version: 66.09
glider: 127
mission: 8
dive: 28
start: 6 13 112 13 36 19
data:
$ID,127
$MISSION,8
$DIVE,28
$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,-102209.48
$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,16
$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
$GPS1,130612,132746,4744.380,-12224.354,11,2.3,30,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-71.4
$GPS2,130612,133514,4744.405,-12224.373,16,2.0,16,18.2
$SPEED_LIMITS,0.104,0.245
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.040,-0.242
$KALMAN_X,-2191.6,441.5,802.5,1445.3,-107.0
$KALMAN_Y,-4703.1,887.2,1574.6,5444.9,811.3
$MHEAD_RNG_PITCHd_Wd,171.2,1076,-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,-30.33,0.000,2,0.000,0.000,393,2091,1415,0,0,0,0,0,0
$GC,50,-0.94,-195.4,3.5,-6.0,4,109,14.05,2.60,-37.62,0.000,4,0.181,0.079,2726,3494,2672,0,0,0,0,0,0
$GC,117,-0.94,-195.4,12.6,-15.8,13,124,0.00,2.60,0.00,0.000,6,0.000,0.059,2726,2085,2672,0,0,0,0,0,0
$GC,187,-0.94,-195.4,26.0,-17.8,26,194,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2085,2673,0,0,0,0,0,0
$GC,257,-0.94,-195.4,37.8,-15.9,39,265,0.00,2.65,0.00,0.000,4,0.000,0.078,2726,680,2672,0,0,0,0,0,0
$GC,298,-0.94,-195.4,44.5,-17.0,46,306,0.00,2.55,0.00,0.000,6,0.000,0.058,2726,2091,2672,0,0,0,0,0,0
$GC,371,-0.94,-195.4,56.5,-17.2,59,378,0.00,2.62,0.00,0.000,4,0.000,0.077,2726,679,2673,0,0,0,0,0,0
$GC,395,-0.94,-195.4,61.1,-17.8,63,402,0.00,2.50,0.00,0.000,6,0.000,0.057,2726,2090,2672,0,0,0,0,0,0
$GC,532,-0.94,-195.4,83.9,-16.9,88,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2092,2673,0,0,0,0,0,0
$GC,673,-0.94,-195.4,108.1,-16.8,113,680,0.00,2.60,0.00,0.000,4,0.000,0.078,2726,679,2673,0,0,0,0,0,0
$GC,699,-0.94,-195.4,112.4,-17.4,117,706,0.00,2.53,0.00,0.000,6,0.000,0.057,2726,2090,2673,0,0,0,0,0,0
$GC,836,-0.94,-195.4,136.1,-17.8,142,844,0.00,2.65,0.00,0.000,4,0.000,0.080,2726,681,2673,0,0,0,0,0,0
$GC,856,-0.94,-195.4,139.7,-18.6,145,863,0.00,2.50,0.00,0.000,6,0.000,0.064,2726,2090,2673,0,0,0,0,0,0
$GC,992,-0.94,-195.4,164.3,-17.2,170,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2092,2673,0,0,0,0,0,0
$STATE,1058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1058,begin apogee
$GC,1061,-0.38,0.0,175.7,16.5,182,1233,0.57,0.00,164.70,0.682,6,0.099,0.000,2844,2091,1874,0,0,0,0,0,0
$STATE,1234,end apogee,CONTROL_FINISHED_OK
$STATE,1234,begin climb
$GC,1235,0.94,195.4,189.8,0.0,208,1407,1.42,2.70,163.30,0.659,4,0.080,0.068,3136,3489,1077,0,0,0,0,0,0
$GC,1429,0.94,195.4,169.6,14.2,238,1438,0.00,2.62,0.00,0.000,6,0.000,0.060,3135,2086,1075,0,0,0,0,0,0
$GC,1569,0.94,195.4,149.0,15.1,263,1576,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2086,1073,0,0,0,0,0,0
