version: 66.07
glider: 127
mission: 6
dive: 11
start: 4 13 111 4 19 38
data:
$ID,127
$MISSION,6
$DIVE,11
$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,-99640.484
$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,20
$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
$GPS1,130411,041126,4742.827,-12223.712,12,1.8,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-73.4
$GPS2,130411,041819,4742.790,-12223.744,14,1.7,14,18.2
$SPEED_LIMITS,0.114,0.241
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.079,0.137
$KALMAN_X,388.2,68.2,-36.7,-492.9,-72.8
$KALMAN_Y,1441.7,190.3,70.8,-2353.9,-262.5
$MHEAD_RNG_PITCHd_Wd,15.7,493,-16.6,-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,15,-0.69,-110.9,0.0,0.0,0,90,0.00,0.00,-72.38,0.000,2,0.000,0.000,408,1772,3507,0,0,0,0,0,0
$GC,93,-0.73,-146.6,3.2,-3.7,10,118,13.60,2.67,-3.03,0.000,4,0.181,0.108,2713,367,3665,0,0,0,0,0,0
$GC,222,-0.84,-146.6,20.5,-7.6,32,230,0.00,2.60,0.00,0.000,6,0.000,0.067,2713,1781,3663,0,0,0,0,0,0
$GC,295,-0.95,-146.6,25.4,-6.4,45,304,0.20,2.62,0.00,0.000,4,0.086,0.075,2670,3178,3663,0,0,0,0,0,0
$GC,386,-1.02,-146.6,32.9,-8.6,61,394,0.00,2.58,0.00,0.000,6,0.000,0.071,2671,1793,3663,0,0,1,0,0,0
$GC,460,-1.07,-146.6,39.0,-8.3,74,468,0.12,2.72,0.00,0.000,4,0.106,0.095,2645,378,3663,0,0,1,0,0,0
$GC,539,-1.07,-146.6,47.0,-10.3,88,547,0.00,2.55,0.00,0.000,6,0.000,0.067,2645,1770,3663,0,0,0,0,0,0
$GC,613,-1.07,-146.6,54.1,-9.2,101,620,0.00,2.62,0.00,0.000,4,0.000,0.079,2645,3186,3663,0,0,0,0,0,0
$GC,685,-1.12,-146.6,61.0,-9.3,114,693,0.00,2.62,0.00,0.000,6,0.000,0.075,2645,1775,3663,0,0,1,0,0,0
$GC,824,-1.12,-146.6,72.9,-8.7,139,831,0.00,2.67,0.00,0.000,4,0.000,0.103,2646,370,3663,0,0,0,0,0,0
$GC,925,-1.12,-146.6,82.4,-9.2,157,932,0.00,2.50,0.00,0.000,6,0.000,0.073,2645,1764,3663,0,0,0,0,0,0
$GC,1064,-1.12,-146.6,94.9,-9.0,182,1072,0.00,2.65,0.00,0.000,4,0.000,0.076,2645,3180,3663,0,0,0,0,0,0
$GC,1111,-1.16,-146.6,99.5,-10.1,190,1119,0.00,2.62,0.00,0.000,6,0.000,0.070,2645,1773,3663,0,0,0,0,0,0
$GC,1253,-1.16,-146.6,112.4,-8.9,215,1260,0.00,2.65,0.00,0.000,4,0.000,0.096,2645,366,3663,0,0,0,0,0,0
$GC,1306,-1.16,-146.6,117.6,-9.7,224,1314,0.00,2.55,0.00,0.000,6,0.000,0.071,2645,1759,3663,0,0,0,0,0,0
$GC,1444,-1.16,-146.6,129.9,-8.6,249,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1760,3663,0,0,0,0,0,0
$GC,1580,-1.16,-146.6,142.5,-8.7,274,1588,0.00,2.65,0.00,0.000,4,0.000,0.091,2645,374,3663,0,0,0,0,0,0
$STATE,1593,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1593,begin apogee
$GC,1600,-0.17,0.0,144.1,9.2,276,1724,0.95,0.00,117.82,0.788,6,0.109,0.000,2834,1708,3063,0,0,0,0,0,0
$STATE,1727,end apogee,CONTROL_FINISHED_OK
$STATE,1727,begin climb
$GC,1729,0.73,146.6,148.5,0.0,294,1862,0.95,2.67,119.88,0.771,4,0.083,0.074,3032,3103,2462,0,0,0,0,0,0
$GC,1869,0.88,183.5,143.0,6.2,314,1911,0.15,2.62,32.00,0.743,6,0.093,0.070,3066,1706,2313,0,0,1,0,0,0
$GC,2047,0.97,184.7,129.6,8.0,344,2056,0.12,0.00,0.00,0.000,6,0.108,0.000,3091,1706,2307,0,0,0,0,0,0
$GC,2194,1.02,184.7,117.6,8.6,369,2201,0.00,2.70,0.00,0.000,4,0.000,0.094,3091,294,2305,0,0,0,0,0,0
