version: 66.07
glider: 127
mission: 6
dive: 13
start: 4 13 111 6 43 48
data:
$ID,127
$MISSION,6
$DIVE,13
$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,280
$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,-99643.102
$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,15
$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,23
$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
$GPS1,130411,063436,4743.071,-12223.553,12,1.7,28,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-71.8
$GPS2,130411,064232,4743.061,-12223.631,15,1.1,15,18.2
$SPEED_LIMITS,0.114,0.241
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.213,-0.089
$KALMAN_X,-338.7,-123.1,-38.2,568.4,-449.2
$KALMAN_Y,1453.3,-170.3,-263.8,-1171.1,-241.7
$MHEAD_RNG_PITCHd_Wd,238.9,1602,-16.2,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.22,-115.6,0.0,0.0,0,87,0.00,0.00,-67.43,0.000,2,0.000,0.000,408,1786,3415,0,0,0,0,0,0
$GC,89,-1.26,-146.6,3.1,-3.8,9,114,12.95,2.75,-5.12,0.000,4,0.182,0.111,2599,367,3662,0,0,1,0,0,0
$GC,295,-1.19,-146.6,35.7,-12.8,46,304,0.08,2.58,0.00,0.000,6,0.125,0.070,2615,1768,3663,0,0,0,0,0,0
$GC,369,-1.19,-146.6,44.4,-11.8,59,377,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,1770,3663,0,0,0,0,0,0
$GC,441,-1.19,-146.6,52.9,-11.4,72,450,0.00,2.67,0.00,0.000,4,0.000,0.089,2615,368,3663,0,0,0,0,0,0
$GC,490,-1.14,-146.6,58.8,-12.5,80,498,0.00,2.55,0.00,0.000,6,0.000,0.067,2615,1759,3663,0,0,0,0,0,0
$GC,634,-1.14,-146.6,75.0,-11.4,105,641,0.00,2.65,0.00,0.000,4,0.000,0.076,2615,3190,3663,0,0,0,0,0,0
$GC,660,-1.14,-146.6,78.1,-11.6,109,667,0.00,2.62,0.00,0.000,6,0.000,0.067,2615,1761,3663,0,0,0,0,0,0
$GC,802,-1.14,-146.6,93.6,-11.0,134,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,1761,3663,0,0,0,0,0,0
$GC,947,-1.14,-146.6,109.2,-10.6,159,957,0.00,2.60,0.00,0.000,4,0.000,0.090,2615,368,3663,0,0,0,0,0,0
$GC,1042,-1.14,-146.6,120.4,-11.6,175,1049,0.00,2.53,0.00,0.000,6,0.000,0.072,2615,1764,3663,0,0,0,0,0,0
$GC,1184,-1.14,-146.6,136.0,-11.0,200,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,1765,3664,0,0,0,0,0,0
$GC,1326,-1.14,-146.6,152.6,-10.5,225,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,1765,3663,0,0,0,0,0,0
$STATE,1397,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1397,begin apogee
$GC,1404,-0.33,0.0,161.4,11.9,238,1532,0.93,0.00,117.95,0.796,6,0.112,0.000,2798,1697,3061,0,0,0,0,0,0
$STATE,1533,end apogee,CONTROL_FINISHED_OK
$STATE,1533,begin climb
$GC,1535,1.26,146.6,166.5,0.0,257,1667,1.70,2.67,119.53,0.787,4,0.089,0.074,3151,3111,2462,0,0,1,0,0,0
$GC,1701,1.18,146.6,156.7,9.5,282,1710,0.00,2.65,0.00,0.000,6,0.000,0.072,3152,1702,2459,0,0,1,0,0,0
$GC,1848,1.11,146.6,141.6,10.3,307,1855,0.15,2.62,0.00,0.000,4,0.146,0.073,3125,3107,2456,0,0,0,0,0,0
$GC,1930,1.11,146.6,133.1,10.3,321,1937,0.00,2.58,0.00,0.000,6,0.000,0.072,3126,1717,2456,0,0,1,0,0,0
