version: 66.07
glider: 127
mission: 6
dive: 10
start: 4 13 111 3 17 54
data:
$ID,127
$MISSION,6
$DIVE,10
$D_SURF,2
$D_FLARE,3
$D_TGT,190
$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,79
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$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,-99639.227
$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,14
$R_STBD_OVSHOOT,24
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,110
$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
$GPS1,130411,030836,4743.244,-12223.446,32,0.9,42,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-72.5
$GPS2,130411,031646,4743.222,-12223.450,11,2.5,30,18.2
$SPEED_LIMITS,0.114,0.241
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.035,-0.109
$KALMAN_X,541.4,123.5,-56.0,-319.3,-20.4
$KALMAN_Y,1385.8,357.5,246.7,-1837.1,-288.7
$MHEAD_RNG_PITCHd_Wd,185.3,416,-32.3,-8.017
$D_GRID,190
$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,-1.12,-32.0,0.0,0.0,0,82,0.00,0.00,-60.17,0.000,6,0.000,0.000,408,1775,3192,0,0,0,0,0,0
$GC,85,-1.15,-58.4,2.9,-3.6,9,110,13.02,2.65,-2.47,0.000,4,0.180,0.097,2624,3177,3303,0,0,1,0,0,0
$GC,165,-1.39,-58.4,15.0,-9.2,22,175,0.20,2.60,0.00,0.000,6,0.083,0.072,2581,1786,3303,0,0,1,0,0,0
$GC,240,-1.57,-58.4,23.5,-12.0,35,249,0.20,2.62,0.00,0.000,4,0.093,0.073,2539,3179,3303,0,0,0,0,0,0
$GC,257,-1.73,-58.4,25.6,-12.2,37,266,0.12,2.55,0.00,0.000,6,0.090,0.070,2510,1809,3303,0,0,1,0,0,0
$GC,331,-1.81,-58.4,34.8,-12.0,50,340,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1809,3303,0,0,0,0,0,0
$GC,405,-1.89,-58.4,43.8,-12.4,63,413,0.20,0.00,0.00,0.000,6,0.094,0.000,2469,1809,3303,0,0,0,0,0,0
$GC,478,-1.89,-58.4,54.9,-15.5,76,486,0.00,2.55,0.00,0.000,4,0.000,0.074,2469,3180,3304,0,0,1,0,0,0
$GC,492,-1.89,-58.4,57.1,-15.5,78,501,0.00,2.58,0.00,0.000,6,0.000,0.070,2469,1794,3303,0,0,1,0,0,0
$GC,636,-1.89,-58.4,77.3,-13.5,103,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1794,3303,0,0,0,0,0,0
$GC,776,-1.93,-58.4,95.3,-12.6,128,784,0.00,2.72,0.00,0.000,4,0.000,0.091,2469,371,3308,0,0,0,0,0,0
$GC,798,-1.93,-58.4,98.2,-12.9,131,805,0.00,2.55,0.00,0.000,6,0.000,0.064,2469,1797,3303,0,0,0,0,0,0
$GC,941,-1.93,-58.4,117.5,-13.1,156,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,1797,3303,0,0,0,0,0,0
$GC,1090,-1.93,-58.4,138.2,-14.3,181,1096,0.00,2.58,0.00,0.000,4,0.000,0.076,2469,3191,3303,0,0,0,0,0,0
$STATE,1132,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1132,begin apogee
$GC,1141,-0.17,0.0,144.4,13.8,188,1196,2.00,0.00,48.80,0.778,6,0.144,0.000,2836,1698,3062,0,0,0,0,0,0
$STATE,1196,end apogee,CONTROL_FINISHED_OK
$STATE,1197,begin climb
