version: 66.07
glider: 127
mission: 6
dive: 15
start: 4 13 111 9 1 20
data:
$ID,127
$MISSION,6
$DIVE,15
$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,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,150
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51911
$NAV_MODE,1
$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,-99645.617
$T_RSLEEP,3
$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,38
$C_ROLL_DIVE,1780
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,0
$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
$GPS1,130411,085301,4742.584,-12224.820,12,1.2,29,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-73.7
$GPS2,130411,090013,4742.591,-12224.801,11,1.1,16,18.2
$SPEED_LIMITS,0.114,0.201
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.002,-0.114
$KALMAN_X,-99.1,-394.6,-140.2,-757.8,-0.1
$KALMAN_Y,1889.4,-482.2,-278.9,-2146.0,289.0
$MHEAD_RNG_PITCHd_Wd,161.0,203,-32.3,-8.017
$D_GRID,180
$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,-2.19,-32.0,0.0,0.0,0,80,0.00,0.00,-57.28,0.000,6,0.000,0.000,411,1772,3194,0,0,0,0,0,0
$GC,83,-2.23,-60.5,2.8,-3.2,9,107,11.75,2.53,-2.88,0.000,4,0.184,0.087,2388,3109,3311,0,0,0,0,0,0
$GC,341,-2.17,-60.5,53.2,-19.6,57,348,0.00,2.42,0.00,0.000,6,0.000,0.076,2388,1776,3311,0,0,1,0,0,0
$GC,480,-2.11,-60.5,79.0,-18.1,82,488,0.17,2.50,0.00,0.000,4,0.162,0.073,2417,3107,3312,0,0,0,0,0,0
$GC,516,-2.06,-60.5,85.3,-18.8,87,523,0.00,2.42,0.00,0.000,6,0.000,0.081,2416,1779,3312,0,0,1,0,0,0
$GC,652,-2.06,-60.5,112.3,-19.5,112,660,0.00,2.47,0.00,0.000,4,0.000,0.073,2416,3108,3312,0,0,0,0,0,0
$GC,740,-2.06,-60.5,127.9,-16.5,127,747,0.00,2.40,0.00,0.000,6,0.000,0.070,2417,1781,3311,0,0,1,0,0,0
$GC,877,-2.06,-60.5,150.0,-14.5,152,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1780,3312,0,0,0,0,0,0
$GC,1017,-2.06,-60.5,170.5,-14.6,177,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,1780,3312,0,0,0,0,0,0
$GC,1155,-2.00,-97.7,175.8,-0.1,202,1163,0.12,2.53,0.00,0.000,4,0.175,0.088,2437,447,3317,0,0,1,0,0,0
$STATE,1208,end dive,NO_VERTICAL_VELOCITY
$STATE,1208,begin apogee
$GC,1216,-0.33,0.0,175.8,0.0,211,1276,1.95,0.00,50.75,0.804,6,0.149,0.000,2801,1706,3061,0,0,0,0,0,0
$STATE,1276,end apogee,CONTROL_FINISHED_OK
$STATE,1277,begin climb
$GC,1278,2.27,97.7,176.1,0.0,220,1370,2.78,2.50,80.12,0.802,4,0.090,0.070,3367,3039,2662,0,0,0,0,0,0
$GC,1460,2.23,97.7,162.5,16.3,250,1468,0.00,2.50,0.00,0.000,6,0.000,0.072,3367,1702,2658,0,0,1,0,0,0
$GC,1601,2.18,97.7,137.5,18.7,275,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,3366,1702,2657,0,0,0,0,0,0
$GC,1738,2.14,97.7,114.1,15.2,300,1747,0.12,2.47,0.00,0.000,4,0.178,0.070,3349,3030,2657,0,0,1,0,0,0
$GC,1836,2.14,97.7,100.5,13.6,317,1843,0.00,2.42,0.00,0.000,6,0.000,0.074,3349,1698,2657,0,0,1,0,0,0
$GC,1976,2.14,97.7,83.6,13.3,342,1984,0.00,2.47,0.00,0.000,4,0.000,0.077,3349,3035,2656,0,0,0,0,0,0
$GC,2231,2.14,97.7,48.6,10.9,388,2239,0.00,2.47,0.00,0.000,6,0.000,0.071,3349,1702,2656,0,0,1,0,0,0
$GC,2302,2.14,97.7,40.6,11.3,401,2310,0.00,2.45,0.00,0.000,4,0.000,0.069,3349,3027,2656,0,0,0,0,0,0
$GC,2476,2.14,97.7,24.0,9.8,434,2485,0.00,2.45,0.00,0.000,6,0.000,0.081,3349,1706,2655,0,0,1,0,0,0
$GC,2549,2.14,97.7,16.5,10.2,447,2557,0.00,2.55,0.00,0.000,4,0.000,0.089,3348,363,2656,0,0,0,0,0,0
$STATE,2691,end climb,SURFACE_DEPTH_REACHED
$STATE,2691,begin surface coast
$FINISH,1.1,1.020346
$STATE,2699,end surface coast,CONTROL_FINISHED_OK
$STATE,2699,begin surface
$SM_CCo,2725,142.88,0.643,1,0,1838,300.24
$SM_GC,1.35,0.00,0.00,142.88,0.000,0.000,0.643,408,1787,1838,-11.38,0.20,300.24
$RAFOS_CLK,137
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12223.37,130411,070753
$TT8_MAMPS,0.02247
$HUMID,18.53
$INTERNAL_PRESSURE,9.15473
$TCM_TEMP,14.70
$XPDR_PINGS,13
$24V_AH,23.6,1.626
$10V_AH,10.4,1.198
$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,31.050,44.475,130.875,142.875,0.000,22.080,28.752,251.342,3.250,0.000,17.692,1116.656,281.454,384.190,1391.812,148.929,33.327,813.617,0.000,1100.978,0.000,0.536,0.000
$DEVICE_MAMPS,184.365,88.740,804.015,642.600,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,327.861,316.037,789.243,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26929,475
$CAP_FILE_SIZE,55175,0
$CFSIZE,260165632,190984192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,1,1
$SOUNDSPEED,1476.1
$GPS,130411,095028,4742.409,-12224.824,12,2.3,31,18.2