version: 66.07
glider: 127
mission: 6
dive: 18
start: 4 13 111 12 8 28
data:
$ID,127
$MISSION,6
$DIVE,18
$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,-99649.414
$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,20
$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
$GPS1,130411,120005,4742.855,-12224.620,12,1.2,27,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-72.4
$GPS2,130411,120720,4742.923,-12224.567,13,1.2,13,18.2
$SPEED_LIMITS,0.114,0.201
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.074,-0.187
$KALMAN_X,-144.8,-481.4,94.2,-572.1,104.3
$KALMAN_Y,2709.3,-685.4,240.6,-2674.3,516.4
$MHEAD_RNG_PITCHd_Wd,183.3,505,-17.8,-8.017
$D_GRID,179
$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,-1.31,-97.7,0.0,0.0,0,88,0.00,0.00,-68.93,0.000,6,0.000,0.000,408,1782,3461,0,0,0,0,0,0
$GC,90,-1.31,-97.7,4.0,-5.1,10,114,12.95,2.47,0.00,0.000,4,0.184,0.073,2588,3109,3465,0,0,1,0,0,0
$GC,147,-1.18,-97.7,18.5,-17.9,19,156,0.12,2.47,0.00,0.000,6,0.133,0.073,2614,1786,3465,0,0,1,0,0,0
$GC,221,-1.13,-97.7,27.8,-11.9,32,228,0.00,2.58,0.00,0.000,4,0.000,0.090,2614,439,3465,0,0,0,0,0,0
$GC,238,-1.07,-97.7,30.0,-11.5,34,246,0.12,2.45,0.00,0.000,6,0.124,0.070,2639,1778,3465,0,0,0,0,0,0
$GC,309,-1.07,-97.7,38.1,-10.3,47,317,0.00,2.55,0.00,0.000,4,0.000,0.095,2639,444,3464,0,0,0,0,0,0
$GC,342,-1.07,-97.7,41.6,-11.5,52,349,0.00,2.45,0.00,0.000,6,0.000,0.070,2639,1780,3465,0,0,0,0,0,0
$GC,413,-1.07,-97.7,49.9,-11.5,65,420,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,1780,3465,0,0,0,0,0,0
$GC,485,-1.07,-97.7,57.4,-9.6,78,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,1780,3465,0,0,0,0,0,0
$GC,625,-1.07,-97.7,70.1,-9.1,103,632,0.00,2.47,0.00,0.000,4,0.000,0.076,2639,3118,3465,0,0,0,0,0,0
$GC,661,-1.07,-97.7,73.6,-9.5,109,668,0.00,2.42,0.00,0.000,6,0.000,0.076,2639,1781,3465,0,0,1,0,0,0
$GC,800,-1.07,-97.7,86.8,-9.1,134,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,1781,3465,0,0,0,0,0,0
$GC,940,-1.07,-97.7,98.5,-7.8,159,947,0.00,2.50,0.00,0.000,4,0.000,0.089,2639,438,3465,0,0,0,0,0,0
$GC,976,-1.07,-97.7,101.6,-8.6,165,985,0.00,2.42,0.00,0.000,6,0.000,0.076,2639,1784,3465,0,0,0,0,0,0
$GC,1117,-1.07,-97.7,112.5,-7.3,190,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,1784,3465,0,0,0,0,0,0
$GC,1256,-1.07,-97.7,124.3,-9.6,215,1263,0.00,2.50,0.00,0.000,4,0.000,0.087,2639,440,3465,0,0,0,0,0,0
$GC,1270,-1.07,-97.7,125.7,-9.3,217,1277,0.00,2.42,0.00,0.000,6,0.000,0.070,2639,1786,3465,0,0,0,0,0,0
$GC,1408,-1.07,-97.7,138.9,-10.6,242,1416,0.00,2.55,0.00,0.000,4,0.000,0.087,2639,441,3465,0,0,0,0,0,0
$GC,1422,-1.07,-97.7,140.4,-10.2,244,1430,0.00,2.42,0.00,0.000,6,0.000,0.065,2639,1776,3465,0,0,0,0,0,0
$GC,1563,-1.07,-97.7,153.8,-9.9,269,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,1776,3465,0,0,0,0,0,0
$GC,1700,-1.07,-97.7,167.1,-9.4,294,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,1776,3465,0,0,0,0,0,0
$STATE,1831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1831,begin apogee
$GC,1837,-0.33,0.0,179.0,9.1,318,1923,0.82,0.00,79.68,0.813,6,0.115,0.000,2802,1696,3062,0,0,0,0,0,0
$STATE,1923,end apogee,CONTROL_FINISHED_OK
$STATE,1923,begin climb
$GC,1925,1.31,97.7,182.2,0.0,331,2017,1.73,2.55,80.12,0.807,4,0.090,0.071,3162,3035,2661,0,0,0,0,0,0
