version: 66.07
glider: 127
mission: 6
dive: 17
start: 4 13 111 11 2 57
data:
$ID,127
$MISSION,6
$DIVE,17
$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,-99648.148
$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,14
$R_STBD_OVSHOOT,19
$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
$GPS1,130411,105114,4742.706,-12224.962,12,1.9,12,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-70.6
$GPS2,130411,110150,4742.793,-12224.916,14,1.8,14,18.2
$SPEED_LIMITS,0.114,0.201
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.053,-0.101
$KALMAN_X,-413.4,-392.1,63.5,-792.1,-77.9
$KALMAN_Y,1937.1,-519.0,128.0,-2189.3,249.3
$MHEAD_RNG_PITCHd_Wd,134.2,225,-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,-32.0,0.0,0.0,0,81,0.00,0.00,-62.03,0.000,6,0.000,0.000,411,1790,3194,0,0,0,0,0,0
$GC,84,-2.24,-68.5,2.0,-1.9,9,109,11.65,2.45,-3.95,0.000,4,0.181,0.096,2387,3118,3342,0,0,0,0,0,0
$GC,225,-2.18,-68.5,29.7,-18.5,34,233,0.00,2.47,0.00,0.000,6,0.000,0.071,2387,1785,3343,0,0,1,0,0,0
$GC,298,-2.08,-68.5,44.8,-23.7,47,306,0.20,2.55,0.00,0.000,4,0.161,0.087,2420,446,3343,0,0,0,0,0,0
$GC,338,-2.01,-68.5,53.7,-22.4,53,345,0.10,2.42,0.00,0.000,6,0.177,0.073,2436,1785,3344,0,0,0,0,0,0
$GC,476,-2.01,-68.5,77.8,-16.0,78,484,0.00,2.47,0.00,0.000,4,0.000,0.073,2436,3118,3344,0,0,0,0,0,0
$GC,574,-2.01,-68.5,93.5,-17.0,95,581,0.00,2.42,0.00,0.000,6,0.000,0.069,2436,1778,3344,0,0,1,0,0,0
$GC,712,-2.01,-68.5,113.8,-15.5,120,719,0.00,2.53,0.00,0.000,4,0.000,0.086,2436,440,3344,0,0,0,0,0,0
$GC,727,-2.01,-68.5,116.1,-16.1,122,735,0.00,2.42,0.00,0.000,6,0.000,0.065,2437,1773,3344,0,0,0,0,0,0
$GC,867,-2.01,-68.5,139.7,-17.5,147,874,0.00,2.47,0.00,0.000,4,0.000,0.076,2436,3118,3344,0,0,0,0,0,0
$GC,885,-2.01,-68.5,143.0,-16.6,150,893,0.00,2.45,0.00,0.000,6,0.000,0.068,2436,1787,3344,0,0,1,0,0,0
$GC,1027,-2.01,-68.5,165.4,-16.7,175,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,1787,3343,0,0,0,0,0,0
$STATE,1115,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1115,begin apogee
$GC,1120,-0.33,0.0,180.4,16.3,191,1185,1.95,0.00,56.88,0.811,6,0.144,0.000,2800,1695,3061,0,0,0,0,0,0
$STATE,1186,end apogee,CONTROL_FINISHED_OK
$STATE,1186,begin climb
$GC,1189,2.24,68.5,183.9,0.0,201,1255,2.72,2.53,56.08,0.799,4,0.093,0.070,3362,3041,2781,0,0,0,0,0,0
$GC,1454,2.18,68.5,157.6,11.3,247,1461,0.00,2.45,0.00,0.000,6,0.000,0.070,3362,1705,2778,0,0,1,0,0,0
$GC,1591,2.11,68.5,141.1,11.9,272,1600,0.12,0.00,0.00,0.000,6,0.176,0.000,3345,1705,2778,0,0,0,0,0,0
$GC,1734,2.07,68.5,126.2,10.6,297,1741,0.00,2.40,0.00,0.000,4,0.000,0.079,3345,3040,2779,0,0,1,0,0,0
$GC,1985,2.07,68.5,96.9,11.9,343,1992,0.00,2.45,0.00,0.000,6,0.000,0.082,3345,1693,2778,0,0,1,0,0,0
$GC,2124,2.03,68.5,81.7,10.5,368,2133,0.12,2.50,0.00,0.000,4,0.175,0.070,3326,3037,2778,0,0,1,0,0,0
$GC,2376,2.03,68.5,57.7,8.3,414,2384,0.00,2.47,0.00,0.000,6,0.000,0.071,3326,1702,2778,0,0,1,0,0,0
$GC,2516,2.03,68.5,47.6,8.2,439,2523,0.00,2.45,0.00,0.000,4,0.000,0.077,3326,3038,2778,0,0,1,0,0,0
$GC,2757,2.05,81.7,33.0,5.8,485,2779,0.00,2.47,11.43,0.678,6,0.000,0.083,3326,1702,2728,0,0,1,0,0,0
$GC,2844,2.05,84.0,26.3,7.6,500,2852,0.00,0.00,3.67,0.461,6,0.000,0.000,3326,1702,2719,0,0,0,0,0,0
$GC,2917,2.06,89.0,20.7,7.2,513,2932,0.00,2.58,5.80,0.581,4,0.000,0.099,3326,362,2698,0,0,1,0,0,0
$GC,3166,2.02,105.3,2.5,5.3,560,3176,0.00,2.42,4.45,0.082,2,0.000,0.069,3326,1703,2684,0,0,0,0,0,0
$STATE,3177,end climb,SURFACE_DEPTH_REACHED
$STATE,3177,begin surface coast
$FINISH,1.5,1.020649
$STATE,3209,end surface coast,CONTROL_FINISHED_OK
$STATE,3209,begin surface
$SM_CCo,3232,119.45,0.633,1,0,1838,300.24
$SM_GC,1.12,0.00,0.00,119.45,0.000,0.000,0.633,408,1781,1838,-11.37,0.03,300.24
$RAFOS_CLK,162
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4722.92,-12218.96,130411,101008
$TT8_MAMPS,0.023219
$HUMID,18.73
$INTERNAL_PRESSURE,9.1645
$TCM_TEMP,14.90
$XPDR_PINGS,16
$24V_AH,23.6,1.752
$10V_AH,10.4,1.343
$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,31.050,49.725,138.300,119.450,0.000,49.699,74.751,313.383,4.000,0.000,15.507,1328.011,397.392,374.371,1738.954,174.853,33.332,870.391,0.000,1312.645,0.000,0.536,0.000
$DEVICE_MAMPS,181.305,99.450,810.900,632.655,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,391.425,383.611,957.426,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322164
$DATA_FILE_SIZE,33615,567
$CAP_FILE_SIZE,66140,0
$CFSIZE,260165632,190885888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,1,0
$SOUNDSPEED,1475.9
$GPS,130411,120005,4742.855,-12224.620,12,1.2,27,18.2