version: 66.07
glider: 127
mission: 6
dive: 20
start: 4 13 111 14 38 46
data:
$ID,127
$MISSION,6
$DIVE,20
$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,-99652.031
$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,12
$R_STBD_OVSHOOT,23
$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
$GPS1,130411,143024,4742.700,-12224.757,24,1.1,41,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-73.4
$GPS2,130411,143738,4742.713,-12224.702,15,1.3,15,18.2
$SPEED_LIMITS,0.114,0.201
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.102,0.173
$KALMAN_X,585.2,-430.2,115.6,-1541.2,397.0
$KALMAN_Y,3187.2,-444.0,327.8,-3865.7,367.1
$MHEAD_RNG_PITCHd_Wd,311.2,2202,-17.8,-8.017
$D_GRID,180
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.31,-97.7,0.0,0.0,0,88,0.00,0.00,-69.22,0.000,6,0.000,0.000,407,1793,3462,0,0,0,0,0,0
$GC,90,-1.31,-97.7,3.7,-5.6,10,114,13.07,2.58,0.00,0.000,4,0.187,0.089,2588,442,3465,0,0,1,0,0,0
$GC,337,-1.20,-97.7,50.5,-14.1,56,345,0.12,2.42,0.00,0.000,6,0.128,0.075,2613,1772,3465,0,0,0,0,0,0
$GC,479,-1.16,-97.7,68.1,-12.2,81,485,0.00,2.47,0.00,0.000,4,0.000,0.080,2613,3117,3466,0,0,0,0,0,0
$GC,528,-1.16,-97.7,73.9,-11.4,89,535,0.00,2.47,0.00,0.000,6,0.000,0.081,2614,1771,3465,0,0,1,0,0,0
$GC,666,-1.16,-97.7,89.1,-10.9,114,674,0.00,2.53,0.00,0.000,4,0.000,0.090,2613,440,3465,0,0,0,0,0,0
$GC,710,-1.11,-97.7,94.1,-12.1,121,718,0.12,2.42,0.00,0.000,6,0.145,0.072,2635,1788,3465,0,0,0,0,0,0
$GC,849,-1.11,-97.7,108.3,-9.4,146,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1788,3465,0,0,0,0,0,0
$GC,992,-1.11,-97.7,120.6,-9.3,171,998,0.00,2.45,0.00,0.000,4,0.000,0.080,2634,3122,3465,0,0,0,0,0,0
$GC,1028,-1.11,-97.7,124.7,-10.5,177,1035,0.00,2.47,0.00,0.000,6,0.000,0.081,2635,1776,3465,0,0,1,0,0,0
$GC,1165,-1.11,-97.7,138.1,-10.0,202,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,1775,3465,0,0,0,0,0,0
$GC,1307,-1.11,-97.7,152.6,-11.7,227,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1775,3466,0,0,0,0,0,0
$GC,1443,-1.11,-97.7,167.5,-10.9,252,1451,0.00,2.53,0.00,0.000,4,0.000,0.091,2634,447,3465,0,0,0,0,0,0
$GC,1541,-1.11,-97.7,177.6,-9.8,269,1548,0.00,2.40,0.00,0.000,6,0.000,0.064,2635,1788,3465,0,0,0,0,0,0
$STATE,1566,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1566,begin apogee
$GC,1572,-0.33,0.0,180.2,9.8,273,1656,0.82,0.00,80.00,0.808,6,0.109,0.000,2799,1695,3061,0,0,0,0,0,0
$STATE,1656,end apogee,CONTROL_FINISHED_OK
$STATE,1656,begin climb
$GC,1660,1.31,97.7,184.2,0.0,286,1751,1.75,2.53,79.75,0.779,4,0.086,0.075,3159,3033,2662,0,0,1,0,0,0
$GC,1761,1.27,143.0,180.8,5.5,301,1807,0.00,2.45,38.88,0.766,6,0.000,0.070,3159,1705,2478,0,0,1,0,0,0
$GC,1940,1.22,143.0,163.8,9.9,332,1948,0.00,2.47,0.00,0.000,4,0.000,0.069,3159,3035,2472,0,0,0,0,0,0
$GC,1954,1.17,143.0,162.2,9.9,334,1963,0.10,2.47,0.00,0.000,6,0.138,0.070,3140,1706,2472,0,0,1,0,0,0
$GC,2097,1.17,143.0,149.1,9.3,359,2104,0.00,2.45,0.00,0.000,4,0.000,0.070,3140,3041,2471,0,0,0,0,0,0
$GC,2166,1.17,143.0,141.4,11.0,371,2173,0.00,2.47,0.00,0.000,6,0.000,0.070,3140,1698,2470,0,0,1,0,0,0
