version: 66.07
glider: 127
mission: 6
dive: 2
start: 4 12 111 17 42 42
data:
$ID,127
$MISSION,6
$DIVE,2
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,100
$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,60
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,150
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51911
$NAV_MODE,2
$FERRY_MAX,30
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,61.083332
$TGT_DEFAULT_LON,5.541666
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$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,-99595.727
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,405
$PITCH_MAX,3720
$C_PITCH,2860
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,152
$ROLL_MAX,3937
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,495
$VBD_MAX,3955
$C_VBD,3307
$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,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-0.72932279
$PRESSURE_SLOPE,9.1981688e-05
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.84
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,39
$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,0.0043796767
$SEABIRD_T_H,0.0006479047
$SEABIRD_T_I,2.756399e-05
$SEABIRD_T_J,3.1320253e-06
$SEABIRD_C_G,-9.9973803
$SEABIRD_C_H,1.1261299
$SEABIRD_C_I,-0.00079766312
$SEABIRD_C_J,0.00013692185
$GPS1,120411,173722,4743.150,-12223.845,9,2.5,28,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-73.3
$GPS2,120411,174136,4743.155,-12223.854,13,1.6,29,18.2
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.144,0.217
$KALMAN_X,-11.5,-11.5,-11.5,-176.1,-38.2
$KALMAN_Y,-34.7,-34.7,-34.7,131.6,-115.6
$MHEAD_RNG_PITCHd_Wd,304.9,1815,-17.5,-10.000
$D_GRID,164
$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,16,-0.76,-146.6,0.0,0.0,0,97,0.00,0.00,-78.82,0.000,2,0.000,0.000,408,1794,3544,0,0,0,0,0,0
$GC,100,-0.76,-146.6,4.0,-6.3,11,126,13.35,2.70,-6.78,0.000,4,0.178,0.113,2688,394,3924,0,0,0,0,0,0
$GC,260,-0.89,-146.6,26.3,-8.0,39,269,0.08,2.58,0.00,0.000,6,0.079,0.067,2667,1803,3925,0,0,0,0,0,0
$GC,335,-0.98,-146.6,32.6,-8.7,52,344,0.00,2.60,0.00,0.000,4,0.000,0.080,2667,3199,3909,0,0,0,0,0,0
$GC,369,-1.09,-146.6,35.5,-8.8,57,377,0.17,2.65,0.00,0.000,6,0.085,0.071,2627,1775,3909,0,0,0,0,0,0
$GC,443,-1.14,-146.6,43.9,-11.9,70,451,0.00,2.62,0.00,0.000,4,0.000,0.092,2627,397,3925,0,0,0,0,0,0
$GC,518,-1.19,-146.6,53.7,-12.7,83,526,0.12,2.47,0.00,0.000,6,0.099,0.078,2600,1776,3909,0,0,0,0,0,0
$GC,660,-1.19,-146.6,73.6,-13.9,108,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1778,3909,0,0,0,0,0,0
$GC,805,-1.19,-146.6,92.6,-13.0,133,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1779,3909,0,0,0,0,0,0
$GC,944,-1.19,-146.6,109.9,-12.2,158,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1779,3909,0,0,0,0,0,0
$GC,1086,-1.19,-146.6,127.0,-12.4,183,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1778,3909,0,0,0,0,0,0
$GC,1225,-1.19,-146.6,144.8,-12.4,208,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1779,3909,0,0,0,0,0,0
$GC,1367,-1.19,-146.6,163.0,-13.4,233,1374,0.00,2.62,0.00,0.000,4,0.000,0.092,2599,387,3925,0,0,0,0,0,0
$STATE,1380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1380,begin apogee
$GC,1387,-0.17,0.0,165.1,14.1,235,1509,1.10,0.00,117.00,0.780,6,0.112,0.000,2818,1806,3307,0,0,0,0,0,0
$STATE,1511,end apogee,CONTROL_FINISHED_OK
$STATE,1511,begin climb
