version: 66.07
glider: 127
mission: 6
dive: 5
start: 4 12 111 21 21 28
data:
$ID,127
$MISSION,6
$DIVE,5
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,60
$T_MISSION,75
$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,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,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,-99632.844
$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,30
$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,19
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$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
$GPS1,120411,211256,4743.976,-12224.907,12,1.9,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-71.1
$GPS2,120411,212014,4744.062,-12224.840,15,1.6,15,18.2
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.021,-0.151
$KALMAN_X,266.0,176.9,27.4,-1909.6,123.3
$KALMAN_Y,491.1,296.6,-22.6,933.3,235.8
$MHEAD_RNG_PITCHd_Wd,175.7,303,-20.1,-10.000
$D_GRID,176
$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,-0.81,-112.8,0.0,0.0,0,106,0.00,0.00,-87.80,0.000,2,0.000,0.000,408,1800,3453,0,0,0,0,0,0
$GC,109,-0.85,-146.6,3.2,-4.8,12,134,13.40,2.60,-4.15,0.000,4,0.180,0.091,2687,3192,3660,0,0,0,0,0,0
$GC,175,-0.99,-146.6,15.9,-8.7,22,183,0.08,2.62,0.00,0.000,6,0.093,0.081,2668,1784,3660,0,0,1,0,0,0
$GC,249,-1.10,-146.6,23.0,-9.5,35,258,0.12,2.72,0.00,0.000,4,0.105,0.093,2641,371,3669,0,0,1,0,0,0
$GC,303,-1.17,-146.6,28.7,-10.8,44,311,0.00,2.55,0.00,0.000,6,0.000,0.067,2641,1757,3661,0,0,0,0,0,0
$GC,376,-1.25,-146.6,35.4,-9.4,57,386,0.15,2.70,0.00,0.000,4,0.096,0.077,2609,3188,3661,0,0,0,0,0,0
$GC,420,-1.25,-146.6,40.2,-11.0,64,427,0.00,2.62,0.00,0.000,6,0.000,0.070,2609,1772,3661,0,0,1,0,0,0
$GC,492,-1.25,-146.6,48.2,-11.1,77,501,0.00,2.67,0.00,0.000,4,0.000,0.092,2609,374,3670,0,0,0,0,0,0
$GC,509,-1.25,-146.6,50.2,-11.6,79,516,0.00,2.50,0.00,0.000,6,0.000,0.077,2609,1759,3661,0,0,0,0,0,0
$GC,647,-1.29,-146.6,66.0,-11.4,104,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1760,3661,0,0,0,0,0,0
$GC,787,-1.34,-146.6,83.7,-11.7,129,794,0.00,2.62,0.00,0.000,4,0.000,0.094,2609,367,3670,0,0,0,0,0,0
$GC,813,-1.34,-146.6,87.0,-12.0,133,821,0.00,2.55,0.00,0.000,6,0.000,0.078,2609,1772,3661,0,0,0,0,0,0
$GC,953,-1.34,-146.6,101.3,-10.0,158,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1772,3661,0,0,0,0,0,0
$GC,1091,-1.38,-146.6,116.1,-10.1,183,1099,0.15,2.65,0.00,0.000,4,0.097,0.092,2577,370,3661,0,0,0,0,0,0
$GC,1111,-1.38,-146.6,118.7,-11.2,186,1119,0.00,2.53,0.00,0.000,6,0.000,0.067,2577,1750,3661,0,0,0,0,0,0
$GC,1251,-1.38,-146.6,136.6,-13.0,211,1257,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1750,3661,0,0,0,0,0,0
$GC,1394,-1.38,-146.6,156.2,-13.7,236,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1750,3661,0,0,0,0,0,0