$GC,1199,1.15,58.4,147.2,0.0,196,1255,1.40,2.78,48.22,0.763,4,0.088,0.092,3123,294,2823,0,0,1,0,0,0
$GC,1315,1.34,68.1,141.8,6.4,214,1332,0.20,2.55,9.38,0.685,6,0.083,0.063,3168,1692,2784,0,0,1,0,0,0
$GC,1466,1.51,71.2,130.5,7.5,240,1476,0.17,0.00,4.15,0.512,6,0.107,0.000,3203,1692,2770,0,0,0,0,0,0
$GC,1613,1.63,71.2,120.0,8.4,265,1621,0.12,2.62,0.00,0.000,4,0.116,0.075,3229,3108,2770,0,0,0,0,0,0
$GC,1821,1.72,71.2,101.4,8.7,302,1830,0.08,2.62,0.00,0.000,6,0.115,0.071,3246,1696,2770,0,0,1,0,0,0
$GC,1967,1.78,71.2,88.6,8.3,327,1974,0.10,2.60,0.00,0.000,4,0.128,0.080,3264,3110,2770,0,0,1,0,0,0
$GC,2028,1.83,71.2,82.6,10.2,337,2035,0.00,2.55,0.00,0.000,6,0.000,0.071,3264,1712,2769,0,0,1,0,0,0
$GC,2170,1.89,71.2,67.8,10.3,362,2179,0.12,2.60,0.00,0.000,4,0.121,0.076,3288,3100,2769,0,0,1,0,0,0
$GC,2308,1.89,71.2,54.5,8.8,386,2317,0.00,2.53,0.00,0.000,6,0.000,0.071,3288,1738,2769,0,0,1,0,0,0
$GC,2448,1.89,71.2,43.4,8.4,411,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,1738,2769,0,0,0,0,0,0
$GC,2521,1.89,71.2,37.1,8.7,424,2529,0.00,2.55,0.00,0.000,4,0.000,0.071,3288,3109,2769,0,0,0,0,0,0
$GC,2761,1.89,73.2,15.3,7.7,469,2770,0.00,2.53,0.00,0.000,6,0.000,0.074,3288,1747,2769,0,0,1,0,0,0
$GC,2836,1.92,95.6,11.6,4.3,482,2867,0.00,2.83,20.77,0.685,4,0.000,0.094,3288,298,2671,0,0,1,0,0,0
$GC,2886,1.93,104.6,8.5,6.5,489,2902,0.00,2.67,8.95,0.623,6,0.000,0.064,3288,1764,2634,0,0,1,0,0,0
$GC,2971,1.99,104.6,2.6,9.0,503,2979,0.10,2.50,0.00,0.000,4,0.129,0.073,3308,3106,2633,0,0,1,0,0,0
$STATE,2986,end climb,SURFACE_DEPTH_REACHED
$STATE,2986,begin surface coast
$FINISH,0.5,1.020275
$STATE,3010,end surface coast,CONTROL_FINISHED_OK
$STATE,3010,begin surface
$SM_CCo,3035,115.80,0.635,1,0,1838,300.24
$SM_GC,1.27,0.00,0.00,115.80,0.000,0.000,0.635,408,1772,1838,-11.37,-0.23,300.24
$RAFOS_CLK,152
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12225.08,130411,010116
$TT8_MAMPS,0.02247
$HUMID,18.73
$INTERNAL_PRESSURE,9.1645
$TCM_TEMP,14.80
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,140.3,13.4
$24V_AH,23.6,1.203
$10V_AH,10.4,0.816
$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,32.325,62.575,140.275,115.800,0.000,25.791,37.391,274.214,6.750,0.000,33.499,1283.510,266.824,401.664,1538.988,169.473,33.311,879.276,0.000,1190.858,0.000,15.812,0.000
$DEVICE_MAMPS,179.775,97.155,778.005,634.950,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,351.443,355.237,885.751,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322192
$DATA_FILE_SIZE,30269,509
$CAP_FILE_SIZE,69424,0
$CFSIZE,260165632,191176704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,1,0
$SOUNDSPEED,1475.7
$CURRENT,0.108,209.8,1
$GPS,130411,041126,4742.827,-12223.712,12,1.8,12,18.2