$GC,2209,1.06,184.7,116.0,8.6,371,2216,0.00,2.55,0.00,0.000,6,0.000,0.075,3091,1710,2305,0,0,1,0,0,0
$GC,2352,1.10,184.7,103.7,8.7,396,2362,0.12,2.62,0.00,0.000,4,0.104,0.080,3117,3103,2303,0,0,0,0,0,0
$GC,2402,1.10,184.7,98.6,10.4,404,2411,0.00,2.55,0.00,0.000,6,0.000,0.071,3117,1736,2303,0,0,1,0,0,0
$GC,2546,1.10,184.7,83.4,11.4,429,2553,0.00,2.78,0.00,0.000,4,0.000,0.101,3117,292,2303,0,0,0,0,0,0
$GC,2562,1.10,184.7,81.6,11.2,431,2569,0.00,2.60,0.00,0.000,6,0.000,0.065,3117,1733,2303,0,0,1,0,0,0
$GC,2703,1.10,184.7,67.0,10.6,456,2712,0.00,2.58,0.00,0.000,4,0.000,0.076,3116,3107,2302,0,0,0,0,0,0
$GC,2740,1.10,184.7,63.0,10.3,462,2748,0.00,2.50,0.00,0.000,6,0.000,0.072,3117,1765,2302,0,0,1,0,0,0
$GC,2885,1.10,184.7,49.8,9.6,487,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1765,2302,0,0,0,0,0,0
$GC,2957,1.10,184.7,43.3,8.8,500,2966,0.00,2.50,0.00,0.000,4,0.000,0.074,3117,3102,2302,0,0,0,0,0,0
$GC,2994,1.10,184.7,40.1,8.5,506,3002,0.00,2.50,0.00,0.000,6,0.000,0.071,3117,1758,2302,0,0,1,0,0,0
$GC,3068,1.10,184.7,33.6,9.3,519,3076,0.00,2.83,0.00,0.000,4,0.000,0.095,3117,299,2302,0,0,0,0,0,0
$GC,3085,1.10,184.7,31.9,9.2,521,3093,0.00,2.60,0.00,0.000,6,0.000,0.066,3117,1725,2302,0,0,1,0,0,0
$GC,3158,1.10,184.7,25.4,8.3,534,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1725,2302,0,0,0,0,0,0
$GC,3231,1.10,184.7,18.9,8.9,547,3239,0.00,2.78,0.00,0.000,4,0.000,0.093,3117,294,2302,0,0,0,0,0,0
$GC,3247,1.10,184.7,17.3,9.1,549,3255,0.00,2.58,0.00,0.000,6,0.000,0.066,3117,1708,2301,0,0,1,0,0,0
$GC,3320,1.12,199.5,11.6,7.3,562,3344,0.00,2.78,13.43,0.669,4,0.000,0.095,3117,291,2247,0,0,1,0,0,0
$GC,3373,1.12,199.5,7.5,8.1,570,3381,0.00,2.42,0.00,0.000,6,0.000,0.075,3117,1621,2246,0,0,1,0,0,0
$GC,3447,1.24,239.4,2.6,6.1,583,3465,0.15,0.00,11.00,0.083,2,0.097,0.000,3148,1621,2221,0,0,0,0,1,0
$STATE,3466,end climb,SURFACE_DEPTH_REACHED
$STATE,3466,begin surface coast
$FINISH,0.1,1.009802
$STATE,3498,end surface coast,CONTROL_FINISHED_OK
$STATE,3499,begin surface
$SM_CCo,3521,55.10,0.070,0,0,1838,300.24
$SM_GC,0.87,0.00,0.00,55.10,0.000,0.000,0.070,410,1780,1838,-11.37,0.00,300.24
$RAFOS_CLK,176
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12220.67,130411,030345
$TT8_MAMPS,0.02247
$HUMID,18.69
$INTERNAL_PRESSURE,9.1645
$TCM_TEMP,14.90
$XPDR_PINGS,38
$ALTIM_BOTTOM_PING,110.3,42.3
$24V_AH,23.1,1.286
$10V_AH,10.4,0.894
$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,29.225,89.200,294.125,55.100,0.000,24.020,31.530,234.617,10.000,0.000,14.978,1426.253,275.436,487.249,1650.080,180.821,33.313,1084.286,0.000,1373.210,0.000,5.535,0.000
$DEVICE_MAMPS,180.540,107.865,787.950,70.380,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,407.742,403.323,1005.559,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322184
$DATA_FILE_SIZE,33617,591
$CAP_FILE_SIZE,79315,0
$CFSIZE,260165632,191119360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,1,0
$SOUNDSPEED,1475.8
$CURRENT,0.165,223.4,1
$GPS,130411,052019,4742.955,-12223.746,11,1.4,22,18.2