$GC,1705,0.94,195.4,127.9,14.9,288,1713,0.00,2.62,0.00,0.000,4,0.000,0.067,3136,3488,1071,0,0,0,0,0,0
$GC,1737,0.94,195.4,123.5,14.6,293,1744,0.00,2.58,0.00,0.000,6,0.000,0.061,3136,2079,1071,0,0,0,0,0,0
$GC,1874,0.94,195.4,104.2,13.9,318,1882,0.00,2.67,0.00,0.000,4,0.000,0.082,3136,668,1071,0,0,0,0,0,0
$GC,1949,0.94,195.4,92.7,16.4,331,1956,0.00,2.55,0.00,0.000,6,0.000,0.060,3136,2085,1071,0,0,0,0,0,0
$GC,2085,0.94,195.4,71.2,15.6,356,2093,0.00,2.62,0.00,0.000,4,0.000,0.068,3136,3485,1070,0,0,0,0,0,0
$GC,2117,0.94,195.4,66.5,15.4,361,2123,0.00,2.60,0.00,0.000,6,0.000,0.062,3136,2073,1070,0,0,0,0,0,0
$GC,2254,0.94,195.4,48.1,13.3,386,2262,0.00,2.65,0.00,0.000,4,0.000,0.068,3136,3483,1069,0,0,0,0,0,0
$GC,2279,0.94,195.4,45.0,12.7,390,2287,0.00,2.60,0.00,0.000,6,0.000,0.061,3136,2083,1069,0,0,0,0,0,0
$GC,2349,0.94,195.4,36.0,12.1,403,2357,0.00,2.67,0.00,0.000,4,0.000,0.082,3136,669,1069,0,0,0,0,0,0
$GC,2400,0.94,195.4,29.8,12.5,412,2408,0.00,2.55,0.00,0.000,6,0.000,0.060,3136,2078,1070,0,0,0,0,0,0
$GC,2471,0.94,195.4,21.5,12.0,425,2479,0.00,2.65,0.00,0.000,4,0.000,0.069,3136,3483,1069,0,0,0,0,0,0
$GC,2507,0.94,195.4,17.2,11.9,431,2515,0.00,2.60,0.00,0.000,6,0.000,0.061,3136,2080,1069,0,0,0,0,0,0
$GC,2579,0.94,195.4,9.6,9.7,444,2587,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2080,1069,0,0,0,0,0,0
$GC,2649,0.94,195.4,4.1,6.7,457,2657,0.00,2.62,0.00,0.000,4,0.000,0.067,3136,3486,1069,0,0,0,0,0,0
$STATE,2689,end climb,SURFACE_DEPTH_REACHED
$STATE,2689,begin surface coast
$FINISH,0.5,1.018609
$STATE,2763,end surface coast,CONTROL_FINISHED_OK
$STATE,2763,begin surface
$SM_CCo,2784,104.05,0.589,1,0,610,310.05
$SM_GC,2.81,0.00,0.00,104.05,0.000,0.000,0.589,391,2085,610,-11.70,-0.11,310.05,0,0,0,0,1,0
$RAFOS_CLK,133
$RAFOS,0,1339596545,14.166667,14.151389,52,47,44,0,0,0,1478,899,1498,0,0,0
$RAFOS,1,1339593543,13.333333,13.317500,51,47,45,0,0,0,1173,372,781,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12223.37,130612,121252
$TT8_MAMPS,0.023968,0.023968
$HUMID,40.94
$INTERNAL_PRESSURE,8.88895
$TCM_TEMP,16.10
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,100.5,51.0
$24V_AH,23.6,2.922
$10V_AH,10.4,2.269
$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,28.750,67.725,328.000,104.050,0.000,30.922,31.287,290.493,1.750,0.000,17.724,1075.619,240.110,519.982,1462.835,62.197,33.310,1029.898,0.000,1106.280,960.000,5.857,0.000
$DEVICE_MAMPS,180.540,81.855,681.615,589.050,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,328.150,317.738,796.743,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33695,478
$CAP_FILE_SIZE,66214,0
$CFSIZE,260280320,255246336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1483.9
$GPS,130612,142536,4744.267,-12224.362,13,1.7,23,18.2