$GC,2305,1.17,143.0,127.4,10.5,396,2313,0.00,2.47,0.00,0.000,4,0.000,0.068,3140,3034,2469,0,0,0,0,0,0
$GC,2381,1.17,143.0,120.1,9.2,409,2388,0.00,2.45,0.00,0.000,6,0.000,0.070,3140,1700,2469,0,0,1,0,0,0
$GC,2517,1.17,143.0,108.1,8.8,434,2525,0.00,2.47,0.00,0.000,4,0.000,0.070,3140,3034,2469,0,0,0,0,0,0
$GC,2615,1.17,143.0,99.0,9.6,451,2622,0.00,2.45,0.00,0.000,6,0.000,0.071,3140,1700,2469,0,0,1,0,0,0
$GC,2753,1.17,143.0,87.3,8.1,476,2761,0.00,2.47,0.00,0.000,4,0.000,0.080,3140,3034,2469,0,0,0,0,0,0
$GC,2809,1.17,143.0,82.6,9.0,485,2816,0.00,2.45,0.00,0.000,6,0.000,0.082,3140,1700,2468,0,0,1,0,0,0
$GC,2948,1.18,147.2,71.7,7.8,510,2955,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1700,2468,0,0,0,0,0,0
$GC,3089,1.18,147.2,59.5,9.0,535,3095,0.00,2.45,0.00,0.000,4,0.000,0.073,3140,3035,2468,0,0,1,0,0,0
$GC,3159,1.18,147.2,52.6,9.9,547,3165,0.00,2.45,0.00,0.000,6,0.000,0.073,3139,1700,2468,0,0,1,0,0,0
$GC,3291,1.18,147.2,40.7,8.3,572,3299,0.00,2.47,0.00,0.000,4,0.000,0.073,3140,3032,2468,0,0,1,0,0,0
$GC,3313,1.19,152.6,39.1,7.7,575,3329,0.00,2.47,8.02,0.645,6,0.000,0.071,3139,1699,2439,0,0,1,0,0,0
$GC,3393,1.19,152.6,32.5,8.1,589,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1699,2438,0,0,0,0,0,0
$GC,3465,1.19,152.6,26.6,8.1,602,3472,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1699,2437,0,0,0,0,0,0
$GC,3537,1.20,168.1,21.5,7.2,615,3559,0.00,2.47,14.85,0.685,4,0.000,0.075,3140,3035,2374,0,0,0,0,0,0
$GC,3613,1.21,171.0,15.9,7.9,628,3621,0.00,2.47,0.00,0.000,6,0.000,0.071,3140,1708,2372,0,0,1,0,0,0
$GC,3684,1.21,171.0,10.3,8.2,641,3692,0.00,2.45,0.00,0.000,4,0.000,0.069,3140,3029,2371,0,0,0,0,0,0
$GC,3722,1.26,171.0,7.3,8.1,647,3730,0.00,2.47,0.00,0.000,6,0.000,0.082,3140,1698,2371,0,0,1,0,0,0
$GC,3794,1.36,212.5,2.7,5.7,660,3810,0.17,0.00,11.00,0.083,2,0.103,0.000,3173,1699,2346,0,0,0,0,1,0
$STATE,3811,end climb,SURFACE_DEPTH_REACHED
$STATE,3811,begin surface coast
$FINISH,0.1,1.020578
$STATE,3843,end surface coast,CONTROL_FINISHED_OK
$STATE,3843,begin surface
$SM_CCo,3866,75.53,0.072,0,0,1838,300.24
$SM_GC,1.39,0.00,0.00,75.53,0.000,0.000,0.072,410,1779,1838,-11.37,-0.03,300.24
$RAFOS_CLK,199
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12225.08,130411,131331
$TT8_MAMPS,0.02247
$HUMID,18.93
$INTERNAL_PRESSURE,9.1645
$TCM_TEMP,14.90
$XPDR_PINGS,35
$24V_AH,23.6,1.993
$10V_AH,10.4,1.595
$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,29.200,74.425,232.500,75.525,0.000,31.042,29.832,240.467,8.750,0.000,16.553,1523.634,421.777,442.473,1809.772,194.901,33.313,1060.394,0.000,1522.673,0.000,0.536,0.000
$DEVICE_MAMPS,187.425,95.625,807.840,71.910,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,460.856,429.820,1072.388,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322200
$DATA_FILE_SIZE,40292,668
$CAP_FILE_SIZE,80315,0
$CFSIZE,260165632,190738432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,1,0
$SOUNDSPEED,1476.1
$GPS,130411,154525,4743.172,-12224.935,9,1.5,14,18.2