version: 66.07
glider: 127
mission: 6
dive: 14
start: 4 13 111 7 53 46
data:
$ID,127
$MISSION,6
$DIVE,14
$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,280
$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,-99644.359
$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,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,23
$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,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
$GPS1,130411,074458,4742.878,-12224.431,9,4.8,28,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-74.5
$GPS2,130411,075236,4742.913,-12224.412,16,0.9,32,18.2
$SPEED_LIMITS,0.114,0.241
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.073,-0.128
$KALMAN_X,-54.1,-285.5,-130.3,-444.0,-162.7
$KALMAN_Y,1932.1,-385.5,-378.8,-1597.4,162.4
$MHEAD_RNG_PITCHd_Wd,200.0,623,-32.3,-8.017
$D_GRID,173
$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,15,-2.19,-32.0,0.0,0.0,0,73,0.00,0.00,-54.80,0.000,6,0.000,0.000,410,1798,3194,0,0,0,0,0,0
$GC,76,-2.22,-56.0,2.9,-4.0,8,93,11.70,0.00,-2.30,0.000,6,0.181,0.000,2390,1798,3293,0,0,0,0,0,0
$GC,159,-2.13,-56.0,19.4,-17.2,22,167,0.12,0.00,0.00,0.000,6,0.167,0.000,2409,1798,3294,0,0,0,0,0,0
$GC,233,-2.08,-56.0,32.3,-16.5,35,240,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,1798,3294,0,0,0,0,0,0
$GC,306,-2.02,-56.0,44.4,-16.2,48,314,0.15,0.00,0.00,0.000,6,0.162,0.000,2434,1798,3294,0,0,0,0,0,0
$GC,381,-2.02,-56.0,56.4,-15.4,61,388,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1798,3294,0,0,0,0,0,0
$GC,518,-2.02,-56.0,75.4,-14.6,86,526,0.00,2.70,0.00,0.000,4,0.000,0.086,2434,374,3298,0,0,0,0,0,0
$GC,532,-2.02,-56.0,77.7,-15.2,88,540,0.00,2.55,0.00,0.000,6,0.000,0.066,2434,1771,3294,0,0,0,0,0,0
$GC,672,-2.02,-56.0,101.3,-17.7,113,679,0.00,2.62,0.00,0.000,4,0.000,0.076,2434,3187,3294,0,0,0,0,0,0
$GC,740,-2.02,-56.0,112.2,-14.6,125,748,0.00,2.50,0.00,0.000,6,0.000,0.069,2434,1807,3294,0,0,1,0,0,0
$GC,881,-2.02,-56.0,130.0,-13.2,150,889,0.00,2.72,0.00,0.000,4,0.000,0.088,2434,371,3294,0,0,0,0,0,0
$GC,924,-1.96,-56.0,136.5,-15.2,157,932,0.00,2.58,0.00,0.000,6,0.000,0.076,2434,1796,3294,0,0,0,0,0,0
$GC,1064,-1.96,-56.0,156.0,-13.8,182,1072,0.00,2.70,0.00,0.000,4,0.000,0.086,2434,373,3294,0,0,0,0,0,0
$GC,1079,-1.96,-56.0,158.4,-14.6,184,1087,0.00,2.55,0.00,0.000,6,0.000,0.065,2434,1772,3294,0,0,0,0,0,0
$STATE,1177,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1177,begin apogee
$GC,1182,-0.33,0.0,173.4,14.7,202,1237,1.98,0.00,47.30,0.802,6,0.143,0.000,2800,1693,3061,0,0,0,0,0,0
$STATE,1238,end apogee,CONTROL_FINISHED_OK
$STATE,1238,begin climb
$GC,1241,2.22,56.0,176.9,0.0,210,1297,2.72,0.00,46.33,0.795,6,0.086,0.000,3360,1693,2833,0,0,0,0,0,0
