version: 66.07
glider: 127
mission: 6
dive: 3
start: 4 12 111 19 0 26
data:
$ID,127
$MISSION,6
$DIVE,3
$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,-99630.234
$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,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,495
$VBD_MAX,3955
$C_VBD,3062
$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,3
$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
$GPS1,120411,185556,4743.622,-12224.156,15,1.6,15,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-72.4
$GPS2,120411,185919,4743.642,-12224.151,9,1.5,14,18.2
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.230,0.122
$KALMAN_X,13.6,26.1,17.9,-642.4,26.6
$KALMAN_Y,10.8,36.0,19.5,853.9,38.9
$MHEAD_RNG_PITCHd_Wd,276.1,939,-17.5,-10.000
$D_GRID,173
$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,14,begin dive
$GC,16,-0.76,-146.6,0.0,0.0,0,104,0.00,0.00,-85.20,0.000,2,0.000,0.000,409,1767,3473,0,0,0,0,0,0
$GC,107,-0.76,-146.6,4.2,-8.1,12,132,13.32,2.62,-3.60,0.000,4,0.177,0.103,2689,388,3669,0,0,0,0,0,0
$GC,236,-0.86,-146.6,23.2,-8.8,34,244,0.00,2.58,0.00,0.000,6,0.000,0.067,2689,1794,3670,0,0,0,0,0,0
$GC,309,-0.95,-146.6,28.6,-6.9,47,317,0.17,0.00,0.00,0.000,6,0.089,0.000,2651,1795,3670,0,0,0,0,0,0
$GC,383,-0.95,-146.6,35.3,-10.2,60,390,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,1795,3670,0,0,0,0,0,0
$GC,455,-0.99,-146.6,42.8,-10.4,73,464,0.00,2.67,0.00,0.000,4,0.000,0.095,2651,389,3671,0,0,0,0,0,0
$GC,524,-1.04,-146.6,50.4,-11.4,85,532,0.00,2.53,0.00,0.000,6,0.000,0.079,2651,1787,3662,0,0,0,0,0,0
$GC,662,-1.10,-146.6,63.3,-9.2,110,670,0.15,0.00,0.00,0.000,6,0.095,0.000,2619,1790,3662,0,0,0,0,0,0
$GC,801,-1.10,-146.6,78.2,-11.0,135,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,1789,3663,0,0,0,0,0,0
$GC,935,-1.10,-146.6,93.5,-10.6,160,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1790,3662,0,0,0,0,0,0
$GC,1075,-1.10,-146.6,109.2,-11.3,185,1086,0.00,2.62,0.00,0.000,4,0.000,0.081,2619,3214,3663,0,0,0,0,0,0
$GC,1125,-1.10,-146.6,114.9,-10.9,193,1136,0.00,2.62,0.00,0.000,6,0.000,0.083,2619,1766,3663,0,0,1,0,0,0
$GC,1273,-1.10,-146.6,130.4,-10.5,218,1281,0.00,2.60,0.00,0.000,4,0.000,0.092,2618,395,3671,0,0,0,0,0,0
$GC,1316,-1.10,-146.6,135.4,-10.5,225,1324,0.00,2.47,0.00,0.000,6,0.000,0.068,2619,1768,3663,0,0,0,0,0,0
$GC,1454,-1.10,-146.6,149.9,-10.1,250,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1769,3663,0,0,0,0,0,0
$GC,1593,-1.10,-146.6,163.6,-10.0,275,1599,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,1769,3662,0,0,0,0,0,0
$STATE,1684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1685,begin apogee
$GC,1689,-0.17,0.0,173.1,10.2,292,1818,1.00,0.00,117.65,0.781,6,0.110,0.000,2818,1769,3061,0,0,0,0,0,0
$STATE,1818,end apogee,CONTROL_FINISHED_OK
$STATE,1818,begin climb
$GC,1820,0.76,146.6,176.7,0.0,311,1951,0.98,0.00,120.00,0.773,6,0.087,0.000,3020,1769,2462,0,0,0,0,0,0
