version: 66.07
glider: 127
mission: 6
dive: 9
start: 4 13 111 1 57 24
data:
$ID,127
$MISSION,6
$DIVE,9
$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,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,-99637.969
$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,14
$R_STBD_OVSHOOT,27
$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
$GPS1,130411,014720,4743.803,-12223.542,9,1.2,9,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-74.1
$GPS2,130411,015614,4743.814,-12223.543,16,1.1,16,18.2
$SPEED_LIMITS,0.114,0.241
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.028,-0.239
$KALMAN_X,425.6,201.0,-10.4,-440.4,-84.6
$KALMAN_Y,1540.3,351.6,213.0,-855.9,118.6
$MHEAD_RNG_PITCHd_Wd,164.9,1509,-14.1,-8.017
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.65,-146.6,0.0,0.0,0,92,0.00,0.00,-73.55,0.000,2,0.000,0.000,408,1787,3588,0,0,0,0,0,0
$GC,94,-0.65,-146.6,4.1,-5.4,10,120,13.73,2.62,-1.33,0.000,4,0.181,0.092,2731,3176,3662,0,0,1,0,0,0
$GC,139,-0.17,-146.6,16.5,-26.7,16,147,0.47,2.60,0.00,0.000,6,0.097,0.073,2838,1785,3663,0,0,1,0,0,0
$GC,214,-0.44,-146.6,19.5,-3.5,29,222,0.25,0.00,0.00,0.000,6,0.089,0.000,2781,1785,3664,0,0,0,0,0,0
$GC,287,-0.68,-146.6,23.6,-6.1,42,296,0.25,2.62,0.00,0.000,4,0.084,0.077,2724,3199,3664,0,0,0,0,0,0
$GC,325,-0.84,-146.6,25.9,-6.2,48,335,0.10,2.65,0.00,0.000,6,0.086,0.069,2700,1776,3664,0,0,0,0,0,0
$GC,402,-0.94,-146.6,31.1,-7.1,61,410,0.12,2.70,0.00,0.000,4,0.103,0.095,2674,374,3671,0,0,1,0,0,0
$GC,424,-1.02,-146.6,32.8,-7.4,64,434,0.00,2.55,0.00,0.000,6,0.000,0.067,2673,1765,3663,0,0,0,0,0,0
$GC,500,-1.02,-146.6,39.4,-8.8,77,507,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1766,3663,0,0,0,0,0,0
$GC,572,-1.02,-146.6,45.8,-9.0,90,580,0.00,2.67,0.00,0.000,4,0.000,0.095,2674,372,3663,0,0,0,0,0,0
$GC,603,-1.02,-146.6,48.7,-9.1,95,611,0.00,2.53,0.00,0.000,6,0.000,0.073,2673,1750,3663,0,0,0,0,0,0
$GC,678,-1.02,-146.6,55.1,-8.0,108,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,1752,3663,0,0,0,0,0,0
$GC,821,-1.02,-146.6,66.3,-8.5,133,828,0.00,2.60,0.00,0.000,4,0.000,0.100,2674,369,3663,0,0,0,0,0,0
$GC,848,-1.02,-146.6,68.7,-9.2,137,855,0.00,2.53,0.00,0.000,6,0.000,0.072,2674,1761,3663,0,0,0,0,0,0
$GC,988,-1.02,-146.6,81.1,-8.5,162,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,1763,3663,0,0,0,0,0,0
$GC,1132,-1.02,-146.6,91.4,-7.4,187,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,1763,3663,0,0,0,0,0,0
$GC,1275,-1.02,-146.6,102.4,-7.6,212,1283,0.00,2.65,0.00,0.000,4,0.000,0.091,2673,375,3663,0,0,0,0,0,0
$GC,1297,-1.02,-146.6,104.2,-7.7,215,1304,0.00,2.53,0.00,0.000,6,0.000,0.067,2673,1769,3663,0,0,0,0,0,0
$GC,1442,-1.02,-146.6,115.0,-7.5,240,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,1770,3662,0,0,0,0,0,0
$GC,1586,-1.02,-146.6,126.2,-7.8,265,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,1770,3663,0,0,0,0,0,0
$GC,1727,-1.02,-146.6,137.5,-7.9,290,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,1770,3663,0,0,0,0,0,0
$GC,1871,-1.02,-146.6,148.5,-7.7,315,1878,0.00,2.65,0.00,0.000,4,0.000,0.095,2673,369,3663,0,0,0,0,0,0
$GC,1899,-1.02,-146.6,150.7,-8.3,319,1906,0.00,2.53,0.00,0.000,6,0.000,0.078,2674,1774,3663,0,0,0,0,0,0
$GC,2041,-1.23,-146.6,154.5,0.0,344,2049,0.25,0.00,0.00,0.000,6,0.078,0.000,2613,1777,3663,0,0,0,0,0,0
$STATE,2094,end dive,NO_VERTICAL_VELOCITY
$STATE,2094,begin apogee