$GC,1427,2.14,56.0,162.8,9.7,242,1435,0.00,2.62,0.00,0.000,4,0.000,0.073,3360,3099,2831,0,0,0,0,0,0
$GC,1666,2.07,56.0,137.1,11.4,285,1674,0.15,2.53,0.00,0.000,6,0.190,0.070,3337,1709,2831,0,0,1,0,0,0
$GC,1805,2.02,56.0,122.2,11.1,310,1813,0.00,2.70,0.00,0.000,4,0.000,0.090,3337,299,2831,0,0,0,0,0,0
$GC,1896,1.90,56.0,111.8,11.0,326,1905,0.20,2.53,0.00,0.000,6,0.153,0.063,3300,1695,2830,0,0,1,0,0,0
$GC,2039,1.91,62.6,100.8,6.9,351,2053,0.00,2.60,6.85,0.646,4,0.000,0.078,3300,3107,2805,0,0,0,0,0,0
$GC,2217,1.91,62.6,86.6,8.9,383,2223,0.00,2.55,0.00,0.000,6,0.000,0.073,3300,1716,2804,0,0,1,0,0,0
$GC,2354,1.91,62.6,73.9,9.5,408,2362,0.00,2.55,0.00,0.000,4,0.000,0.071,3300,3102,2804,0,0,1,0,0,0
$GC,2595,1.91,63.4,52.4,7.9,452,2603,0.00,2.55,0.00,0.000,6,0.000,0.071,3299,1726,2804,0,0,1,0,0,0
$GC,2734,1.93,77.1,42.6,5.7,477,2758,0.00,2.80,12.75,0.692,4,0.000,0.099,3300,288,2746,0,0,1,0,0,0
$GC,2826,1.87,77.1,35.1,9.7,492,2834,0.00,2.60,0.00,0.000,6,0.000,0.067,3300,1725,2746,0,0,1,0,0,0
$GC,2900,1.87,77.1,28.6,8.6,505,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,1725,2746,0,0,0,0,0,0
$GC,2973,1.87,77.1,22.5,8.3,518,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,1725,2746,0,0,0,0,0,0
$GC,3047,1.89,87.0,17.0,6.4,531,3063,0.00,2.55,9.62,0.658,4,0.000,0.070,3300,3108,2706,0,0,0,0,0,0
$STATE,3288,end climb,SURFACE_DEPTH_REACHED
$STATE,3288,begin surface coast
$FINISH,1.4,1.020976
$STATE,3326,end surface coast,CONTROL_FINISHED_OK
$STATE,3326,begin surface
$SM_CCo,3353,123.70,0.641,1,0,1919,280.13
$SM_GC,1.20,0.00,0.00,123.70,0.000,0.000,0.641,411,1772,1919,-11.36,-0.23,280.13
$RAFOS_CLK,164
$RAFOS,4,1302683237,8.470000,8.454722,42,41,40,0,0,0,151,867,1219,0,0,0
$RAFOS,3,1302681435,7.970000,7.954167,45,45,43,0,0,0,1491,1788,1083,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4722.92,-12218.96,130411,060640
$TT8_MAMPS,0.02247
$HUMID,18.34
$INTERNAL_PRESSURE,9.17427
$TCM_TEMP,14.80
$XPDR_PINGS,11
$24V_AH,23.6,1.552
$10V_AH,10.4,1.135
$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,31.275,52.125,122.850,123.700,0.000,29.393,29.546,255.326,2.750,0.000,33.061,1450.817,290.683,385.164,1667.093,165.613,33.325,897.306,0.000,1347.364,1200.000,0.535,0.000
$DEVICE_MAMPS,190.485,103.275,801.720,641.070,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,402.505,390.578,975.698,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322172
$DATA_FILE_SIZE,33568,583
$CAP_FILE_SIZE,68173,0
$CFSIZE,260165632,191000576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,1,0
$SOUNDSPEED,1476.0
$CURRENT,0.102,231.5,1
$GPS,130411,085301,4742.584,-12224.820,12,1.2,29,18.2