version: 66.07
glider: 127
mission: 6
dive: 12
start: 4 13 111 5 29 41
data:
$ID,127
$MISSION,6
$DIVE,12
$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,-99641.844
$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,17
$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
$GPS1,130411,052019,4742.955,-12223.746,11,1.4,22,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-73.5
$GPS2,130411,052831,4742.908,-12223.795,19,1.3,36,18.2
$SPEED_LIMITS,0.114,0.241
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.143,0.112
$KALMAN_X,-6.6,-2.4,-10.9,-114.2,-317.2
$KALMAN_Y,1331.1,29.5,-90.1,-1700.8,-363.6
$MHEAD_RNG_PITCHd_Wd,32.2,405,-14.1,-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,-0.65,-146.6,0.0,0.0,0,90,0.00,0.00,-71.78,0.000,2,0.000,0.000,410,1780,3549,0,0,0,0,0,0
$GC,93,-0.65,-146.6,4.0,-5.7,10,118,13.70,2.67,-2.12,0.000,4,0.181,0.093,2731,3187,3663,0,0,0,0,0,0
$GC,258,-0.75,-146.6,23.7,-6.2,39,267,0.00,2.60,0.00,0.000,6,0.000,0.070,2731,1782,3663,0,0,1,0,0,0
$GC,333,-0.92,-146.6,28.5,-6.7,52,341,0.25,2.67,0.00,0.000,4,0.083,0.090,2674,370,3671,0,0,0,0,0,0
$GC,371,-0.96,-146.6,31.7,-8.2,58,379,0.00,2.58,0.00,0.000,6,0.000,0.069,2674,1777,3663,0,0,0,0,0,0
$GC,444,-0.96,-146.6,37.9,-8.3,71,452,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1777,3663,0,0,0,0,0,0
$GC,517,-0.96,-146.6,43.8,-8.1,84,525,0.00,2.62,0.00,0.000,4,0.000,0.078,2674,3178,3663,0,0,0,0,0,0
$GC,564,-0.96,-146.6,48.1,-9.7,92,572,0.00,2.67,0.00,0.000,6,0.000,0.070,2675,1736,3663,0,0,1,0,0,0
$GC,639,-0.96,-146.6,54.4,-7.9,105,646,0.00,2.58,0.00,0.000,4,0.000,0.098,2674,371,3663,0,0,0,0,0,0
$GC,718,-0.96,-146.6,60.8,-8.5,119,726,0.00,2.40,0.00,0.000,6,0.000,0.076,2674,1710,3663,0,0,0,0,0,0
$GC,855,-0.96,-146.6,71.4,-7.3,144,863,0.00,2.75,0.00,0.000,4,0.000,0.085,2674,3181,3663,0,0,0,0,0,0
$GC,913,-1.00,-146.6,75.5,-7.2,154,920,0.00,2.72,0.00,0.000,6,0.000,0.076,2674,1711,3663,0,0,1,0,0,0
$GC,1054,-1.00,-146.6,85.4,-7.9,179,1062,0.00,2.50,0.00,0.000,4,0.000,0.092,2674,371,3663,0,0,0,0,0,0
$GC,1106,-1.00,-146.6,89.7,-8.1,188,1114,0.00,2.45,0.00,0.000,6,0.000,0.073,2674,1713,3663,0,0,0,0,0,0
$GC,1248,-1.00,-146.6,100.7,-7.9,213,1255,0.00,2.72,0.00,0.000,4,0.000,0.085,2674,3189,3663,0,0,0,0,0,0
$GC,1337,-1.05,-146.6,108.2,-8.1,229,1345,0.12,2.62,0.00,0.000,6,0.119,0.070,2650,1738,3663,0,0,1,0,0,0
$GC,1478,-1.05,-146.6,120.7,-8.8,254,1486,0.00,2.60,0.00,0.000,4,0.000,0.091,2650,373,3663,0,0,0,0,0,0
$GC,1565,-1.05,-146.6,128.8,-10.5,270,1573,0.00,2.50,0.00,0.000,6,0.000,0.067,2650,1744,3663,0,0,0,0,0,0
$GC,1711,-1.05,-146.6,142.5,-9.6,295,1719,0.00,2.65,0.00,0.000,4,0.000,0.080,2650,3189,3663,0,0,0,0,0,0
$GC,1749,-1.05,-146.6,146.2,-9.4,301,1756,0.00,2.62,0.00,0.000,6,0.000,0.070,2650,1735,3663,0,0,1,0,0,0
$STATE,1808,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1808,begin apogee
$GC,1814,-0.17,0.0,151.9,8.7,312,1936,0.93,0.00,118.10,0.782,6,0.111,0.000,2834,1696,3062,0,0,0,0,0,0
$STATE,1939,end apogee,CONTROL_FINISHED_OK
$STATE,1939,begin climb
$GC,1941,0.65,146.6,155.4,0.0,330,2076,0.88,2.67,119.85,0.775,4,0.089,0.072,3015,3100,2461,0,0,1,0,0,0