$GC,1513,0.76,146.6,171.0,0.0,253,1640,0.95,2.62,117.30,0.768,4,0.081,0.080,3018,3205,2707,0,0,0,0,0,0
$GC,1680,1.03,271.5,171.5,4.3,278,1791,0.25,2.62,103.18,0.737,6,0.093,0.070,3080,1799,2200,0,0,1,0,0,0
$GC,1920,1.15,301.1,152.9,8.6,318,1956,0.15,2.75,25.40,0.711,4,0.109,0.095,3109,390,2079,0,0,1,0,0,0
$GC,1970,1.20,301.1,147.6,11.0,325,1978,0.00,2.58,0.00,0.000,6,0.000,0.067,3109,1800,2076,0,0,0,0,0,0
$GC,2109,1.26,301.1,134.1,10.3,350,2116,0.12,0.00,0.00,0.000,6,0.109,0.000,3134,1800,2073,0,0,0,0,0,0
$GC,2248,1.26,301.1,117.8,10.5,375,2255,0.00,2.60,0.00,0.000,4,0.000,0.076,3134,3205,2071,0,0,0,0,0,0
$GC,2263,1.26,301.1,115.8,11.6,377,2271,0.00,2.55,0.00,0.000,6,0.000,0.073,3134,1815,2070,0,0,1,0,0,0
$GC,2402,1.26,301.1,99.1,11.8,402,2410,0.00,2.60,0.00,0.000,4,0.000,0.085,3134,3200,2072,0,0,0,0,0,0
$GC,2434,1.30,301.1,95.4,11.4,407,2441,0.00,2.50,0.00,0.000,6,0.000,0.074,3134,1834,2070,0,0,1,0,0,0
$GC,2573,1.30,301.1,80.1,10.9,432,2581,0.00,2.80,0.00,0.000,4,0.000,0.095,3134,389,2070,0,0,0,0,0,0
$GC,2594,1.30,301.1,77.6,11.2,435,2601,0.00,2.60,0.00,0.000,6,0.000,0.068,3134,1820,2070,0,0,0,0,0,0
$GC,2734,1.30,301.1,62.7,10.6,460,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1820,2070,0,0,0,0,0,0
$GC,2873,1.35,301.1,48.2,10.5,485,2882,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1820,2070,0,0,0,0,0,0
$GC,2947,1.35,301.1,40.2,10.8,498,2955,0.00,2.75,0.00,0.000,4,0.000,0.093,3134,389,2070,0,0,0,0,0,0
$GC,2963,1.35,301.1,38.5,10.2,500,2971,0.00,2.62,0.00,0.000,6,0.000,0.076,3134,1823,2070,0,0,0,0,0,0
$GC,3037,1.39,301.1,30.3,10.8,513,3046,0.12,2.75,0.00,0.000,4,0.113,0.092,3160,390,2069,0,0,0,0,0,0
$GC,3059,1.39,301.1,27.4,12.1,516,3067,0.00,2.55,0.00,0.000,6,0.000,0.069,3160,1782,2069,0,0,0,0,0,0
$GC,3133,1.39,301.1,18.5,11.7,529,3142,0.00,2.65,0.00,0.000,4,0.000,0.077,3160,3203,2069,0,0,0,0,0,0
$GC,3187,1.44,301.1,12.5,10.8,538,3195,0.00,2.55,0.00,0.000,6,0.000,0.072,3160,1828,2068,0,0,1,0,0,0
$GC,3261,1.45,304.7,5.0,9.8,551,3269,0.00,2.72,0.00,0.000,4,0.000,0.092,3160,396,2070,0,0,0,0,0,0
$GC,3290,1.48,334.0,2.7,8.7,555,3307,0.00,2.50,11.50,0.074,2,0.000,0.067,3160,1767,2000,0,0,0,0,0,0
$STATE,3307,end climb,SURFACE_DEPTH_REACHED
$STATE,3307,begin surface coast
$FINISH,0.1,1.008838
$STATE,3335,end surface coast,CONTROL_FINISHED_OK
$STATE,3336,begin surface
$SM_CCo,3356,41.47,0.070,0,0,1676,400.08
$SM_GC,0.89,0.00,0.00,41.47,0.000,0.000,0.070,409,1767,1676,-11.28,-0.93,400.08
$RAFOS_CLK,162
$RAFOS,0,1302632833,18.469999,18.453611,45,43,41,0,0,0,189,365,1026,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12225.08,120411,171730
$TT8_MAMPS,0.024717
$HUMID,18.69
$INTERNAL_PRESSURE,9.1645
$TCM_TEMP,14.90
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,90.4,5.2
$24V_AH,23.7,0.422
$10V_AH,10.5,0.184
$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,29.350,68.175,374.375,41.475,0.000,0.000,0.000,0.000,6.500,0.000,30.789,1313.246,279.766,511.208,1303.340,100.304,30.175,1089.708,0.000,1289.486,600.000,8.518,0.000
$DEVICE_MAMPS,178.245,113.220,780.300,69.615,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,387.545,368.139,919.021,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322216
$DATA_FILE_SIZE,33595,562
$CAP_FILE_SIZE,81963,0
$CFSIZE,260165632,191500288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$SOUNDSPEED,1475.9
$CURRENT,0.061, 92.1,1
$GPS,120411,184034,4743.523,-12224.170,9,99.0,28,18.2