version: 66.07
glider: 127
mission: 6
dive: 8
start: 4 13 111 0 49 21
data:
$ID,127
$MISSION,6
$DIVE,8
$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,-99636.719
$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,21
$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
$GPS1,130411,004006,4744.218,-12223.507,14,1.0,30,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-74.0
$GPS2,130411,004810,4744.232,-12223.553,11,2.2,30,18.2
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.007,-0.260
$KALMAN_X,409.9,216.8,-1.4,-461.0,-4.5
$KALMAN_Y,1506.6,347.2,163.3,1.7,245.3
$MHEAD_RNG_PITCHd_Wd,171.8,2283,-17.5,-10.000
$D_GRID,161
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.76,-146.6,0.0,0.0,0,88,0.00,0.00,-71.07,0.000,2,0.000,0.000,408,1777,3520,0,0,0,0,0,0
$GC,91,-0.76,-146.6,3.8,-5.6,10,116,13.60,2.67,-2.65,0.000,4,0.182,0.110,2706,370,3669,0,0,0,0,0,0
$GC,157,-0.89,-146.6,17.5,-8.6,20,165,0.08,2.58,0.00,0.000,6,0.080,0.071,2686,1770,3662,0,0,0,0,0,0
$GC,231,-0.98,-146.6,23.9,-8.3,33,239,0.00,2.70,0.00,0.000,4,0.000,0.098,2685,370,3662,0,0,0,0,0,0
$GC,253,-1.06,-146.6,25.9,-8.8,36,262,0.12,2.58,0.00,0.000,6,0.073,0.077,2654,1770,3662,0,0,0,0,0,0
$GC,328,-1.06,-146.6,33.5,-10.2,49,335,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1773,3662,0,0,0,0,0,0
$GC,401,-1.11,-146.6,40.5,-9.6,62,408,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1773,3662,0,0,0,0,0,0
$GC,474,-1.16,-146.6,47.5,-9.7,75,484,0.12,0.00,0.00,0.000,6,0.104,0.000,2627,1773,3662,0,0,0,0,0,0
$GC,548,-1.16,-146.6,55.9,-11.5,88,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1773,3662,0,0,0,0,0,0
$GC,687,-1.16,-146.6,71.1,-10.5,113,695,0.00,2.65,0.00,0.000,4,0.000,0.092,2627,367,3662,0,0,0,0,0,0
$GC,716,-1.16,-146.6,74.7,-12.1,118,724,0.00,2.60,0.00,0.000,6,0.000,0.067,2627,1784,3662,0,0,0,0,0,0
$GC,858,-1.16,-146.6,89.7,-10.0,143,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1786,3662,0,0,0,0,0,0
$GC,995,-1.16,-146.6,103.7,-10.3,168,1003,0.00,2.70,0.00,0.000,4,0.000,0.092,2627,375,3662,0,0,0,0,0,0
$GC,1041,-1.16,-146.6,108.9,-11.4,176,1049,0.00,2.55,0.00,0.000,6,0.000,0.067,2627,1769,3662,0,0,0,0,0,0
$GC,1184,-1.16,-146.6,124.2,-10.4,201,1190,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1770,3662,0,0,0,0,0,0
$GC,1317,-1.16,-146.6,138.1,-10.5,226,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1770,3662,0,0,0,0,0,0
$GC,1456,-1.16,-146.6,152.1,-10.0,251,1463,0.00,2.62,0.00,0.000,4,0.000,0.091,2627,370,3662,0,0,0,0,0,0
$GC,1526,-1.16,-146.6,159.7,-11.1,263,1533,0.00,2.53,0.00,0.000,6,0.000,0.071,2627,1777,3662,0,0,0,0,0,0
$STATE,1540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1540,begin apogee
$GC,1545,-0.17,0.0,161.6,11.0,265,1668,1.05,0.00,117.18,0.795,6,0.109,0.000,2836,1696,3062,0,0,0,0,0,0
$STATE,1671,end apogee,CONTROL_FINISHED_OK
$STATE,1671,begin climb
$GC,1673,0.76,146.6,163.8,0.0,283,1802,0.98,2.65,119.62,0.786,4,0.083,0.074,3040,3107,2462,0,0,0,0,0,0