$GC,2100,-0.17,0.0,154.5,0.0,353,2225,1.08,0.00,117.43,0.793,6,0.089,0.000,2837,1694,3062,0,0,0,0,0,0
$STATE,2226,end apogee,CONTROL_FINISHED_OK
$STATE,2226,begin climb
$GC,2228,0.65,146.6,154.5,0.0,372,2361,0.85,2.70,119.60,0.781,4,0.083,0.075,3014,3109,2462,0,0,1,0,0,0
$GC,2422,0.81,211.7,147.6,5.6,401,2484,0.20,2.58,55.15,0.750,6,0.106,0.070,3053,1702,2198,0,0,1,0,0,0
$GC,2619,0.91,244.3,133.7,6.8,434,2657,0.10,2.78,28.30,0.730,4,0.117,0.095,3074,292,2064,0,0,0,0,0,0
$GC,2697,0.91,244.3,127.3,9.0,446,2705,0.00,2.60,0.00,0.000,6,0.000,0.066,3074,1706,2063,0,0,1,0,0,0
$GC,2843,0.95,246.0,116.0,8.0,471,2850,0.00,2.60,0.00,0.000,4,0.000,0.074,3074,3108,2059,0,0,0,0,0,0
$GC,2906,1.00,246.0,110.3,8.8,482,2915,0.00,2.60,0.00,0.000,6,0.000,0.073,3074,1720,2057,0,0,1,0,0,0
$GC,3052,1.04,246.0,98.2,8.5,507,3059,0.15,2.75,0.00,0.000,4,0.103,0.104,3104,291,2057,0,0,0,0,0,0
$GC,3101,1.04,246.0,92.8,11.2,515,3108,0.00,2.60,0.00,0.000,6,0.000,0.066,3104,1726,2057,0,0,1,0,0,0
$GC,3244,1.04,246.0,78.9,9.8,540,3253,0.00,2.58,0.00,0.000,4,0.000,0.082,3104,3103,2056,0,0,0,0,0,0
$GC,3334,1.04,246.0,69.9,10.0,555,3341,0.00,2.53,0.00,0.000,6,0.000,0.083,3105,1731,2056,0,0,1,0,0,0
$GC,3478,1.04,246.0,56.8,9.0,580,3487,0.00,2.80,0.00,0.000,4,0.000,0.096,3105,294,2055,0,0,0,0,0,0
$GC,3522,1.04,246.0,52.1,10.2,587,3529,0.00,2.62,0.00,0.000,6,0.000,0.071,3104,1746,2055,0,0,1,0,0,0
$GC,3660,1.04,246.0,39.5,9.4,612,3669,0.00,2.53,0.00,0.000,4,0.000,0.072,3105,3102,2055,0,0,0,0,0,0
$GC,3724,1.04,246.0,33.6,9.4,623,3732,0.00,2.55,0.00,0.000,6,0.000,0.073,3104,1740,2055,0,0,1,0,0,0
$GC,3797,1.04,246.0,26.7,8.7,636,3806,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1740,2055,0,0,0,0,0,0
$GC,3870,1.04,246.0,20.4,8.4,649,3878,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1740,2055,0,0,0,0,0,0
$GC,3944,1.04,246.0,14.4,8.1,662,3952,0.00,2.80,0.00,0.000,4,0.000,0.096,3104,297,2055,0,0,0,0,0,0
$GC,3986,1.04,246.0,10.5,9.4,669,3994,0.00,2.65,0.00,0.000,6,0.000,0.065,3105,1753,2055,0,0,1,0,0,0
$GC,4061,1.15,284.8,5.1,6.6,682,4107,0.10,2.55,34.88,0.683,4,0.109,0.082,3126,3092,1899,0,0,0,0,0,0
$STATE,4113,end climb,SURFACE_DEPTH_REACHED
$STATE,4113,begin surface coast
$FINISH,0.1,1.005296
$STATE,4145,end surface coast,CONTROL_FINISHED_OK
$STATE,4145,begin surface
$SM_CCo,4168,13.15,0.210,1,0,1838,300.24
$SM_GC,0.98,0.00,0.00,13.15,0.000,0.000,0.210,408,1775,1838,-11.38,-0.14,300.24
$RAFOS_CLK,211
$RAFOS,4,1302661634,2.470000,2.453889,43,41,40,0,0,0,905,63,1578,0,0,0
$RAFOS,3,1302659868,1.970000,1.963333,44,43,41,0,0,0,511,1274,1514,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12220.67,130411,000059
$TT8_MAMPS,0.02247
$HUMID,19.60
$INTERNAL_PRESSURE,9.1645
$TCM_TEMP,14.90
$XPDR_PINGS,38
$ALTIM_BOTTOM_PING,100.1,58.6
$24V_AH,23.6,1.131
$10V_AH,10.4,0.745
$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,30.650,83.850,355.350,13.150,0.000,31.258,34.935,311.907,10.250,0.000,17.414,1658.217,393.184,508.056,1984.683,196.581,33.328,1197.000,0.000,1586.449,1200.000,7.135,0.000
$DEVICE_MAMPS,180.540,104.040,792.540,210.375,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,478.709,457.753,1141.296,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40224,694
$CAP_FILE_SIZE,89724,0
$CFSIZE,260165632,191197184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,1,0
$SOUNDSPEED,1475.9
$CURRENT,0.033, 71.1,1
$GPS,130411,030836,4743.244,-12223.446,32,0.9,42,18.2