version: 66.06
glider: 127
mission: 4
dive: 6
start: 2 2 110 22 55 17
data:
$ID,127
$MISSION,4
$DIVE,6
$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,580
$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,-89752.5
$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,2400
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,15
$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,3
$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
$GPS1,224722,4806.739,-12222.882,8,2.7,27,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-66.5
$GPS2,225422,4806.685,-12222.938,14,3.0,33,18.3
$SPEED_LIMITS,0.143,0.225
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.168,-0.150
$KALMAN_X,-338.6,-259.5,-115.0,923.3,-12.3
$KALMAN_Y,-297.4,-61.3,-21.0,-1565.4,-56.8
$MHEAD_RNG_PITCHd_Wd,113.5,1718,-20.7,-10.000
$D_GRID,103
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.61,-107.0,0.0,0.0,0,90,0.00,0.00,-70.47,0.000,2,0.000,0.000,393,2397,2932,0,0,0,0,0,0
$GC,93,-1.61,-107.0,3.4,-6.1,12,137,11.75,2.67,-23.80,0.000,4,0.176,0.097,2399,3807,3958,0,0,0,0,0,0
$GC,144,-1.61,-107.0,9.9,-9.4,20,151,0.00,2.55,0.00,0.000,6,0.000,0.062,2399,2400,3958,0,0,0,0,0,0
$GC,220,-1.61,-107.0,18.3,-11.2,36,227,0.00,2.60,0.00,0.000,4,0.000,0.077,2398,994,3958,0,0,0,0,0,0
$GC,438,-1.61,-107.0,41.6,-11.1,85,443,0.00,2.58,0.00,0.000,6,0.000,0.079,2399,2406,3958,0,0,0,0,0,0
$GC,582,-1.61,-107.0,57.8,-10.8,116,589,0.00,2.62,0.00,0.000,4,0.000,0.087,2399,3805,3958,0,0,0,0,0,0
$GC,630,-1.61,-107.0,63.8,-12.1,126,637,0.00,2.53,0.00,0.000,6,0.000,0.061,2399,2403,3958,0,0,0,0,0,0
$GC,777,-1.61,-107.0,79.5,-10.8,157,786,0.00,2.55,0.00,0.000,4,0.000,0.075,2398,994,3958,0,0,0,0,0,0
$GC,820,-1.61,-107.0,84.3,-10.8,165,825,0.00,2.58,0.00,0.000,6,0.000,0.069,2399,2410,3958,0,0,0,0,0,0
$GC,966,-1.61,-107.0,100.2,-11.0,196,974,0.00,2.60,0.00,0.000,4,0.000,0.073,2399,996,3958,0,0,0,0,0,0
$STATE,992,end dive,TARGET_DEPTH_EXCEEDED
$STATE,992,begin apogee
$GC,1000,-0.36,0.0,103.4,11.0,201,1092,1.35,0.00,86.72,0.759,6,0.110,0.000,2667,2401,3519,0,0,0,0,0,0
$STATE,1095,end apogee,CONTROL_FINISHED_OK
$STATE,1095,begin climb
$GC,1097,1.61,107.0,106.7,0.0,218,1196,2.05,2.72,85.53,0.722,4,0.074,0.084,3099,3817,3082,0,0,0,0,0,0
$GC,1224,1.61,107.0,98.4,10.6,242,1231,0.00,2.58,0.00,0.000,6,0.000,0.060,3099,2395,3081,0,0,0,0,0,0
$GC,1369,1.61,107.0,83.4,10.7,273,1375,0.00,2.58,0.00,0.000,4,0.000,0.083,3099,989,3081,0,0,0,0,0,0
$GC,1394,1.61,107.0,80.5,10.7,278,1401,0.00,2.60,0.00,0.000,6,0.000,0.065,3099,2404,3081,0,0,0,0,0,0
$GC,1538,1.61,107.0,65.9,10.0,309,1543,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2404,3081,0,0,0,0,0,0
$GC,1680,1.61,107.0,52.1,10.0,340,1687,0.00,2.62,0.00,0.000,4,0.000,0.087,3099,3811,3081,0,0,0,0,0,0
$GC,1807,1.61,107.0,39.2,10.1,367,1814,0.00,2.53,0.00,0.000,6,0.000,0.060,3099,2403,3081,0,0,0,0,0,0
$GC,1882,1.62,118.8,32.2,9.3,383,1895,0.00,0.00,11.05,0.644,6,0.000,0.000,3099,2403,3034,0,0,0,0,0,0
$GC,1965,1.65,138.0,25.1,8.8,400,1984,0.00,0.00,16.35,0.661,6,0.000,0.000,3099,2403,2956,0,0,0,0,0,0
$GC,2054,1.65,141.0,16.7,9.8,418,2067,0.00,2.62,4.22,0.479,4,0.000,0.074,3099,995,2944,0,0,0,0,0,0
$GC,2097,1.66,145.0,12.5,9.7,426,2110,0.00,2.58,5.35,0.538,6,0.000,0.073,3099,2397,2926,0,0,0,0,0,0
$GC,2179,1.80,259.0,7.8,2.8,443,2278,0.20,2.58,92.05,0.663,4,0.081,0.083,3143,3810,2462,0,0,0,0,0,0
$GC,2447,2.00,426.9,5.4,-0.6,497,2487,0.17,2.55,33.22,0.650,2,0.067,0.061,3186,2396,2299,0,0,0,0,0,0
$STATE,2487,end climb,SURFACE_DEPTH_REACHED
$STATE,2488,begin surface coast
$FINISH,0.7,1.017092
$STATE,2706,end surface coast,CONTROL_FINISHED_OK
$STATE,2707,begin surface
$SM_CCo,2728,170.57,0.617,1,0,1153,580.13
$SM_GC,0.91,0.00,0.00,170.57,0.000,0.000,0.617,394,2396,1153,-10.86,-0.11,580.13
$RAFOS_CLK,150
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12223.57,290499,222203
$TT8_MAMPS,0.02301
$HUMID,33.10
$INTERNAL_PRESSURE,9.14497
$TCM_TEMP,15.40
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,100.2,6.3
$24V_AH,23.6,0.961
$10V_AH,10.4,0.524
$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,28.775,51.825,334.500,170.575,0.000,29.226,25.604,213.451,4.500,0.000,34.722,836.020,191.735,504.205,1370.410,419.377,35.326,1083.880,0.000,1353.829,0.000,11.353,0.000
$DEVICE_MAMPS,175.643,97.409,759.330,616.668,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,381.042,422.848,1049.871,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,184832
$DATA_FILE_SIZE,31802,553
$CAP_FILE_SIZE,62427,0
$CFSIZE,260165632,192126976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1479.6
$GPS,020210,234458,4806.583,-12222.753,13,3.2,32,18.3