version: 66.07
glider: 127
mission: 6
dive: 19
start: 4 13 111 13 28 22
data:
$ID,127
$MISSION,6
$DIVE,19
$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,-99650.773
$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,17
$R_STBD_OVSHOOT,15
$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
$GPS1,130411,131920,4742.653,-12224.613,12,1.7,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-75.2
$GPS2,130411,132714,4742.688,-12224.518,14,1.6,14,18.2
$SPEED_LIMITS,0.114,0.201
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.144,-0.084
$KALMAN_X,294.2,-526.4,109.7,-919.6,269.7
$KALMAN_Y,2882.1,-576.6,358.6,-3503.7,383.3
$MHEAD_RNG_PITCHd_Wd,221.5,353,-22.2,-8.017
$D_GRID,172
$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,-1.56,-65.4,0.0,0.0,0,73,0.00,0.00,-55.92,0.000,2,0.000,0.000,409,1780,3206,0,0,0,0,0,0
$GC,76,-1.60,-97.7,3.7,-5.1,8,99,12.48,0.00,-5.50,0.000,6,0.181,0.000,2524,1781,3463,0,0,0,0,0,0
$GC,164,-1.49,-97.7,20.9,-16.8,23,172,0.15,2.53,0.00,0.000,4,0.152,0.075,2549,3119,3464,0,0,0,0,0,0
$GC,216,-1.49,-97.7,30.2,-16.7,32,224,0.00,2.47,0.00,0.000,6,0.000,0.070,2550,1789,3464,0,0,1,0,0,0
$GC,288,-1.43,-97.7,41.6,-15.7,45,296,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1789,3464,0,0,0,0,0,0
$GC,360,-1.37,-97.7,52.5,-15.0,58,369,0.15,2.50,0.00,0.000,4,0.148,0.085,2576,3113,3464,0,0,0,0,0,0
$GC,384,-1.33,-97.7,55.7,-14.5,61,391,0.00,2.45,0.00,0.000,6,0.000,0.081,2576,1779,3464,0,0,1,0,0,0
$GC,522,-1.33,-97.7,73.9,-13.2,86,530,0.00,2.50,0.00,0.000,4,0.000,0.084,2576,3115,3464,0,0,0,0,0,0
$GC,547,-1.33,-97.7,77.3,-12.9,90,555,0.00,2.47,0.00,0.000,6,0.000,0.070,2576,1780,3464,0,0,1,0,0,0
$GC,687,-1.33,-97.7,94.6,-12.1,115,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1780,3464,0,0,0,0,0,0
$GC,824,-1.33,-97.7,109.5,-11.6,140,832,0.00,2.53,0.00,0.000,4,0.000,0.088,2576,443,3464,0,0,1,0,0,0
$GC,849,-1.33,-97.7,112.6,-11.6,144,857,0.00,2.42,0.00,0.000,6,0.000,0.064,2576,1779,3464,0,0,0,0,0,0
$GC,992,-1.33,-97.7,128.8,-13.1,169,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1778,3464,0,0,0,0,0,0
$GC,1129,-1.33,-97.7,146.5,-13.0,194,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1779,3464,0,0,0,0,0,0
$GC,1269,-1.33,-97.7,163.8,-12.8,219,1275,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1779,3464,0,0,0,0,0,0
$STATE,1328,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1328,begin apogee
$GC,1334,-0.33,0.0,172.2,14.3,230,1419,1.15,0.00,79.65,0.807,6,0.126,0.000,2796,1697,3062,0,0,0,0,0,0
$STATE,1420,end apogee,CONTROL_FINISHED_OK
$STATE,1420,begin climb
$GC,1422,1.60,97.7,176.8,0.0,243,1513,2.08,0.00,80.05,0.796,6,0.091,0.000,3223,1697,2661,0,0,0,0,0,0
$GC,1647,1.53,97.7,160.4,10.3,281,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1697,2658,0,0,0,0,0,0
$GC,1786,1.46,97.7,144.8,11.0,306,1794,0.15,2.50,0.00,0.000,4,0.153,0.072,3200,3032,2657,0,0,0,0,0,0