$GC,1890,0.97,227.9,155.9,6.3,317,1966,0.22,2.60,68.47,0.765,6,0.106,0.073,3084,1703,2132,0,0,1,0,0,0
$GC,2102,1.09,261.1,138.8,8.5,352,2140,0.15,2.80,28.88,0.737,4,0.103,0.096,3114,294,1995,0,0,1,0,0,0
$GC,2188,1.14,261.1,130.3,10.3,365,2195,0.00,2.55,0.00,0.000,6,0.000,0.075,3114,1709,1994,0,0,1,0,0,0
$GC,2333,1.21,261.1,115.6,10.1,390,2341,0.12,2.62,0.00,0.000,4,0.108,0.074,3140,3100,1990,0,0,0,0,0,0
$GC,2447,1.21,261.1,103.0,10.7,410,2455,0.00,2.60,0.00,0.000,6,0.000,0.073,3140,1713,1988,0,0,1,0,0,0
$GC,2594,1.21,261.1,87.9,10.8,435,2600,0.00,2.72,0.00,0.000,4,0.000,0.106,3140,292,1988,0,0,0,0,0,0
$GC,2652,1.21,261.1,80.7,12.2,445,2659,0.00,2.53,0.00,0.000,6,0.000,0.068,3141,1701,1988,0,0,1,0,0,0
$GC,2794,1.25,261.1,64.7,11.1,470,2802,0.00,2.62,0.00,0.000,4,0.000,0.084,3140,3106,1988,0,0,0,0,0,0
$GC,2862,1.30,261.1,57.4,11.5,481,2868,0.00,2.58,0.00,0.000,6,0.000,0.075,3141,1704,1988,0,0,1,0,0,0
$GC,3001,1.30,261.1,42.6,10.7,506,3009,0.10,2.72,0.00,0.000,4,0.125,0.096,3159,299,1988,0,0,0,0,0,0
$GC,3045,1.30,261.1,37.0,14.0,513,3052,0.00,2.58,0.00,0.000,6,0.000,0.066,3159,1711,1988,0,0,1,0,0,0
$GC,3118,1.30,261.1,27.8,11.7,526,3126,0.00,2.60,0.00,0.000,4,0.000,0.081,3159,3103,1988,0,0,0,0,0,0
$GC,3196,1.30,261.1,18.6,11.7,540,3205,0.00,2.53,0.00,0.000,6,0.000,0.073,3159,1749,1987,0,0,1,0,0,0
$GC,3272,1.30,261.1,10.3,10.5,553,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1749,1987,0,0,0,0,0,0
$GC,3345,1.36,274.3,3.3,9.4,566,3361,0.00,0.00,11.00,0.085,2,0.000,0.000,3159,1749,1965,0,0,0,0,1,0
$STATE,3361,end climb,SURFACE_DEPTH_REACHED
$STATE,3362,begin surface coast
$FINISH,0.1,1.003066
$STATE,3384,end surface coast,CONTROL_FINISHED_OK
$STATE,3384,begin surface
$SM_CCo,3407,18.10,0.071,0,0,1837,300.24
$SM_GC,1.03,0.00,0.00,18.10,0.000,0.000,0.071,408,1787,1837,-11.38,0.20,300.24
$RAFOS_CLK,168
$RAFOS,2,1302658033,1.470000,1.453611,46,45,42,0,0,0,1515,64,614,0,0,0
$RAFOS,1,1302656241,0.970000,0.955833,48,42,42,0,0,0,844,1242,1875,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4729.30,-12226.80,120411,232331
$TT8_MAMPS,0.023219
$HUMID,19.52
$INTERNAL_PRESSURE,9.1645
$TCM_TEMP,14.80
$XPDR_PINGS,30
$ALTIM_BOTTOM_PING,120.0,47.9
$24V_AH,23.6,1.029
$10V_AH,10.4,0.654
$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,29.550,63.100,345.150,18.100,0.000,28.008,34.583,278.352,8.750,0.000,32.509,1354.801,289.187,456.078,1658.132,172.340,33.342,1034.455,0.000,1308.310,1200.000,10.214,0.000
$DEVICE_MAMPS,182.070,120.105,794.835,71.145,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,394.511,373.418,932.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322224
$DATA_FILE_SIZE,33576,572
$CAP_FILE_SIZE,75270,0
$CFSIZE,260165632,191250432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,1,0
$SOUNDSPEED,1475.9
$CURRENT,0.042, 28.6,1
$GPS,130411,014720,4743.803,-12223.542,9,1.2,9,18.2