version: 66.07
glider: 127
mission: 6
dive: 16
start: 4 13 111 9 58 41
data:
$ID,127
$MISSION,6
$DIVE,16
$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,-99646.883
$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,21
$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
$GPS1,130411,095028,4742.409,-12224.824,12,2.3,31,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-68.9
$GPS2,130411,095734,4742.467,-12224.811,15,2.1,34,18.2
$SPEED_LIMITS,0.114,0.201
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.012,0.114
$KALMAN_X,-175.4,-431.4,-46.6,-750.1,26.4
$KALMAN_Y,2021.0,-540.8,-70.3,-2659.9,305.6
$MHEAD_RNG_PITCHd_Wd,335.7,433,-32.3,-8.017
$D_GRID,162
$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,-2.19,-32.0,0.0,0.0,0,74,0.00,0.00,-55.60,0.000,6,0.000,0.000,408,1787,3193,0,0,0,0,0,0
$GC,77,-2.22,-53.4,3.4,-4.4,8,100,11.82,2.58,-2.10,0.000,4,0.185,0.109,2391,444,3287,0,0,0,0,0,0
$GC,333,-2.08,-53.4,58.6,-19.5,56,342,0.12,2.42,0.00,0.000,6,0.153,0.078,2415,1771,3284,0,0,0,0,0,0
$GC,475,-2.03,-53.4,82.7,-17.2,81,483,0.10,2.50,0.00,0.000,4,0.177,0.086,2431,437,3284,0,0,0,0,0,0
$GC,731,-1.98,-53.4,127.6,-17.6,127,738,0.00,2.42,0.00,0.000,6,0.000,0.068,2431,1781,3283,0,0,0,0,0,0
$GC,869,-1.98,-53.4,148.5,-12.7,152,877,0.00,2.53,0.00,0.000,4,0.000,0.085,2430,444,3284,0,0,0,0,0,0
$STATE,954,end dive,TARGET_DEPTH_EXCEEDED
$STATE,954,begin apogee
$GC,962,-0.33,0.0,162.4,17.7,167,1014,1.98,0.00,44.83,0.793,6,0.141,0.000,2801,1703,3062,0,0,0,0,0,0
$STATE,1015,end apogee,CONTROL_FINISHED_OK
$STATE,1015,begin climb
$GC,1018,2.22,53.4,166.5,0.0,175,1072,2.70,2.53,44.20,0.782,4,0.085,0.074,3363,3038,2843,0,0,1,0,0,0
$GC,1079,2.13,62.1,163.1,6.6,184,1094,0.00,2.50,8.90,0.686,6,0.000,0.078,3363,1700,2808,0,0,1,0,0,0
$GC,1227,2.06,62.1,146.6,11.8,210,1236,0.17,2.50,0.00,0.000,4,0.165,0.070,3334,3036,2806,0,0,0,0,0,0
$GC,1243,2.00,62.1,144.8,11.6,212,1251,0.00,2.47,0.00,0.000,6,0.000,0.069,3334,1700,2805,0,0,1,0,0,0
$GC,1385,1.95,62.1,131.3,10.4,237,1393,0.15,2.53,0.00,0.000,4,0.168,0.088,3310,360,2805,0,0,0,0,0,0
$GC,1459,1.88,62.1,123.1,10.2,250,1467,0.00,2.42,0.00,0.000,6,0.000,0.063,3310,1695,2805,0,0,0,0,0,0
$GC,1603,1.88,62.1,109.5,9.8,275,1610,0.00,2.45,0.00,0.000,4,0.000,0.078,3310,3036,2805,0,0,0,0,0,0
$GC,1855,1.88,62.1,87.7,9.2,321,1862,0.00,2.42,0.00,0.000,6,0.000,0.073,3310,1699,2805,0,0,1,0,0,0
$GC,1994,1.89,69.8,76.9,6.7,346,2009,0.00,2.45,7.38,0.647,4,0.000,0.077,3310,3037,2776,0,0,0,0,0,0
$GC,2017,1.91,81.9,75.6,6.0,349,2037,0.00,2.47,11.32,0.679,6,0.000,0.071,3310,1693,2727,0,0,1,0,0,0
$GC,2169,1.91,81.9,62.7,9.1,376,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,1693,2727,0,0,0,0,0,0
$GC,2309,1.91,81.9,49.0,9.6,401,2317,0.00,2.47,0.00,0.000,4,0.000,0.069,3310,3033,2726,0,0,0,0,0,0
$GC,2330,1.91,81.9,46.9,9.7,404,2338,0.00,2.45,0.00,0.000,6,0.000,0.071,3310,1706,2726,0,0,1,0,0,0
$GC,2403,1.91,81.9,40.5,9.5,417,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,1706,2726,0,0,0,0,0,0
$GC,2473,1.91,81.9,33.3,9.6,430,2482,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,1706,2726,0,0,0,0,0,0
$GC,2545,1.91,82.2,27.0,8.0,443,2553,0.00,2.42,0.00,0.000,4,0.000,0.070,3310,3030,2726,0,0,1,0,0,0
$GC,2786,1.92,94.8,10.3,5.9,489,2803,0.00,2.45,11.85,0.666,6,0.000,0.072,3310,1708,2674,0,0,1,0,0,0
$GC,2868,1.93,101.8,5.1,6.8,503,2883,0.00,2.47,6.70,0.596,4,0.000,0.069,3310,3037,2646,0,0,1,0,0,0
$GC,2917,2.00,115.3,2.2,5.8,511,2927,0.00,2.47,4.38,0.082,2,0.000,0.071,3310,1705,2633,0,0,1,0,0,0
$STATE,2928,end climb,SURFACE_DEPTH_REACHED
$STATE,2928,begin surface coast
$FINISH,1.3,1.020837
$STATE,2965,end surface coast,CONTROL_FINISHED_OK
$STATE,2965,begin surface
$SM_CCo,2989,109.20,0.070,0,0,1837,300.24
$SM_GC,1.18,0.00,0.00,109.20,0.000,0.000,0.070,411,1790,1837,-11.36,0.28,300.24
$RAFOS_CLK,152
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12227.78,130411,080851
$TT8_MAMPS,0.021721
$HUMID,18.49
$INTERNAL_PRESSURE,9.15473
$TCM_TEMP,15.00
$XPDR_PINGS,26
$24V_AH,23.6,1.675
$10V_AH,10.4,1.268
$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,31.175,54.400,139.550,109.200,0.000,28.357,28.932,222.461,6.500,0.000,35.799,1227.518,301.042,357.294,1490.175,167.712,33.322,827.183,0.000,1209.213,0.000,0.538,0.000
$DEVICE_MAMPS,185.130,192.015,793.305,70.380,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,358.245,351.792,875.761,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322168
$DATA_FILE_SIZE,30273,519
$CAP_FILE_SIZE,63042,0
$CFSIZE,260165632,190935040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$SOUNDSPEED,1475.8
$GPS,130411,105114,4742.706,-12224.962,12,1.9,12,18.2