version: 66.06
glider: 127
mission: 4
dive: 7
start: 2 2 110 23 52 48
data:
$ID,127
$MISSION,4
$DIVE,7
$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,72
$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,-89767.93
$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,2
$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
$GPS1,234458,4806.583,-12222.753,13,3.2,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-65.3
$GPS2,235150,4806.581,-12222.773,14,1.9,14,18.3
$SPEED_LIMITS,0.099,0.199
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.143,-0.139
$KALMAN_X,-461.8,-295.7,-80.2,1250.0,-38.6
$KALMAN_Y,-240.5,-25.4,-25.4,-1849.9,-23.6
$MHEAD_RNG_PITCHd_Wd,115.7,1439,-14.6,-6.944
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.18,-107.0,0.0,0.0,0,100,0.00,0.00,-81.62,0.000,2,0.000,0.000,394,2396,3217,0,0,0,0,0,0
$GC,103,-1.18,-107.0,3.7,-4.7,14,136,12.35,2.58,-14.30,0.000,4,0.178,0.091,2492,992,3956,0,0,0,0,0,0
$GC,385,-1.18,-107.0,30.2,-7.1,76,392,0.00,2.60,0.00,0.000,6,0.000,0.069,2492,2399,3956,0,0,0,0,0,0
$GC,459,-1.18,-107.0,35.5,-7.1,92,466,0.00,2.58,0.00,0.000,4,0.000,0.073,2492,1005,3956,0,0,0,0,0,0
$GC,575,-1.18,-107.0,44.5,-7.8,117,581,0.00,2.55,0.00,0.000,6,0.000,0.076,2492,2403,3957,0,0,0,0,0,0
$GC,719,-1.18,-107.0,55.0,-7.3,148,726,0.00,2.62,0.00,0.000,4,0.000,0.093,2492,3803,3957,0,0,0,0,0,0
$GC,759,-1.18,-107.0,58.2,-7.8,156,766,0.00,2.53,0.00,0.000,6,0.000,0.061,2492,2398,3957,0,0,0,0,0,0
$GC,905,-1.18,-107.0,68.6,-6.8,187,911,0.00,2.55,0.00,0.000,4,0.000,0.074,2492,998,3957,0,0,0,0,0,0
$GC,945,-1.18,-107.0,71.4,-6.9,195,951,0.00,2.55,0.00,0.000,6,0.000,0.069,2492,2402,3957,0,0,0,0,0,0
$GC,1089,-1.18,-107.0,81.7,-7.0,226,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2402,3957,0,0,0,0,0,0
$GC,1235,-1.18,-107.0,92.3,-7.6,257,1241,0.00,2.58,0.00,0.000,4,0.000,0.079,2492,992,3957,0,0,0,0,0,0
$GC,1269,-1.18,-107.0,95.1,-7.7,264,1276,0.00,2.58,0.00,0.000,6,0.000,0.067,2492,2397,3957,0,0,0,0,0,0
$STATE,1376,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1376,begin apogee
$GC,1381,-0.36,0.0,103.1,7.4,287,1475,0.85,0.00,86.53,0.745,6,0.097,0.000,2667,2397,3518,0,0,0,0,0,0
$STATE,1477,end apogee,CONTROL_FINISHED_OK
$STATE,1477,begin climb
$GC,1479,1.18,107.0,105.9,0.0,304,1571,1.62,0.00,85.20,0.718,6,0.077,0.000,3008,2397,3082,0,0,0,0,0,0
$GC,1710,1.18,107.0,92.8,7.4,351,1716,0.00,2.62,0.00,0.000,4,0.000,0.082,3007,3810,3080,0,0,0,0,0,0
$GC,1751,1.18,107.0,89.7,7.8,359,1757,0.00,2.53,0.00,0.000,6,0.000,0.058,3008,2391,3081,0,0,0,0,0,0
$GC,1895,1.18,107.0,79.0,7.1,390,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2390,3081,0,0,0,0,0,0
$GC,2041,1.18,109.8,68.9,6.8,421,2054,0.00,2.58,3.85,0.469,4,0.000,0.072,3007,1001,3071,0,0,0,0,0,0
$GC,2075,1.18,109.8,66.4,7.1,427,2081,0.00,2.55,0.00,0.000,6,0.000,0.076,3008,2405,3071,0,0,0,0,0,0
$GC,2217,1.18,110.0,56.4,6.9,458,2224,0.00,2.60,0.00,0.000,4,0.000,0.092,3008,3803,3071,0,0,0,0,0,0
$GC,2290,1.18,110.0,51.0,7.6,473,2296,0.00,2.50,0.00,0.000,6,0.000,0.066,3008,2391,3071,0,0,0,0,0,0
$GC,2434,1.19,115.1,41.0,6.7,504,2446,0.00,2.65,6.40,0.584,4,0.000,0.088,3008,3807,3048,0,0,0,0,0,0
$GC,2477,1.19,115.1,37.9,7.5,512,2484,0.00,2.53,0.00,0.000,6,0.000,0.059,3007,2401,3048,0,0,0,0,0,0
$GC,2552,1.19,115.1,32.4,7.4,528,2559,0.00,2.58,0.00,0.000,4,0.000,0.073,3008,1001,3048,0,0,0,0,0,0
$GC,2598,1.19,115.1,28.8,7.8,537,2605,0.00,2.55,0.00,0.000,6,0.000,0.066,3007,2394,3048,0,0,0,0,0,0
$GC,2673,1.19,115.1,23.1,7.5,553,2679,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2395,3047,0,0,0,0,0,0
$GC,2747,1.19,115.1,17.5,7.4,569,2753,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2394,3048,0,0,0,0,0,0
$GC,2822,1.24,155.5,13.1,5.2,585,2861,0.00,2.60,33.15,0.670,4,0.000,0.078,3008,993,2884,0,0,0,0,0,0
$GC,3116,1.44,324.6,8.2,-0.5,648,3266,0.22,2.58,137.68,0.661,6,0.061,0.075,3064,2398,2193,0,0,0,0,0,0
$STATE,3291,end climb,SURFACE_DEPTH_REACHED
$STATE,3291,begin surface coast
$FINISH,0.2,1.016644
$STATE,3509,end surface coast,CONTROL_FINISHED_OK
$STATE,3509,begin surface
$SM_CCo,3529,167.82,0.613,1,0,1154,580.13
$SM_GC,0.95,0.00,0.00,167.82,0.000,0.000,0.613,390,2401,1154,-10.87,0.03,580.13
$RAFOS_CLK,195
$RAFOS,0,1265156185,0.290000,0.273611,46,41,41,0,0,0,310,64,1286,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12226.29,290499,222214
$TT8_MAMPS,0.023777
$HUMID,33.42
$INTERNAL_PRESSURE,9.14497
$TCM_TEMP,15.40
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,80.2,44.4
$24V_AH,23.7,1.075
$10V_AH,10.4,0.616
$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,27.525,56.550,352.800,167.825,0.000,22.182,35.672,218.238,4.250,0.000,14.793,1108.114,285.396,524.919,1748.558,444.815,35.324,1231.407,0.000,1752.939,400.000,7.256,0.000
$DEVICE_MAMPS,177.944,92.807,744.757,612.833,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,501.139,541.087,1341.943,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,184836
$DATA_FILE_SIZE,41188,727
$CAP_FILE_SIZE,73908,0
$CFSIZE,260165632,192065536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1480.2
$GPS,030210,005554,4806.496,-12222.575,40,1.3,40,18.3