.00,2.62,0.00,0.000,6,0.000,0.063,3134,2078,1074,0,0,0,0,0,0
$GC,1607,0.94,195.4,148.5,12.3,272,1615,0.00,2.67,0.00,0.000,4,0.000,0.082,3133,675,1073,0,0,0,0,0,0
$GC,1660,0.94,195.4,141.1,14.9,281,1667,0.00,2.55,0.00,0.000,6,0.000,0.065,3134,2086,1073,0,0,0,0,0,0
$GC,1797,0.94,195.4,122.8,13.1,306,1805,0.00,2.62,0.00,0.000,4,0.000,0.068,3133,3485,1071,0,0,0,0,0,0
$GC,1898,0.94,195.4,109.5,12.7,324,1906,0.00,2.62,0.00,0.000,6,0.000,0.063,3134,2076,1070,0,0,0,0,0,0
$GC,2037,0.94,195.4,90.2,12.4,349,2044,0.00,2.65,0.00,0.000,4,0.000,0.081,3133,669,1070,0,0,0,0,0,0
$GC,2087,0.94,195.4,83.3,12.8,358,2095,0.00,2.58,0.00,0.000,6,0.000,0.060,3133,2085,1070,0,0,0,0,0,0
$GC,2228,0.94,195.4,65.8,15.6,383,2235,0.00,2.60,0.00,0.000,4,0.000,0.069,3133,3488,1070,0,0,0,0,0,0
$GC,2274,0.94,195.4,59.2,14.4,391,2281,0.00,2.58,0.00,0.000,6,0.000,0.061,3133,2081,1069,0,0,0,0,0,0
$GC,2411,0.94,195.4,40.1,15.4,416,2419,0.00,2.67,0.00,0.000,4,0.000,0.082,3133,671,1069,0,0,0,0,0,0
$GC,2448,0.94,195.4,34.7,14.2,422,2457,0.00,2.55,0.00,0.000,6,0.000,0.060,3133,2076,1069,0,0,0,0,0,0
$GC,2520,0.94,195.4,24.6,13.2,435,2528,0.00,2.65,0.00,0.000,4,0.000,0.069,3133,3492,1069,0,0,0,0,0,0
$GC,2560,0.94,195.4,19.5,13.0,442,2568,0.00,2.60,0.00,0.000,6,0.000,0.062,3133,2090,1069,0,0,0,0,0,0
$GC,2631,0.94,195.4,11.5,10.3,455,2639,0.00,2.62,0.00,0.000,4,0.000,0.068,3133,3495,1069,0,0,0,0,0,0
$GC,2676,0.94,195.4,7.5,8.7,463,2684,0.00,2.62,0.00,0.000,6,0.000,0.063,3133,2076,1068,0,0,0,0,0,0
$GC,2748,0.99,235.8,4.0,5.2,476,2778,0.00,0.00,28.33,0.633,2,0.000,0.000,3133,2076,944,0,0,0,0,0,0
$STATE,2779,end climb,SURFACE_DEPTH_REACHED
$STATE,2779,begin surface coast
$FINISH,0.2,1.000893
$STATE,2857,end surface coast,CONTROL_FINISHED_OK
$STATE,2857,begin surface
$SM_CCo,2876,72.78,0.564,1,0,610,310.05
$SM_GC,2.09,0.00,0.00,72.78,0.000,0.000,0.564,391,2074,610,-11.71,-0.45,310.05,0,0,0,0,1,0
$RAFOS_CLK,134
$RAFOS,0,1339589347,12.166667,12.151944,46,43,41,0,0,0,63,933,1237,0,0,0
$RAFOS,1,1339586346,11.333333,11.318334,50,46,41,0,0,0,64,1162,84,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12223.37,130612,101054
$TT8_MAMPS,0.023219,0.023219
$HUMID,40.98
$INTERNAL_PRESSURE,8.87918
$TCM_TEMP,16.20
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,100.2,50.5
$24V_AH,23.6,2.718
$10V_AH,10.4,2.138
$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,28.500,57.525,356.525,72.775,0.000,29.317,30.706,295.927,1.750,0.000,32.384,1106.271,252.378,498.523,1520.481,60.079,33.316,1022.862,0.000,1145.549,960.000,5.855,0.000
$DEVICE_MAMPS,175.185,81.855,689.265,563.805,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,339.925,328.837,824.813,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319016
$DATA_FILE_SIZE,33628,495
$CAP_FILE_SIZE,65289,0
$CFSIZE,260280320,255332352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1483.7
$GPS,130612,122835,4744.417,-12224.263,13,9.4,32,18.2