version: 66.06
glider: 127
mission: 4
dive: 11
start: 2 3 110 4 30 13
data:
$ID,127
$MISSION,4
$DIVE,11
$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,-89840.773
$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,16
$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
$GPS1,042214,4805.930,-12221.979,11,1.5,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-64.5
$GPS2,042914,4805.924,-12221.932,15,1.4,15,18.3
$SPEED_LIMITS,0.099,0.199
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.136,0.146
$KALMAN_X,-636.2,-221.8,55.9,2250.9,82.2
$KALMAN_Y,231.6,69.2,146.4,-3797.7,55.5
$MHEAD_RNG_PITCHd_Wd,298.9,4617,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.18,-107.0,0.0,0.0,0,101,0.00,0.00,-82.22,0.000,2,0.000,0.000,392,2398,3219,0,0,0,0,0,0
$GC,104,-1.18,-107.0,3.4,-3.4,14,143,12.25,2.55,-19.55,0.000,4,0.174,0.091,2491,998,3956,0,0,0,0,0,0
$GC,264,-1.18,-107.0,12.3,-5.3,47,270,0.00,2.58,0.00,0.000,6,0.000,0.068,2491,2393,3956,0,0,0,0,0,0
$GC,338,-1.18,-107.0,17.0,-6.4,63,345,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2393,3956,0,0,0,0,0,0
$GC,412,-1.18,-107.0,22.4,-7.2,79,418,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2393,3956,0,0,0,0,0,0
$GC,488,-1.18,-107.0,27.8,-7.3,95,495,0.00,2.67,0.00,0.000,4,0.000,0.095,2491,3812,3956,0,0,0,0,0,0
$GC,532,-1.18,-107.0,31.6,-8.3,104,539,0.00,2.55,0.00,0.000,6,0.000,0.061,2491,2399,3956,0,0,0,0,0,0
$GC,608,-1.18,-107.0,37.8,-8.1,120,615,0.00,2.58,0.00,0.000,4,0.000,0.075,2491,1000,3956,0,0,0,0,0,0
$GC,636,-1.18,-107.0,40.2,-8.1,125,642,0.00,2.58,0.00,0.000,6,0.000,0.079,2491,2408,3956,0,0,0,0,0,0
$GC,778,-1.18,-107.0,51.5,-8.2,156,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2408,3956,0,0,0,0,0,0
$GC,923,-1.18,-107.0,62.9,-7.7,187,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2408,3956,0,0,0,0,0,0
$GC,1064,-1.18,-107.0,73.7,-7.6,218,1071,0.00,2.60,0.00,0.000,4,0.000,0.072,2491,1002,3956,0,0,0,0,0,0
$GC,1138,-1.18,-107.0,79.5,-8.1,233,1145,0.00,2.55,0.00,0.000,6,0.000,0.078,2491,2402,3956,0,0,0,0,0,0
$GC,1282,-1.18,-107.0,90.5,-7.4,264,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2402,3956,0,0,0,0,0,0
$GC,1428,-1.18,-107.0,100.9,-7.1,295,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2402,3956,0,0,0,0,0,0
$STATE,1529,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1529,begin apogee
$GC,1534,-0.36,0.0,108.2,6.7,317,1626,0.88,0.00,86.70,0.755,6,0.097,0.000,2670,2402,3519,0,0,0,0,0,0
$STATE,1629,end apogee,CONTROL_FINISHED_OK
$STATE,1629,begin climb
$GC,1631,1.18,107.0,110.1,0.0,334,1724,1.58,0.00,86.30,0.738,6,0.074,0.000,3003,2402,3082,0,0,0,0,0,0
$GC,1866,1.18,107.0,94.7,7.8,381,1871,0.00,2.62,0.00,0.000,4,0.000,0.086,3004,3811,3081,0,0,0,0,0,0
$GC,1950,1.18,107.0,87.6,8.3,399,1956,0.00,2.53,0.00,0.000,6,0.000,0.059,3003,2391,3081,0,0,0,0,0,0
$GC,2096,1.18,107.0,77.0,7.2,430,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2390,3081,0,0,0,0,0,0
$GC,2242,1.18,107.5,67.0,6.9,461,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2390,3081,0,0,0,0,0,0
$GC,2386,1.18,108.3,57.1,6.9,492,2393,0.00,2.55,0.00,0.000,4,0.000,0.072,3003,1004,3081,0,0,0,0,0,0
$GC,2416,1.18,108.3,54.7,7.2,498,2423,0.00,2.55,0.00,0.000,6,0.000,0.064,3004,2397,3081,0,0,0,0,0,0
$GC,2564,1.18,109.2,44.7,6.9,529,2569,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2397,3081,0,0,0,0,0,0
$GC,2704,1.18,109.2,35.2,7.0,560,2711,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2397,3081,0,0,0,0,0,0
$GC,2782,1.18,109.2,29.9,7.2,576,2788,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2397,3081,0,0,0,0,0,0
$GC,2856,1.18,111.3,24.8,6.9,592,2869,0.00,2.65,4.90,0.532,4,0.000,0.092,3004,3807,3065,0,0,0,0,0,0
$GC,2920,1.18,111.3,20.1,7.7,605,2927,0.00,2.53,0.00,0.000,6,0.000,0.061,3004,2404,3065,0,0,0,0,0,0
$GC,2997,1.19,116.9,14.8,6.7,621,3012,0.00,0.00,6.72,0.586,6,0.000,0.000,3003,2403,3041,0,0,0,0,0,0
$GC,3080,1.19,116.9,8.9,7.0,638,3086,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2403,3041,0,0,0,0,0,0
$STATE,3139,end climb,SURFACE_DEPTH_REACHED
$STATE,3139,begin surface coast
$FINISH,4.7,1.021050
$STATE,3238,end surface coast,CONTROL_FINISHED_OK
$STATE,3238,begin surface
$SM_CCo,3258,315.23,0.671,0,0,1153,580.13
$SM_GC,0.92,0.00,0.00,315.23,0.000,0.000,0.671,392,2402,1153,-10.87,0.06,580.13
$RAFOS_CLK,184
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4745.30,-12217.40,300499,030309
$TT8_MAMPS,0.02301
$HUMID,32.91
$INTERNAL_PRESSURE,9.14497
$TCM_TEMP,16.10
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,85.2,43.6
$24V_AH,23.7,1.573
$10V_AH,10.4,0.945
$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,27.000,36.075,184.625,315.225,0.000,29.050,28.186,223.995,2.500,0.000,15.883,1062.589,302.096,583.669,1590.755,454.441,35.345,1200.609,0.000,1595.070,0.000,7.090,0.000
$DEVICE_MAMPS,174.109,95.108,755.495,671.125,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,464.242,476.457,1181.901,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,184876
$DATA_FILE_SIZE,38115,673
$CAP_FILE_SIZE,69813,0
$CFSIZE,260165632,191897600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1481.8
$GPS,030210,053104,4806.090,-12222.196,13,2.8,32,18.3