version: 66.06
glider: 127
mission: 4
dive: 3
start: 2 2 110 20 16 1
data:
$ID,127
$MISSION,4
$DIVE,3
$D_SURF,5
$D_FLARE,3
$D_TGT,150
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,4
$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,50
$T_MISSION,85
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.028
$MASS,51963
$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,550
$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,-89684.227
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,391
$PITCH_MAX,3672
$C_PITCH,2754
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,495
$VBD_MAX,3955
$C_VBD,3519
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-0.73934883
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$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
$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
$GPS1,201107,4807.468,-12223.253,28,1.4,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-62.9
$GPS2,201508,4807.451,-12223.281,14,1.4,14,18.3
$SPEED_LIMITS,0.143,0.225
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.126,-0.186
$KALMAN_X,-161.1,-142.8,-138.6,221.6,-105.4
$KALMAN_Y,-28.0,19.5,25.5,-532.7,6.2
$MHEAD_RNG_PITCHd_Wd,127.6,905,-20.7,-10.000
$D_GRID,105
$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,14,begin dive
$GC,16,-1.61,-107.0,0.0,0.0,0,112,0.00,0.00,-92.90,0.000,2,0.000,0.000,391,2349,2848,0,0,0,0,0,0
$GC,115,-1.61,-107.0,3.1,-3.6,16,165,11.52,2.62,-30.12,0.000,4,0.169,0.086,2398,939,3957,0,0,0,0,0,0
$GC,172,-1.61,-107.0,7.6,-6.0,25,179,0.00,2.60,0.00,0.000,6,0.000,0.077,2398,2345,3957,0,0,0,0,0,0
$GC,248,-1.61,-107.0,15.5,-12.7,41,255,0.00,2.65,0.00,0.000,4,0.000,0.086,2398,3757,3957,0,0,0,0,0,0
$GC,270,-1.61,-107.0,18.6,-12.7,45,277,0.00,2.55,0.00,0.000,6,0.000,0.071,2398,2346,3957,0,0,0,0,0,0
$GC,347,-1.61,-107.0,26.9,-9.7,61,354,0.00,2.67,0.00,0.000,4,0.000,0.094,2399,3759,3958,0,0,0,0,0,0
$GC,396,-1.61,-107.0,31.3,-8.7,71,403,0.00,2.55,0.00,0.000,6,0.000,0.062,2398,2349,3958,0,0,0,0,0,0
$GC,471,-1.61,-107.0,37.6,-9.3,87,478,0.00,2.58,0.00,0.000,4,0.000,0.076,2398,948,3958,0,0,0,0,0,0
$GC,496,-1.61,-107.0,40.0,-9.8,91,502,0.00,2.58,0.00,0.000,6,0.000,0.077,2398,2360,3958,0,0,0,0,0,0
$GC,640,-1.61,-107.0,55.9,-11.3,122,647,0.00,2.60,0.00,0.000,4,0.000,0.084,2398,3750,3958,0,0,0,0,0,0
$GC,676,-1.61,-107.0,60.0,-11.5,129,682,0.00,2.50,0.00,0.000,6,0.000,0.067,2398,2344,3958,0,0,0,0,0,0
$GC,820,-1.61,-107.0,75.8,-11.3,160,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2342,3958,0,0,0,0,0,0
$GC,965,-1.61,-107.0,92.0,-11.4,191,971,0.00,2.62,0.00,0.000,4,0.000,0.094,2398,3757,3958,0,0,0,0,0,0
$GC,988,-1.61,-107.0,94.6,-11.6,195,994,0.00,2.50,0.00,0.000,6,0.000,0.071,2398,2349,3958,0,0,0,0,0,0
$STATE,1079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1079,begin apogee
$GC,1084,-0.36,0.0,105.3,11.1,215,1175,1.35,0.00,85.97,0.762,6,0.110,0.000,2669,2348,3519,0,0,0,0,0,0
$STATE,1178,end apogee,CONTROL_FINISHED_OK
$STATE,1178,begin climb
$GC,1180,1.61,107.0,108.3,0.0,232,1272,2.05,0.00,85.10,0.744,6,0.077,0.000,3099,2348,3082,0,0,0,0,0,0
$GC,1412,1.61,107.0,89.1,10.9,279,1418,0.00,2.65,0.00,0.000,4,0.000,0.081,3099,3761,3082,0,0,0,0,0,0
$GC,1509,1.61,107.0,77.5,11.7,300,1517,0.00,2.55,0.00,0.000,6,0.000,0.061,3099,2350,3082,0,0,0,0,0,0
$GC,1654,1.61,109.9,62.9,9.8,331,1666,0.00,2.67,4.05,0.476,4,0.000,0.082,3099,3757,3070,0,0,0,0,0,0
$GC,1705,1.61,109.9,57.4,11.2,341,1711,0.00,2.53,0.00,0.000,6,0.000,0.068,3099,2341,3070,0,0,0,0,0,0
$GC,1848,1.61,109.9,41.9,10.7,372,1855,0.00,2.67,0.00,0.000,4,0.000,0.081,3099,3759,3070,0,0,0,0,0,0
$GC,1910,1.61,109.9,35.0,11.3,385,1917,0.00,2.55,0.00,0.000,6,0.000,0.061,3099,2345,3070,0,0,0,0,0,0
$GC,1986,1.62,116.6,27.7,9.6,401,2001,0.00,2.67,7.40,0.596,4,0.000,0.090,3099,3756,3043,0,0,0,0,0,0
$GC,2077,1.62,116.6,17.7,10.7,420,2084,0.00,2.53,0.00,0.000,6,0.000,0.064,3099,2354,3043,0,0,0,0,0,0
$GC,2151,1.65,139.6,10.8,8.6,436,2176,0.00,2.60,19.45,0.653,4,0.000,0.074,3099,944,2949,0,0,0,0,0,0
$GC,2209,1.75,220.1,7.5,4.9,447,2282,0.12,2.58,65.12,0.674,6,0.075,0.065,3130,2350,2621,0,0,0,0,0,0
$GC,2353,1.93,364.9,5.2,0.9,474,2391,0.20,0.00,35.60,0.666,2,0.084,0.000,3173,2350,2447,0,0,0,0,0,0
$STATE,2392,end climb,SURFACE_DEPTH_REACHED
$STATE,2392,begin surface coast
$FINISH,4.1,1.018665
$STATE,2611,end surface coast,CONTROL_FINISHED_OK
$STATE,2611,begin surface
$SM_CCo,2633,211.62,0.673,0,0,1275,550.21
$SM_GC,1.26,0.00,0.00,211.62,0.000,0.000,0.673,389,2349,1275,-10.88,0.00,550.21
$RAFOS_CLK,173
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12221.84,290499,202018
$TT8_MAMPS,0.02301
$HUMID,33.10
$INTERNAL_PRESSURE,9.15473
$TCM_TEMP,16.10
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,80.3,5.9
$24V_AH,23.7,0.624
$10V_AH,10.4,0.318
$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,28.475,57.025,302.700,211.625,0.000,0.000,0.000,0.000,4.000,0.000,14.816,807.343,197.268,542.503,1281.343,93.353,33.420,1110.826,0.000,1282.765,0.000,5.426,0.000
$DEVICE_MAMPS,168.740,93.574,762.398,672.659,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,364.914,398.351,987.475,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,184920
$DATA_FILE_SIZE,31749,530
$CAP_FILE_SIZE,72016,0
$CFSIZE,260165632,192233472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1481.0
$GPS,020210,210436,4807.229,-12223.012,12,1.2,28,18.3