version: 66.07
glider: 127
mission: 6
dive: 6
start: 4 12 111 22 28 18
data:
$ID,127
$MISSION,6
$DIVE,6
$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,300
$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,-99634.102
$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,2880
$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,1780
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,21
$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,90
$ALTIM_PING_DELTA,10
$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
$GPS1,120411,222004,4743.824,-12224.785,14,99.0,33,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-73.5
$GPS2,120411,222708,4743.889,-12224.738,14,1.4,14,18.2
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.256,0.043
$KALMAN_X,395.0,230.1,35.3,-1975.6,93.2
$KALMAN_Y,645.9,322.9,14.7,401.2,216.6
$MHEAD_RNG_PITCHd_Wd,73.8,1646,-17.5,-10.000
$D_GRID,174
$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,-0.76,-146.6,0.0,0.0,0,90,0.00,0.00,-72.30,0.000,2,0.000,0.000,409,1785,3540,0,0,0,0,0,0
$GC,93,-0.76,-146.6,3.7,-6.9,10,118,13.57,2.62,-2.30,0.000,4,0.181,0.086,2708,3175,3661,0,0,0,0,0,0
$GC,274,-0.88,-146.6,26.6,-7.1,42,282,0.00,2.60,0.00,0.000,6,0.000,0.071,2709,1776,3662,0,0,1,0,0,0
$GC,347,-1.00,-146.6,32.4,-8.0,55,357,0.22,2.67,0.00,0.000,4,0.088,0.092,2662,370,3670,0,0,0,0,0,0
$GC,438,-1.06,-146.6,41.4,-10.5,71,447,0.00,2.55,0.00,0.000,6,0.000,0.067,2662,1769,3662,0,0,1,0,0,0
$GC,513,-1.13,-146.6,48.6,-9.0,84,522,0.12,2.70,0.00,0.000,4,0.100,0.092,2635,369,3667,0,0,1,0,0,0
$GC,556,-1.13,-146.6,53.5,-11.8,91,564,0.00,2.47,0.00,0.000,6,0.000,0.078,2635,1742,3662,0,0,0,0,0,0
$GC,695,-1.13,-146.6,68.9,-10.6,116,702,0.00,2.70,0.00,0.000,4,0.000,0.077,2635,3182,3662,0,0,0,0,0,0
$GC,721,-1.18,-146.6,71.7,-11.0,120,729,0.00,2.67,0.00,0.000,6,0.000,0.072,2635,1742,3662,0,0,1,0,0,0
$GC,861,-1.18,-146.6,86.0,-10.1,145,867,0.00,2.58,0.00,0.000,4,0.000,0.103,2635,370,3669,0,0,0,0,0,0
$GC,886,-1.18,-146.6,88.7,-10.7,149,893,0.00,2.47,0.00,0.000,6,0.000,0.068,2635,1740,3662,0,0,0,0,0,0
$GC,1027,-1.22,-146.6,103.0,-9.1,174,1034,0.00,2.70,0.00,0.000,4,0.000,0.076,2635,3186,3662,0,0,0,0,0,0
$GC,1070,-1.27,-146.6,107.0,-8.9,181,1078,0.15,2.65,0.00,0.000,6,0.107,0.071,2606,1738,3662,0,0,1,0,0,0
$GC,1206,-1.27,-146.6,122.5,-10.7,206,1214,0.00,2.60,0.00,0.000,4,0.000,0.092,2605,377,3662,0,0,0,0,0,0
$GC,1238,-1.27,-146.6,125.7,-10.9,211,1246,0.00,2.47,0.00,0.000,6,0.000,0.072,2606,1745,3662,0,0,0,0,0,0
$GC,1382,-1.27,-146.6,140.1,-10.5,236,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,1746,3662,0,0,0,0,0,0
$GC,1521,-1.27,-146.6,155.3,-10.7,261,1528,0.00,2.60,0.00,0.000,4,0.000,0.092,2605,370,3662,0,0,0,0,0,0
$GC,1579,-1.27,-146.6,162.3,-12.6,271,1587,0.00,2.45,0.00,0.000,6,0.000,0.077,2605,1733,3662,0,0,0,0,0,0
$STATE,1683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1683,begin apogee
$GC,1689,-0.17,0.0,174.4,10.8,290,1817,1.15,0.00,117.68,0.786,6,0.112,0.000,2834,1696,3061,0,0,0,0,0,0