$GC,1928,1.41,97.7,132.2,9.4,331,1935,0.00,2.45,0.00,0.000,6,0.000,0.075,3199,1702,2656,0,0,1,0,0,0
$GC,2069,1.36,97.7,120.6,8.5,356,2077,0.12,0.00,0.00,0.000,6,0.160,0.000,3180,1702,2656,0,0,0,0,0,0
$GC,2208,1.36,97.7,108.9,8.5,381,2214,0.00,2.53,0.00,0.000,4,0.000,0.097,3180,361,2656,0,0,0,0,0,0
$GC,2256,1.30,97.7,104.6,9.9,389,2263,0.00,2.42,0.00,0.000,6,0.000,0.066,3180,1706,2656,0,0,0,0,0,0
$GC,2395,1.31,105.3,93.2,7.4,414,2409,0.00,2.47,6.70,0.636,4,0.000,0.072,3180,3039,2631,0,0,0,0,0,0
$GC,2438,1.31,105.3,89.7,8.0,421,2445,0.00,2.45,0.00,0.000,6,0.000,0.080,3180,1700,2631,0,0,1,0,0,0
$GC,2576,1.31,105.3,78.0,8.4,446,2584,0.00,2.55,0.00,0.000,4,0.000,0.091,3180,365,2630,0,0,1,0,0,0
$GC,2623,1.26,105.3,73.3,10.1,454,2632,0.10,2.42,0.00,0.000,6,0.131,0.075,3159,1700,2630,0,0,0,0,0,0
$GC,2766,1.26,112.2,62.2,7.4,479,2782,0.00,2.47,7.50,0.648,4,0.000,0.069,3160,3042,2603,0,0,0,0,0,0
$GC,2977,1.28,121.1,44.7,7.3,517,2992,0.00,2.47,8.62,0.652,6,0.000,0.072,3159,1708,2568,0,0,1,0,0,0
$GC,3056,1.32,121.1,38.4,8.7,531,3064,0.00,2.58,0.00,0.000,4,0.000,0.091,3159,364,2567,0,0,0,0,0,0
$GC,3102,1.32,121.1,33.8,9.9,539,3112,0.00,2.42,0.00,0.000,6,0.000,0.069,3159,1694,2566,0,0,0,0,0,0
$GC,3177,1.37,121.1,27.5,8.4,552,3184,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1694,2567,0,0,0,0,0,0
$GC,3248,1.46,150.3,22.6,5.6,565,3278,0.17,0.00,25.85,0.695,6,0.099,0.000,3195,1694,2448,0,0,0,0,0,0
$GC,3342,1.48,169.9,16.5,6.4,581,3366,0.00,2.55,17.90,0.673,4,0.000,0.076,3195,3035,2368,0,0,0,0,0,0
$GC,3457,1.53,173.2,7.2,7.7,601,3467,0.00,2.47,3.70,0.444,6,0.000,0.073,3195,1708,2356,0,0,1,0,0,0
$STATE,3508,end climb,SURFACE_DEPTH_REACHED
$STATE,3508,begin surface coast
$FINISH,0.5,1.020337
$STATE,3525,end surface coast,CONTROL_FINISHED_OK
$STATE,3525,begin surface
$SM_CCo,3548,84.62,0.617,1,0,1838,300.24
$SM_GC,0.93,0.00,0.00,84.62,0.000,0.000,0.617,407,1793,1838,-11.38,0.37,300.24
$RAFOS_CLK,183
$RAFOS,3,1302703036,13.970000,13.954445,42,40,39,0,0,0,1632,1861,539,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12225.08,130411,121204
$TT8_MAMPS,0.02247
$HUMID,18.22
$INTERNAL_PRESSURE,9.1645
$TCM_TEMP,14.80
$XPDR_PINGS,22
$24V_AH,23.6,1.923
$10V_AH,10.4,1.511
$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,29.675,54.950,229.975,84.625,0.000,31.267,29.375,273.045,5.500,0.000,15.718,1415.515,378.686,423.466,1722.204,186.607,33.310,1000.336,0.000,1400.199,600.000,0.537,0.000
$DEVICE_MAMPS,180.540,103.275,807.075,617.355,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,422.945,397.974,992.945,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36924,613
$CAP_FILE_SIZE,76132,0
$CFSIZE,260165632,190783488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,1,0
$SOUNDSPEED,1476.0
$GPS,130411,143024,4742.700,-12224.757,24,1.1,41,18.2