version: 66.06
glider: 127
mission: 4
dive: 12
start: 2 3 110 5 39 24
data:
$ID,127
$MISSION,4
$DIVE,12
$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,0
$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,-89874.344
$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,23
$R_STBD_OVSHOOT,13
$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,7
$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
$GPS1,053104,4806.090,-12222.196,13,2.8,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-64.4
$GPS2,053828,4806.077,-12222.184,13,2.2,32,18.3
$SPEED_LIMITS,0.099,0.199
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.109,0.167
$KALMAN_X,-612.8,-158.0,76.8,1832.0,110.8
$KALMAN_Y,53.2,86.9,159.2,-3365.8,-152.5
$MHEAD_RNG_PITCHd_Wd,308.6,4210,-14.6,-6.944
$D_GRID,150
$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,-1.18,-107.0,0.0,0.0,0,102,0.00,0.00,-82.85,0.000,2,0.000,0.000,392,2402,3226,0,0,0,0,0,0
$GC,105,-1.18,-107.0,3.3,-3.5,14,144,12.27,2.58,-20.17,0.000,4,0.175,0.085,2491,992,3956,0,0,0,0,0,0
$GC,344,-1.18,-107.0,17.2,-6.9,65,351,0.00,2.60,0.00,0.000,6,0.000,0.068,2491,2398,3956,0,0,0,0,0,0
$GC,420,-1.18,-107.0,22.3,-6.6,81,426,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2398,3956,0,0,0,0,0,0
$GC,494,-1.18,-107.0,27.8,-7.4,97,501,0.00,2.65,0.00,0.000,4,0.000,0.084,2491,3803,3956,0,0,0,0,0,0
$GC,548,-1.18,-107.0,32.4,-8.6,108,556,0.00,2.53,0.00,0.000,6,0.000,0.061,2491,2403,3956,0,0,0,0,0,0
$GC,623,-1.18,-107.0,38.3,-7.8,124,629,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2402,3956,0,0,0,0,0,0
$GC,698,-1.18,-107.0,44.0,-7.5,140,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2402,3956,0,0,0,0,0,0
$GC,842,-1.18,-107.0,54.7,-7.4,171,848,0.00,2.58,0.00,0.000,4,0.000,0.076,2491,991,3956,0,0,0,0,0,0
$GC,903,-1.18,-107.0,59.5,-7.8,184,910,0.00,2.60,0.00,0.000,6,0.000,0.070,2491,2402,3956,0,0,0,0,0,0
$GC,1049,-1.18,-107.0,70.1,-7.2,215,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2403,3956,0,0,0,0,0,0
$GC,1196,-1.18,-107.0,80.2,-6.9,246,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2403,3957,0,0,0,0,0,0
$STATE,1336,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1336,begin apogee
$GC,1340,-0.36,0.0,90.1,7.2,275,1432,0.88,0.00,86.68,0.750,6,0.097,0.000,2670,2403,3519,0,0,0,0,0,0
$STATE,1435,end apogee,CONTROL_FINISHED_OK
$STATE,1435,begin climb
$GC,1437,1.18,107.0,92.8,0.0,292,1532,1.60,2.65,85.78,0.731,4,0.076,0.086,3006,3817,3081,0,0,0,0,0,0
$GC,1559,1.18,109.2,87.0,6.8,314,1566,0.00,2.58,0.00,0.000,6,0.000,0.059,3006,2393,3081,0,0,0,0,0,0
$GC,1705,1.18,109.2,75.7,7.6,345,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2393,3081,0,0,0,0,0,0
$GC,1850,1.18,109.2,65.0,7.3,376,1857,0.00,2.67,0.00,0.000,4,0.000,0.088,3006,3810,3081,0,0,0,0,0,0
$GC,1890,1.18,109.2,61.8,7.6,384,1897,0.00,2.53,0.00,0.000,6,0.000,0.058,3006,2403,3080,0,0,0,0,0,0
$GC,2037,1.18,109.2,51.3,7.0,415,2043,0.00,2.58,0.00,0.000,4,0.000,0.074,3006,992,3080,0,0,0,0,0,0
$GC,2077,1.18,109.2,48.5,7.3,423,2083,0.00,2.55,0.00,0.000,6,0.000,0.074,3006,2403,3080,0,0,0,0,0,0
$GC,2220,1.18,109.2,38.0,7.2,454,2228,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2402,3080,0,0,0,0,0,0
$GC,2298,1.18,109.2,32.6,7.1,470,2305,0.00,2.62,0.00,0.000,4,0.000,0.081,3006,3809,3081,0,0,0,0,0,0
$GC,2325,1.18,109.2,30.4,7.2,475,2332,0.00,2.53,0.00,0.000,6,0.000,0.059,3006,2398,3080,0,0,0,0,0,0
$GC,2401,1.18,111.3,25.3,6.9,491,2408,0.00,0.00,4.95,0.524,6,0.000,0.000,3006,2398,3064,0,0,0,0,0,0
$GC,2478,1.18,111.3,19.9,7.0,507,2484,0.00,2.65,0.00,0.000,4,0.000,0.081,3006,3804,3065,0,0,0,0,0,0
$GC,2517,1.18,111.3,16.7,7.5,515,2524,0.00,2.53,0.00,0.000,6,0.000,0.060,3006,2399,3065,0,0,0,0,0,0
$GC,2594,1.18,113.6,11.5,6.8,531,2601,0.00,0.00,3.92,0.463,6,0.000,0.000,3006,2399,3055,0,0,0,0,0,0
$GC,2671,1.20,124.8,6.5,6.5,547,2684,0.00,0.00,10.12,0.628,6,0.000,0.000,3006,2399,3010,0,0,0,0,0,0
$STATE,2702,end climb,SURFACE_DEPTH_REACHED
$STATE,2702,begin surface coast
$FINISH,4.5,1.021082
$STATE,2824,end surface coast,CONTROL_FINISHED_OK
$STATE,2824,begin surface
$SM_CCo,2844,308.00,0.672,0,0,1154,580.13
$SM_GC,0.93,0.00,0.00,308.00,0.000,0.000,0.672,391,2397,1154,-10.87,-0.08,580.13
$RAFOS_CLK,162
$RAFOS,0,1265177789,6.290000,6.274722,43,42,40,0,0,0,748,64,1137,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12219.12,300499,040410
$TT8_MAMPS,0.023777
$HUMID,32.94
$INTERNAL_PRESSURE,9.14497
$TCM_TEMP,16.00
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,90.1,5.1
$24V_AH,23.7,1.687
$10V_AH,10.4,1.022
$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,27.075,41.400,191.450,308.000,0.000,27.753,28.376,227.133,3.250,0.000,32.937,928.261,223.473,568.934,1421.341,447.689,35.355,1123.187,0.000,1403.510,400.000,17.195,0.000
$DEVICE_MAMPS,174.876,88.205,750.126,671.892,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,399.956,432.234,1071.874,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,184812
$DATA_FILE_SIZE,34883,580
$CAP_FILE_SIZE,65091,0
$CFSIZE,260165632,191873024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1481.4
$GPS,030210,063306,4806.222,-12222.317,8,1.9,24,18.3