$STATE,1818,end apogee,CONTROL_FINISHED_OK
$STATE,1818,begin climb
$GC,1820,0.76,146.6,177.7,0.0,309,1951,1.00,0.00,119.55,0.780,6,0.084,0.000,3042,1696,2462,0,0,0,0,0,0
$GC,2081,0.99,221.0,164.4,6.6,352,2151,0.25,2.70,62.92,0.764,4,0.085,0.073,3099,3105,2158,0,0,1,0,0,0
$GC,2208,1.07,228.3,153.2,9.7,372,2223,0.00,2.58,6.72,0.618,6,0.000,0.073,3099,1738,2130,0,0,1,0,0,0
$GC,2356,1.16,246.6,140.1,9.2,398,2378,0.15,0.00,16.95,0.710,6,0.106,0.000,3128,1738,2055,0,0,0,0,0,0
$GC,2511,1.20,246.6,123.4,11.2,425,2518,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1738,2053,0,0,0,0,0,0
$GC,2650,1.25,246.6,108.2,10.3,450,2659,0.10,2.55,0.00,0.000,4,0.121,0.073,3146,3099,2051,0,0,1,0,0,0
$GC,2698,1.25,246.6,102.5,11.9,458,2705,0.00,2.53,0.00,0.000,6,0.000,0.073,3146,1750,2049,0,0,1,0,0,0
$GC,2838,1.25,246.6,86.6,11.3,483,2844,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1750,2049,0,0,0,0,0,0
$GC,2973,1.25,246.6,71.0,11.2,508,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1750,2050,0,0,0,0,0,0
$GC,3110,1.25,246.6,54.9,12.2,533,3118,0.00,2.50,0.00,0.000,4,0.000,0.082,3146,3110,2049,0,0,0,0,0,0
$GC,3149,1.25,246.6,50.3,12.2,539,3155,0.00,2.47,0.00,0.000,6,0.000,0.077,3147,1761,2048,0,0,1,0,0,0
$GC,3285,1.25,246.6,34.7,11.5,564,3293,0.00,2.85,0.00,0.000,4,0.000,0.096,3146,298,2048,0,0,0,0,0,0
$GC,3323,1.25,246.6,30.0,12.1,570,3331,0.00,2.67,0.00,0.000,6,0.000,0.073,3147,1761,2048,0,0,1,0,0,0
$GC,3397,1.29,246.6,21.7,11.1,583,3405,0.00,2.50,0.00,0.000,4,0.000,0.074,3146,3101,2048,0,0,0,0,0,0
$GC,3436,1.35,246.6,17.6,10.4,589,3445,0.08,2.47,0.00,0.000,6,0.109,0.073,3164,1774,2048,0,0,1,0,0,0
$GC,3513,1.35,249.8,9.9,9.9,602,3520,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1774,2048,0,0,0,0,0,0
$GC,3585,1.35,249.8,2.7,10.1,615,3593,0.00,2.47,0.00,0.000,4,0.000,0.073,3164,3100,2048,0,0,0,0,0,0
$STATE,3599,end climb,SURFACE_DEPTH_REACHED
$STATE,3599,begin surface coast
$FINISH,0.1,1.009725
$STATE,3621,end surface coast,CONTROL_FINISHED_OK
$STATE,3621,begin surface
$SM_CCo,3645,32.75,0.509,1,0,1838,300.24
$SM_GC,0.99,0.00,0.00,32.75,0.000,0.000,0.509,411,1777,1838,-11.36,-0.08,300.24
$RAFOS_CLK,184
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12220.67,120411,212150
$TT8_MAMPS,0.02247
$HUMID,19.87
$INTERNAL_PRESSURE,9.1645
$TCM_TEMP,14.70
$XPDR_PINGS,24
$ALTIM_BOTTOM_PING,130.4,58.5
$24V_AH,23.6,0.835
$10V_AH,10.4,0.500
$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,29.950,72.375,323.825,32.750,0.000,25.008,32.519,241.857,7.500,0.000,15.020,1464.741,306.678,472.018,1710.053,174.020,33.312,1074.672,0.000,1419.925,0.000,11.810,0.000
$DEVICE_MAMPS,180.540,139.995,786.420,508.725,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,428.358,403.273,1006.104,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322228
$DATA_FILE_SIZE,36967,621
$CAP_FILE_SIZE,78227,0
$CFSIZE,260165632,191328256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,1,0
$SOUNDSPEED,1476.1
$CURRENT,0.219,354.3,1
$GPS,120411,233038,4744.341,-12224.033,12,1.4,12,18.2