$GC,2103,0.83,217.7,150.3,5.4,353,2172,0.22,2.58,60.45,0.762,6,0.103,0.069,3059,1702,2173,0,0,1,0,0,0
$GC,2308,0.95,275.0,136.1,5.9,387,2364,0.12,2.83,49.55,0.748,4,0.106,0.096,3083,290,1939,0,0,1,0,0,0
$GC,2382,0.95,275.0,130.0,8.8,398,2390,0.00,2.58,0.00,0.000,6,0.000,0.064,3083,1692,1937,0,0,1,0,0,0
$GC,2528,1.00,275.0,116.6,8.5,423,2535,0.00,2.62,0.00,0.000,4,0.000,0.080,3083,3110,1931,0,0,0,0,0,0
$GC,2547,1.00,275.0,114.4,8.8,426,2555,0.00,2.60,0.00,0.000,6,0.000,0.070,3084,1716,1930,0,0,1,0,0,0
$GC,2692,1.02,292.4,102.3,7.4,451,2713,0.00,0.00,15.30,0.699,6,0.000,0.000,3084,1716,1868,0,0,0,0,0,0
$GC,2848,1.06,292.4,89.1,8.4,478,2857,0.12,2.62,0.00,0.000,4,0.106,0.074,3109,3106,1864,0,0,1,0,0,0
$GC,2871,1.06,292.4,86.9,9.1,481,2878,0.00,2.55,0.00,0.000,6,0.000,0.081,3109,1728,1864,0,0,1,0,0,0
$GC,3013,1.06,292.4,72.5,10.4,506,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1728,1864,0,0,0,0,0,0
$GC,3155,1.06,292.4,58.5,9.8,531,3162,0.00,2.75,0.00,0.000,4,0.000,0.103,3109,292,1863,0,0,0,0,0,0
$GC,3174,1.06,292.4,56.4,10.0,534,3182,0.00,2.62,0.00,0.000,6,0.000,0.073,3109,1729,1863,0,0,1,0,0,0
$GC,3315,1.06,292.4,43.5,9.2,559,3323,0.00,2.55,0.00,0.000,4,0.000,0.073,3109,3097,1862,0,0,0,0,0,0
$GC,3331,1.06,292.4,42.0,9.2,561,3339,0.00,2.50,0.00,0.000,6,0.000,0.071,3109,1755,1862,0,0,1,0,0,0
$GC,3404,1.06,292.4,34.9,9.7,574,3412,0.00,2.83,0.00,0.000,4,0.000,0.102,3109,299,1862,0,0,0,0,0,0
$GC,3437,1.06,292.4,31.7,9.9,579,3445,0.00,2.58,0.00,0.000,6,0.000,0.075,3109,1711,1862,0,0,1,0,0,0
$GC,3511,1.06,292.4,24.1,10.2,592,3519,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1711,1862,0,0,0,0,0,0
$GC,3585,1.06,292.4,17.2,9.3,605,3593,0.00,2.75,0.00,0.000,4,0.000,0.095,3109,297,1862,0,0,0,0,0,0
$GC,3602,1.06,292.4,15.7,9.0,607,3610,0.00,2.55,0.00,0.000,6,0.000,0.075,3109,1693,1862,0,0,1,0,0,0
$GC,3675,1.10,292.4,9.2,8.2,620,3683,0.00,2.62,0.00,0.000,4,0.000,0.074,3109,3100,1862,0,0,0,0,0,0
$GC,3692,1.15,292.4,7.8,8.3,622,3700,0.00,2.62,0.00,0.000,6,0.000,0.077,3109,1690,1861,0,0,1,0,0,0
$STATE,3764,end climb,SURFACE_DEPTH_REACHED
$STATE,3764,begin surface coast
$FINISH,0.6,1.019765
$STATE,3794,end surface coast,CONTROL_FINISHED_OK
$STATE,3794,begin surface
$SM_CCo,3815,8.75,0.084,0,0,1838,300.24
$SM_GC,1.98,0.00,0.00,8.75,0.000,0.000,0.084,408,1786,1838,-11.37,0.17,300.24
$RAFOS_CLK,190
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12220.67,130411,040413
$TT8_MAMPS,0.023968
$HUMID,19.87
$INTERNAL_PRESSURE,9.1645
$TCM_TEMP,14.80
$XPDR_PINGS,44
$ALTIM_BOTTOM_PING,130.2,31.4
$24V_AH,23.6,1.387
$10V_AH,10.4,0.978
$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,29.100,94.625,363.250,8.750,0.000,31.292,28.847,264.830,12.000,0.000,37.363,1520.851,303.052,493.948,1817.661,199.820,33.322,1136.603,0.000,1466.724,600.000,8.662,0.000
$DEVICE_MAMPS,180.540,250.920,781.830,84.150,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,441.421,423.821,1056.651,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322208
$DATA_FILE_SIZE,36954,640
$CAP_FILE_SIZE,84871,0
$CFSIZE,260165632,191066112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$SOUNDSPEED,1475.9
$CURRENT,0.131,225.8,1
$GPS,130411,063436,4743.071,-12223.553,12,1.7,28,18.2