$GC,1531,-1.38,-146.6,174.7,-12.3,261,1538,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1750,3661,0,0,0,0,0,0
$STATE,1544,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1544,begin apogee
$GC,1549,-0.17,0.0,176.5,12.4,263,1678,1.33,0.00,117.53,0.786,6,0.117,0.000,2837,1696,3062,0,0,0,0,0,0
$STATE,1679,end apogee,CONTROL_FINISHED_OK
$STATE,1679,begin climb
$GC,1681,0.85,146.6,179.6,0.0,282,1811,1.08,2.67,120.18,0.783,4,0.085,0.073,3060,3110,2461,0,0,0,0,0,0
$GC,1851,1.03,195.6,171.4,7.1,308,1901,0.15,2.62,41.40,0.752,6,0.097,0.070,3094,1706,2263,0,0,1,0,0,0
$GC,2031,1.16,215.0,156.8,8.8,339,2053,0.17,0.00,17.20,0.713,6,0.104,0.000,3128,1706,2185,0,0,0,0,0,0
$GC,2184,1.25,217.1,140.9,9.9,366,2193,0.10,2.62,0.00,0.000,4,0.125,0.073,3147,3103,2180,0,0,1,0,0,0
$GC,2271,1.30,217.1,131.3,11.5,381,2279,0.00,2.58,0.00,0.000,6,0.000,0.077,3147,1717,2179,0,0,1,0,0,0
$GC,2411,1.36,217.1,115.8,12.0,406,2418,0.12,0.00,0.00,0.000,6,0.122,0.000,3170,1717,2179,0,0,0,0,0,0
$GC,2551,1.36,217.1,98.2,13.3,431,2558,0.00,2.58,0.00,0.000,4,0.000,0.077,3171,3107,2178,0,0,0,0,0,0
$GC,2645,1.36,217.1,84.9,14.3,448,2653,0.00,2.58,0.00,0.000,6,0.000,0.074,3171,1731,2177,0,0,1,0,0,0
$GC,2785,1.36,217.1,67.6,12.7,473,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1731,2177,0,0,0,0,0,0
$GC,2923,1.36,217.1,50.9,11.6,498,2930,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1731,2178,0,0,0,0,0,0
$GC,3057,1.36,217.1,35.8,11.7,523,3065,0.00,2.55,0.00,0.000,4,0.000,0.083,3171,3099,2177,0,0,0,0,0,0
$GC,3163,1.36,217.1,23.2,11.9,542,3171,0.00,2.53,0.00,0.000,6,0.000,0.077,3171,1747,2177,0,0,1,0,0,0
$GC,3238,1.41,217.1,14.6,10.8,555,3246,0.00,2.83,0.00,0.000,4,0.000,0.100,3171,296,2177,0,0,0,0,0,0
$STATE,3346,end climb,SURFACE_DEPTH_REACHED
$STATE,3346,begin surface coast
$FINISH,0.7,1.020572
$STATE,3360,end surface coast,CONTROL_FINISHED_OK
$STATE,3360,begin surface
$SM_CCo,3384,49.60,0.565,1,0,1837,300.24
$SM_GC,1.28,0.00,0.00,49.60,0.000,0.000,0.565,409,1784,1837,-11.37,0.11,300.24
$RAFOS_CLK,164
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12220.67,120411,202006
$TT8_MAMPS,0.02247
$HUMID,19.08
$INTERNAL_PRESSURE,9.17427
$TCM_TEMP,14.70
$XPDR_PINGS,26
$ALTIM_BOTTOM_PING,140.0,64.1
$24V_AH,23.6,0.740
$10V_AH,10.4,0.420
$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,29.850,57.750,296.300,49.600,0.000,30.334,30.077,252.814,8.250,0.000,15.984,1365.153,283.468,464.423,1626.637,160.531,33.301,1028.229,0.000,1317.762,0.000,13.381,0.000
$DEVICE_MAMPS,179.775,121.635,786.420,565.335,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,398.056,374.223,934.338,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33647,577
$CAP_FILE_SIZE,72807,0
$CFSIZE,260165632,191381504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,1,0
$SOUNDSPEED,1476.2
$CURRENT,0.159, 30.7,1
$GPS,120411,222004,4743.824,-12224.785,14,99.0,33,18.2