version: 66.07
glider: 127
mission: 6
dive: 1
start: 4 12 111 17 0 1
data:
$ID,127
$MISSION,6
$DIVE,1
$D_SURF,2
$D_FLARE,3
$D_TGT,45
$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,15
$T_MISSION,25
$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,400
$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,-99525.781
$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,2781
$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,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$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,3307
$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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$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
$GPS1,120411,165444,4743.134,-12223.682,13,1.9,13,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-67.7
$GPS2,120411,165850,4743.142,-12223.684,13,1.7,13,18.2
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.183,0.185
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,297.1,1976,-17.5,-10.000
$D_GRID,158
$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,16,-0.76,-146.6,0.0,0.0,0,151,0.00,0.00,-131.90,0.000,2,0.000,0.000,408,2045,3752,0,0,0,0,0,0
$GC,154,-0.76,-146.6,4.5,-9.0,18,178,12.77,2.58,-2.67,0.000,4,0.176,0.101,2608,659,3920,0,0,1,0,0,0
$STATE,393,end dive,TARGET_DEPTH_EXCEEDED
$STATE,393,begin apogee
$GC,400,-0.17,0.0,45.6,12.8,62,521,0.65,0.00,115.55,0.689,6,0.108,0.000,2738,2052,3307,0,0,0,0,0,0
$STATE,523,end apogee,CONTROL_FINISHED_OK
$STATE,524,begin climb
$GC,525,0.76,146.6,54.2,0.0,79,652,1.00,2.65,115.88,0.665,4,0.094,0.086,2943,3456,2710,0,0,0,0,0,0
$GC,682,1.18,277.3,53.0,4.0,103,805,0.45,2.55,107.20,0.651,6,0.085,0.069,3035,2067,2173,0,0,0,0,0,0
$GC,871,1.46,346.5,41.6,6.8,132,939,0.25,2.62,57.25,0.640,4,0.080,0.079,3094,3449,1891,0,0,1,0,0,0
$GC,1006,1.61,368.7,30.1,9.0,153,1031,0.10,2.80,19.12,0.619,6,0.100,0.070,3125,1953,1803,0,0,0,0,0,0
$GC,1099,1.69,370.4,21.2,9.9,168,1107,0.10,2.83,0.00,0.000,4,0.126,0.076,3143,3472,1797,0,0,1,0,0,0
$GC,1194,1.81,370.4,11.0,10.3,185,1202,0.15,2.90,0.00,0.000,6,0.127,0.081,3171,1928,1794,0,0,0,0,0,0
$GC,1268,1.82,381.6,3.7,9.5,198,1291,0.00,0.00,13.35,0.104,6,0.000,0.000,3171,1927,1750,0,0,0,0,1,0
$STATE,1297,end climb,SURFACE_DEPTH_REACHED
$STATE,1297,begin surface coast
$FINISH,0.2,1.009313
$STATE,1319,end surface coast,CONTROL_FINISHED_OK
$STATE,1319,begin surface
$SM_CCo,1341,8.20,0.069,0,0,1676,400.08
$SM_GC,1.01,0.00,0.00,8.20,0.000,0.000,0.069,408,2051,1676,-10.92,0.03,400.08
$RAFOS_CLK,50
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12220.67,120411,161604
$TT8_MAMPS,0.02247
$HUMID,18.34
$INTERNAL_PRESSURE,9.18403
$TCM_TEMP,15.30
$XPDR_PINGS,15
$24V_AH,23.4,0.319
$10V_AH,10.5,0.105
$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,28.450,21.675,428.350,8.200,0.000,0.000,0.000,0.000,3.750,0.000,14.205,405.471,12.669,435.701,541.901,49.874,29.231,767.281,0.000,545.935,0.000,0.998,0.000
$DEVICE_MAMPS,175.950,100.980,689.265,68.850,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,141.505,188.343,469.669,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322708
$DATA_FILE_SIZE,10332,206
$CAP_FILE_SIZE,60841,0
$CFSIZE,260165632,191582208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$SOUNDSPEED,1474.4
$CURRENT,0.020,265.9,1
$GPS,120411,172346,4743.136,-12223.817,14,2.1,33,18.2