version: 66.07
glider: 127
mission: 6
dive: 7
start: 4 12 111 23 39 41
data:
$ID,127
$MISSION,6
$DIVE,7
$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,-99635.461
$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
$GPS1,120411,233038,4744.341,-12224.033,12,1.4,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-73.9
$GPS2,120411,233831,4744.392,-12224.016,14,1.4,14,18.2
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.185,-0.177
$KALMAN_X,415.4,232.4,31.4,-1091.4,3.7
$KALMAN_Y,1212.6,388.0,100.7,605.3,263.6
$MHEAD_RNG_PITCHd_Wd,130.8,734,-17.5,-10.000
$D_GRID,172
$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,-72.65,0.000,2,0.000,0.000,411,1777,3573,0,0,0,0,0,0
$GC,93,-0.76,-146.6,4.1,-8.1,10,118,13.55,2.65,-1.55,0.000,4,0.181,0.090,2709,3182,3663,0,0,1,0,0,0
$GC,227,-0.91,-146.6,25.0,-7.5,33,236,0.10,2.62,0.00,0.000,6,0.090,0.073,2684,1778,3663,0,0,1,0,0,0
$GC,302,-0.98,-146.6,31.1,-8.4,46,310,0.00,2.70,0.00,0.000,4,0.000,0.100,2685,376,3670,0,0,0,0,0,0
$GC,345,-1.06,-146.6,35.0,-9.5,53,353,0.12,2.53,0.00,0.000,6,0.073,0.066,2652,1754,3663,0,0,0,0,0,0
$GC,420,-1.11,-146.6,42.4,-10.3,66,427,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,1754,3663,0,0,0,0,0,0
$GC,492,-1.16,-146.6,49.7,-9.8,79,502,0.12,2.65,0.00,0.000,4,0.103,0.091,2626,377,3663,0,0,1,0,0,0
$GC,526,-1.16,-146.6,53.8,-12.1,84,534,0.00,2.47,0.00,0.000,6,0.000,0.067,2626,1725,3663,0,0,0,0,0,0
$GC,665,-1.16,-146.6,69.5,-11.4,109,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1725,3663,0,0,0,0,0,0
$GC,799,-1.16,-146.6,84.8,-10.6,134,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1725,3663,0,0,0,0,0,0
$GC,937,-1.16,-146.6,99.9,-10.6,159,948,0.00,2.58,0.00,0.000,4,0.000,0.102,2626,370,3663,0,0,0,0,0,0
$GC,955,-1.16,-146.6,101.9,-10.9,161,962,0.00,2.45,0.00,0.000,6,0.000,0.078,2626,1724,3663,0,0,0,0,0,0
$GC,1093,-1.16,-146.6,115.9,-9.6,186,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1727,3663,0,0,0,0,0,0
$GC,1234,-1.16,-146.6,129.7,-10.5,211,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1727,3663,0,0,0,0,0,0
$GC,1368,-1.16,-146.6,143.7,-10.2,236,1376,0.00,2.72,0.00,0.000,4,0.000,0.078,2626,3182,3663,0,0,0,0,0,0
$GC,1389,-1.16,-146.6,145.8,-10.4,239,1397,0.00,2.67,0.00,0.000,6,0.000,0.073,2626,1724,3663,0,0,1,0,0,0
$GC,1529,-1.16,-146.6,159.3,-10.0,264,1537,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1723,3663,0,0,0,0,0,0
$STATE,1657,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1657,begin apogee
$GC,1662,-0.17,0.0,172.3,10.0,287,1791,1.02,0.00,117.95,0.795,6,0.100,0.000,2835,1696,3061,0,0,0,0,0,0
$STATE,1792,end apogee,CONTROL_FINISHED_OK
$STATE,1792,begin climb
$GC,1794,0.76,146.6,173.3,0.0,306,1926,1.00,2.70,119.82,0.788,4,0.086,0.073,3042,3104,2462,0,0,0,0,0,0