$GC,2081,1.03,231.6,164.3,6.1,354,2162,0.25,2.62,71.20,0.740,4,0.083,0.076,3079,3156,2115,0,0,0,0,0,0
$GC,2291,1.16,263.7,146.3,8.5,389,2327,0.15,2.60,27.80,0.718,6,0.120,0.074,3108,1747,1985,0,0,1,0,0,0
$GC,2458,1.24,263.7,129.4,10.4,418,2466,0.10,2.72,0.00,0.000,4,0.125,0.097,3126,348,1981,0,0,1,0,0,0
$GC,2493,1.24,263.7,125.3,13.2,423,2500,0.00,2.55,0.00,0.000,6,0.000,0.072,3126,1754,1979,0,0,1,0,0,0
$GC,2629,1.29,263.7,109.7,10.7,448,2637,0.00,2.62,0.00,0.000,4,0.000,0.084,3126,3155,1978,0,0,0,0,0,0
$GC,2663,1.35,263.7,106.0,10.9,453,2671,0.12,2.60,0.00,0.000,6,0.125,0.084,3149,1752,1977,0,0,1,0,0,0
$GC,2803,1.35,263.7,89.8,11.3,478,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1752,1977,0,0,0,0,0,0
$GC,2944,1.35,263.7,73.2,12.1,503,2950,0.00,2.58,0.00,0.000,4,0.000,0.076,3149,3155,1978,0,0,0,0,0,0
$GC,2991,1.39,263.7,67.5,11.7,511,2998,0.00,2.55,0.00,0.000,6,0.000,0.082,3149,1771,1976,0,0,1,0,0,0
$GC,3128,1.39,263.7,52.0,10.9,536,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1770,1977,0,0,0,0,0,0
$GC,3264,1.40,267.4,38.3,9.8,561,3273,0.00,2.58,0.00,0.000,4,0.000,0.084,3149,3146,1977,0,0,0,0,0,0
$GC,3286,1.45,267.4,35.9,10.2,564,3295,0.08,2.55,0.00,0.000,6,0.104,0.073,3166,1781,1976,0,0,1,0,0,0
$GC,3362,1.45,267.4,26.8,13.1,577,3370,0.00,2.78,0.00,0.000,4,0.000,0.099,3166,346,1976,0,0,0,0,0,0
$GC,3426,1.45,267.4,17.7,13.3,588,3434,0.00,2.47,0.00,0.000,6,0.000,0.073,3166,1696,1976,0,0,0,0,0,0
$GC,3498,1.45,267.4,9.5,11.1,601,3507,0.00,2.72,0.00,0.000,4,0.000,0.086,3166,3154,1975,0,0,0,0,0,0
$GC,3522,1.49,267.4,6.9,11.2,604,3530,0.00,2.67,0.00,0.000,6,0.000,0.073,3166,1718,1975,0,0,1,0,0,0
$STATE,3565,end climb,SURFACE_DEPTH_REACHED
$STATE,3565,begin surface coast
$FINISH,0.1,1.021037
$STATE,3582,end surface coast,CONTROL_FINISHED_OK
$STATE,3583,begin surface
$SM_CCo,3604,73.82,0.592,1,0,1430,400.08
$SM_GC,1.00,0.00,0.00,73.82,0.000,0.000,0.592,410,1802,1430,-11.27,0.06,400.08
$RAFOS_CLK,177
$RAFOS,2,1302636435,19.469999,19.454166,45,44,43,0,0,0,63,94,728,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4729.30,-12252.58,120411,181854
$TT8_MAMPS,0.023968
$HUMID,19.32
$INTERNAL_PRESSURE,9.14497
$TCM_TEMP,14.80
$XPDR_PINGS,28
$ALTIM_BOTTOM_PING,130.4,58.4
$24V_AH,23.7,0.539
$10V_AH,10.4,0.268
$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,29.275,57.500,336.650,73.825,0.000,0.000,0.000,0.000,10.000,0.000,15.583,1435.726,298.548,530.069,1397.456,113.119,31.405,1130.525,0.000,1394.654,1200.000,21.034,0.000
$DEVICE_MAMPS,177.480,103.275,781.065,592.110,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,423.529,396.028,987.994,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37007,614
$CAP_FILE_SIZE,85995,0
$CFSIZE,260165632,191451136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,1,0
$SOUNDSPEED,1476.1
$CURRENT,0.121, 49.8,1
$GPS,120411,200304,4743.999,-12224.543,12,2.1,31,18.2