version: 66.06
glider: 127
mission: 4
dive: 9
start: 2 3 110 2 21 1
data:
$ID,127
$MISSION,4
$DIVE,9
$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,-89812.055
$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,25
$R_STBD_OVSHOOT,17
$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,5
$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
$GPS1,020713,4806.403,-12222.327,8,1.7,13,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-60.2
$GPS2,022004,4806.421,-12222.245,10,2.8,29,18.3
$SPEED_LIMITS,0.099,0.199
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.049,-0.193
$KALMAN_X,-648.4,-299.5,-4.5,2013.5,11.9
$KALMAN_Y,193.7,30.4,24.9,-2686.6,179.5
$MHEAD_RNG_PITCHd_Wd,147.4,837,-14.6,-6.944
$D_GRID,108
$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,-1.18,-107.0,0.0,0.0,0,124,0.00,0.00,-106.12,0.000,2,0.000,0.000,389,2407,3110,0,0,0,0,0,0
$GC,127,-1.18,-107.0,3.4,-4.5,18,166,12.32,2.62,-19.30,0.000,4,0.176,0.101,2493,3810,3957,0,0,0,0,0,0
$GC,416,-1.18,-107.0,26.9,-8.6,81,423,0.00,2.55,0.00,0.000,6,0.000,0.071,2493,2399,3957,0,0,0,0,0,0
$GC,491,-1.18,-107.0,32.7,-7.5,97,498,0.00,2.65,0.00,0.000,4,0.000,0.084,2493,3801,3957,0,0,0,0,0,0
$GC,604,-1.18,-107.0,42.4,-8.6,122,611,0.00,2.53,0.00,0.000,6,0.000,0.069,2493,2401,3958,0,0,0,0,0,0
$GC,751,-1.18,-107.0,53.7,-7.8,153,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2401,3958,0,0,0,0,0,0
$GC,892,-1.18,-107.0,64.7,-7.4,184,899,0.00,2.60,0.00,0.000,4,0.000,0.075,2493,993,3958,0,0,0,0,0,0
$GC,914,-1.18,-107.0,66.3,-7.5,188,921,0.00,2.58,0.00,0.000,6,0.000,0.068,2492,2395,3958,0,0,0,0,0,0
$GC,1058,-1.18,-107.0,76.8,-7.0,219,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2396,3958,0,0,0,0,0,0
$GC,1202,-1.18,-107.0,87.0,-7.0,250,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2396,3958,0,0,0,0,0,0
$GC,1348,-1.18,-107.0,97.1,-7.2,281,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2395,3958,0,0,0,0,0,0
$GC,1491,-1.18,-107.0,107.4,-6.7,312,1498,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2395,3957,0,0,0,0,0,0
$STATE,1501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1501,begin apogee
$GC,1506,-0.36,0.0,108.4,6.8,314,1599,0.85,0.00,86.72,0.749,6,0.097,0.000,2668,2396,3518,0,0,0,0,0,0
$STATE,1602,end apogee,CONTROL_FINISHED_OK
$STATE,1602,begin climb
$GC,1604,1.18,107.0,110.7,0.0,331,1704,1.60,2.70,85.80,0.732,4,0.074,0.089,3004,3809,3081,0,0,0,0,0,0
$GC,1742,1.18,107.0,103.2,8.0,357,1748,0.00,2.53,0.00,0.000,6,0.000,0.063,3005,2396,3081,0,0,0,0,0,0
$GC,1886,1.18,107.0,92.5,7.3,388,1892,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2395,3081,0,0,0,0,0,0
$GC,2032,1.18,107.0,82.2,7.1,419,2037,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2395,3081,0,0,0,0,0,0
$GC,2174,1.18,107.0,71.9,7.1,450,2181,0.00,2.65,0.00,0.000,4,0.000,0.085,3004,3809,3081,0,0,0,0,0,0
$GC,2239,1.18,107.0,66.9,7.9,463,2244,0.00,2.50,0.00,0.000,6,0.000,0.070,3004,2400,3081,0,0,0,0,0,0
$GC,2383,1.18,111.9,56.8,6.7,494,2395,0.00,2.58,5.55,0.565,4,0.000,0.072,3005,995,3062,0,0,0,0,0,0
$GC,2420,1.18,111.9,54.2,7.0,501,2426,0.00,2.55,0.00,0.000,6,0.000,0.069,3004,2402,3062,0,0,0,0,0,0
$GC,2565,1.18,111.9,43.7,7.2,532,2571,0.00,2.62,0.00,0.000,4,0.000,0.081,3004,3813,3062,0,0,0,0,0,0
$GC,2654,1.18,111.9,37.0,7.8,551,2661,0.00,2.53,0.00,0.000,6,0.000,0.060,3004,2404,3062,0,0,0,0,0,0
$GC,2730,1.18,111.9,31.4,7.4,567,2737,0.00,2.58,0.00,0.000,4,0.000,0.072,3004,1005,3062,0,0,0,0,0,0
$GC,2779,1.18,111.9,27.7,7.6,577,2786,0.00,2.55,0.00,0.000,6,0.000,0.066,3004,2398,3062,0,0,0,0,0,0
$GC,2855,1.18,111.9,22.4,7.0,593,2862,0.00,2.62,0.00,0.000,4,0.000,0.081,3004,3810,3062,0,0,0,0,0,0
$GC,2895,1.18,111.9,19.3,7.5,601,2902,0.00,2.53,0.00,0.000,6,0.000,0.059,3004,2400,3062,0,0,0,0,0,0
$GC,2970,1.19,118.0,14.2,6.7,617,2984,0.00,0.00,7.20,0.603,6,0.000,0.000,3004,2400,3037,0,0,0,0,0,0
$GC,3055,1.21,138.3,9.1,6.1,634,3081,0.00,2.70,17.17,0.661,4,0.000,0.084,3004,3811,2954,0,0,0,0,0,0
$GC,3122,1.26,174.1,5.2,5.4,647,3160,0.08,2.55,29.48,0.662,6,0.071,0.067,3027,2397,2808,0,0,0,0,0,0
$STATE,3191,end climb,SURFACE_DEPTH_REACHED
$STATE,3191,begin surface coast
$FINISH,4.9,1.019721
$STATE,3277,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3277,begin surface
$SM_CCo,3299,291.52,0.652,0,0,1153,580.13
$SM_GC,0.93,0.00,0.00,291.52,0.000,0.000,0.652,391,2396,1153,-10.87,-0.11,580.13
$RAFOS_CLK,203
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12224.57,300499,020201
$TT8_MAMPS,0.02301
$HUMID,32.63
$INTERNAL_PRESSURE,9.14497
$TCM_TEMP,16.00
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,80.1,47.4
$24V_AH,23.7,1.336
$10V_AH,10.4,0.791
$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,27.250,51.700,231.925,291.525,0.000,82.289,184.079,227.860,3.500,0.000,30.288,1051.949,420.131,600.790,1614.791,669.015,35.333,1248.268,0.000,1603.978,0.000,5.547,0.000
$DEVICE_MAMPS,176.410,101.244,749.359,651.950,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,468.028,479.597,1189.665,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,184816
$DATA_FILE_SIZE,41331,679
$CAP_FILE_SIZE,73526,0
$CFSIZE,260165632,191975424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1481.8
$GPS,030210,032204,4806.187,-12222.126,9,2.7,28,18.3