$GC,1952,0.99,246.9,167.8,5.4,329,2048,0.25,2.60,84.47,0.772,6,0.104,0.071,3091,1702,2053,0,0,1,0,0,0
$GC,2182,1.08,247.9,146.3,10.0,367,2189,0.10,0.00,0.00,0.000,6,0.117,0.000,3110,1702,2047,0,0,0,0,0,0
$GC,2321,1.14,247.9,130.6,10.8,392,2329,0.00,2.62,0.00,0.000,4,0.000,0.082,3110,3100,2045,0,0,0,0,0,0
$GC,2364,1.23,247.9,125.9,10.8,399,2372,0.17,2.58,0.00,0.000,6,0.114,0.073,3143,1696,2043,0,0,1,0,0,0
$GC,2505,1.23,247.9,110.2,11.0,424,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1696,2044,0,0,0,0,0,0
$GC,2645,1.23,247.9,94.0,11.5,449,2652,0.00,2.60,0.00,0.000,4,0.000,0.083,3143,3108,2043,0,0,0,0,0,0
$GC,2704,1.27,247.9,87.4,11.7,459,2711,0.00,2.58,0.00,0.000,6,0.000,0.073,3143,1706,2043,0,0,1,0,0,0
$GC,2841,1.27,247.9,72.6,10.4,484,2848,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1706,2042,0,0,0,0,0,0
$GC,2981,1.27,247.9,58.0,11.4,509,2988,0.00,2.60,0.00,0.000,4,0.000,0.080,3143,3107,2042,0,0,0,0,0,0
$GC,3018,1.32,247.9,53.6,12.2,515,3026,0.10,2.58,0.00,0.000,6,0.142,0.076,3162,1715,2042,0,0,1,0,0,0
$GC,3156,1.32,247.9,37.2,10.9,540,3164,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1715,2042,0,0,0,0,0,0
$GC,3230,1.32,247.9,28.1,11.6,553,3237,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1715,2042,0,0,0,0,0,0
$GC,3302,1.32,247.9,20.0,11.7,566,3309,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1715,2042,0,0,0,0,0,0
$GC,3376,1.32,247.9,11.7,11.0,579,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1715,2042,0,0,0,0,0,0
$GC,3450,1.38,256.7,4.4,9.6,592,3466,0.00,2.60,7.90,0.623,4,0.000,0.081,3162,3109,2014,0,0,0,0,0,0
$STATE,3472,end climb,SURFACE_DEPTH_REACHED
$STATE,3472,begin surface coast
$FINISH,0.1,1.020226
$STATE,3494,end surface coast,CONTROL_FINISHED_OK
$STATE,3494,begin surface
$SM_CCo,3519,26.42,0.464,1,0,1838,300.24
$SM_GC,1.42,0.00,0.00,26.42,0.000,0.000,0.464,408,1776,1838,-11.37,-0.11,300.24
$RAFOS_CLK,169
$RAFOS,0,1302654434,0.470000,0.453889,51,44,42,0,0,0,293,1368,97,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12227.78,120411,222257
$TT8_MAMPS,0.02247
$HUMID,19.67
$INTERNAL_PRESSURE,9.1645
$TCM_TEMP,14.80
$XPDR_PINGS,30
$ALTIM_BOTTOM_PING,120.2,59.3
$24V_AH,23.6,0.933
$10V_AH,10.4,0.578
$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,29.725,52.050,330.150,26.425,0.000,22.369,33.967,285.719,8.750,0.000,14.968,1402.905,290.780,471.704,1705.268,173.293,33.328,1057.751,0.000,1366.437,600.000,10.242,0.000
$DEVICE_MAMPS,180.540,174.420,794.835,464.355,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,413.163,387.521,967.843,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322180
$DATA_FILE_SIZE,33654,599
$CAP_FILE_SIZE,74969,0
$CFSIZE,260165632,191291392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,1,0
$SOUNDSPEED,1476.1
$CURRENT,0.145, 19.5,1
$GPS,130411,004006,4744.218,-12223.507,14,1.0,30,18.2