$GC,2072,1.11,146.6,119.6,9.4,346,2079,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1717,2455,0,0,0,0,0,0
$GC,2216,1.11,146.6,106.3,8.7,371,2223,0.00,2.75,0.00,0.000,4,0.000,0.095,3125,287,2454,0,0,0,0,0,0
$GC,2299,1.03,146.6,98.1,9.7,385,2306,0.00,2.60,0.00,0.000,6,0.000,0.068,3125,1735,2453,0,0,1,0,0,0
$GC,2441,1.03,146.6,85.8,8.4,410,2449,0.00,2.55,0.00,0.000,4,0.000,0.073,3125,3103,2454,0,0,0,0,0,0
$GC,2615,1.03,146.6,71.0,8.4,440,2624,0.00,2.50,0.00,0.000,6,0.000,0.071,3125,1757,2453,0,0,1,0,0,0
$GC,2760,1.03,146.6,58.9,9.0,465,2767,0.00,2.47,0.00,0.000,4,0.000,0.076,3125,3104,2453,0,0,0,0,0,0
$GC,2786,1.03,146.6,56.3,9.1,469,2793,0.00,2.42,0.00,0.000,6,0.000,0.080,3125,1779,2453,0,0,1,0,0,0
$GC,2927,1.03,146.6,43.5,9.7,494,2935,0.00,2.88,0.00,0.000,4,0.000,0.093,3125,292,2452,0,0,0,0,0,0
$GC,2954,0.99,146.6,40.6,9.9,498,2962,0.12,2.72,0.00,0.000,6,0.117,0.070,3100,1792,2452,0,0,1,0,0,0
$GC,3029,0.99,146.6,34.2,8.1,511,3037,0.00,2.42,0.00,0.000,4,0.000,0.085,3100,3097,2453,0,0,0,0,0,0
$GC,3108,1.02,169.8,28.5,6.9,525,3138,0.00,2.42,19.20,0.694,6,0.000,0.071,3100,1790,2367,0,0,1,0,0,0
$GC,3204,1.02,171.6,21.8,7.9,541,3211,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1790,2366,0,0,0,0,0,0
$GC,3279,1.03,180.9,15.8,7.6,554,3294,0.00,0.00,10.70,0.652,6,0.000,0.000,3100,1790,2323,0,0,0,0,0,0
$GC,3360,1.11,210.0,10.1,6.7,568,3400,0.10,2.97,26.27,0.678,4,0.121,0.094,3119,291,2205,0,0,0,0,0,0
$GC,3440,1.18,263.3,6.2,5.5,580,3493,0.00,2.75,46.55,0.682,6,0.000,0.068,3119,1798,1987,0,0,1,0,0,0
$STATE,3510,end climb,SURFACE_DEPTH_REACHED
$STATE,3510,begin surface coast
$FINISH,0.1,1.009770
$STATE,3551,end surface coast,CONTROL_FINISHED_OK
$STATE,3551,begin surface
$SM_CCo,3571,17.88,0.352,1,0,1919,280.13
$SM_GC,0.99,0.00,0.00,17.88,0.000,0.000,0.352,409,1798,1919,-11.37,0.51,280.13
$RAFOS_CLK,177
$RAFOS,2,1302679636,7.470000,7.454444,42,41,41,0,0,0,645,1104,1484,0,0,0
$RAFOS,1,1302677837,6.970000,6.954722,50,46,43,0,0,0,1904,1771,1724,0,0,0
$RAFOS,0,1302676037,6.470000,6.454722,46,43,41,0,0,0,322,1363,1755,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12220.67,130411,050523
$TT8_MAMPS,0.02247
$HUMID,18.61
$INTERNAL_PRESSURE,9.17427
$TCM_TEMP,14.80
$XPDR_PINGS,24
$ALTIM_BOTTOM_PING,110.1,61.1
$24V_AH,23.6,1.483
$10V_AH,10.4,1.058
$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,28.800,63.075,340.200,17.875,0.000,29.978,28.662,282.298,6.500,0.000,16.174,1416.782,338.240,448.909,1703.721,189.082,33.328,1042.575,0.000,1375.686,1200.000,5.570,0.000
$DEVICE_MAMPS,182.070,110.925,796.365,351.900,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,411.789,399.890,998.127,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322172
$DATA_FILE_SIZE,33692,597
$CAP_FILE_SIZE,74323,0
$CFSIZE,260165632,191033344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,1,0
$SOUNDSPEED,1475.8
$CURRENT,0.060,255.2,1
$GPS,130411,074458,4742.878,-12224.431,9,4.8,28,18.2