$GC,2065,1.23,97.7,174.6,8.6,353,2072,0.00,2.45,0.00,0.000,6,0.000,0.070,3162,1696,2659,0,0,1,0,0,0
$GC,2205,1.15,97.7,162.9,8.4,378,2214,0.17,2.50,0.00,0.000,4,0.143,0.070,3134,3028,2658,0,0,0,0,0,0
$GC,2293,1.16,105.9,156.2,7.6,393,2308,0.00,2.45,7.12,0.659,6,0.000,0.070,3134,1697,2630,0,0,1,0,0,0
$GC,2441,1.19,128.5,145.7,6.8,419,2468,0.00,2.50,20.52,0.752,4,0.000,0.071,3133,3034,2537,0,0,0,0,0,0
$GC,2515,1.20,135.6,140.4,7.6,431,2529,0.00,2.45,7.45,0.655,6,0.000,0.070,3133,1696,2509,0,0,1,0,0,0
$GC,2661,1.20,135.6,126.9,9.3,457,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1696,2506,0,0,0,0,0,0
$GC,2797,1.20,135.6,114.1,8.7,482,2804,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1696,2506,0,0,0,0,0,0
$GC,2935,1.20,135.6,101.9,9.7,507,2942,0.00,2.45,0.00,0.000,4,0.000,0.076,3133,3039,2506,0,0,0,0,0,0
$GC,3091,1.20,135.6,86.0,10.5,535,3098,0.00,2.47,0.00,0.000,6,0.000,0.071,3133,1694,2505,0,0,1,0,0,0
$GC,3230,1.20,135.6,73.0,8.6,560,3238,0.00,2.55,0.00,0.000,4,0.000,0.102,3133,364,2504,0,0,0,0,0,0
$GC,3263,1.20,135.6,70.3,8.3,565,3270,0.00,2.38,0.00,0.000,6,0.000,0.069,3133,1701,2504,0,0,0,0,0,0
$GC,3400,1.20,135.6,58.3,8.2,590,3408,0.00,2.45,0.00,0.000,4,0.000,0.070,3133,3027,2504,0,0,0,0,0,0
$GC,3546,1.20,135.6,46.6,8.1,616,3554,0.00,2.45,0.00,0.000,6,0.000,0.083,3133,1706,2504,0,0,1,0,0,0
$GC,3618,1.20,136.4,40.7,8.0,629,3625,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1706,2504,0,0,0,0,0,0
$GC,3690,1.22,155.4,35.3,7.0,642,3713,0.00,2.62,17.60,0.699,4,0.000,0.103,3133,364,2427,0,0,1,0,0,0
$GC,3782,1.22,155.4,27.3,9.0,658,3789,0.00,2.42,0.00,0.000,6,0.000,0.068,3133,1692,2424,0,0,0,0,0,0
$GC,3853,1.26,155.4,20.7,9.6,671,3860,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1692,2424,0,0,0,0,0,0
$GC,3925,1.30,183.1,15.6,6.5,684,3956,0.12,2.60,24.85,0.687,4,0.107,0.092,3159,364,2313,0,0,1,0,0,0
$GC,4001,1.27,198.9,10.1,7.1,696,4023,0.00,2.45,14.68,0.660,6,0.000,0.065,3160,1702,2250,0,0,0,0,0,0
$STATE,4080,end climb,SURFACE_DEPTH_REACHED
$STATE,4080,begin surface coast
$FINISH,0.7,1.020779
$STATE,4101,end surface coast,CONTROL_FINISHED_OK
$STATE,4101,begin surface
$SM_CCo,4122,67.32,0.597,1,0,1837,300.24
$SM_GC,0.95,0.00,0.00,67.32,0.000,0.000,0.597,410,1780,1837,-11.36,0.00,300.24
$RAFOS_CLK,210
$RAFOS,1,1302699434,12.970000,12.953889,43,42,41,0,0,0,1740,1402,63,0,0,0
$RAFOS,0,1302697637,12.470000,12.454722,46,45,44,0,0,0,1871,63,1242,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12227.78,130411,101031
$TT8_MAMPS,0.02247
$HUMID,18.61
$INTERNAL_PRESSURE,9.1645
$TCM_TEMP,14.80
$XPDR_PINGS,31
$24V_AH,23.6,1.838
$10V_AH,10.4,1.432
$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,29.025,74.750,252.025,67.325,0.000,29.568,29.188,245.864,7.750,0.000,14.443,1628.981,456.715,459.149,1907.374,197.597,33.312,1123.805,0.000,1614.141,1200.000,0.537,0.000
$DEVICE_MAMPS,183.600,104.040,813.195,596.700,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,491.902,452.313,1128.066,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322160
$DATA_FILE_SIZE,40273,713
$CAP_FILE_SIZE,84913,0
$CFSIZE,260165632,190820352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,1,0
$SOUNDSPEED,1476.1
$GPS,130411,131920,4742.653,-12224.613,12,1.7,12,18.2