version: 66.06
glider: 127
mission: 4
dive: 13
start: 2 3 110 6 44 42
data:
$ID,127
$MISSION,4
$DIVE,13
$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,-89907.117
$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,18
$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
$GPS1,063306,4806.222,-12222.317,8,1.9,24,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-66.1
$GPS2,064346,4806.191,-12222.304,12,2.5,31,18.3
$SPEED_LIMITS,0.099,0.199
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.100,0.173
$KALMAN_X,-405.1,-50.5,67.9,1374.9,203.1
$KALMAN_Y,-341.4,61.2,93.0,-2666.1,-382.2
$MHEAD_RNG_PITCHd_Wd,311.7,3952,-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,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,-82.25,0.000,2,0.000,0.000,390,2398,3183,0,0,0,0,0,0
$GC,103,-1.18,-107.0,3.4,-3.7,14,147,12.32,2.70,-21.92,0.000,4,0.177,0.102,2491,3801,3957,0,0,0,0,0,0
$GC,282,-1.18,-107.0,14.8,-7.2,51,289,0.00,2.53,0.00,0.000,6,0.000,0.065,2491,2405,3957,0,0,0,0,0,0
$GC,357,-1.18,-107.0,20.0,-6.9,67,364,0.00,2.60,0.00,0.000,4,0.000,0.079,2491,998,3957,0,0,0,0,0,0
$GC,388,-1.18,-107.0,22.3,-7.0,73,395,0.00,2.58,0.00,0.000,6,0.000,0.068,2491,2395,3957,0,0,0,0,0,0
$GC,464,-1.18,-107.0,27.7,-7.2,89,471,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2395,3957,0,0,0,0,0,0
$GC,538,-1.18,-107.0,33.3,-7.5,105,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2396,3957,0,0,0,0,0,0
$GC,614,-1.18,-107.0,39.1,-7.7,121,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2395,3957,0,0,0,0,0,0
$GC,691,-1.18,-107.0,44.9,-7.5,137,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2395,3957,0,0,0,0,0,0
$GC,832,-1.18,-107.0,56.0,-7.9,168,839,0.00,2.60,0.00,0.000,4,0.000,0.077,2491,993,3957,0,0,0,0,0,0
$GC,887,-1.18,-107.0,60.2,-7.9,179,893,0.00,2.58,0.00,0.000,6,0.000,0.068,2491,2407,3957,0,0,0,0,0,0
$GC,1031,-1.18,-107.0,71.4,-7.8,210,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2407,3957,0,0,0,0,0,0
$GC,1179,-1.18,-107.0,82.3,-7.3,241,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2407,3957,0,0,0,0,0,0
$GC,1321,-1.18,-107.0,92.4,-7.0,272,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2407,3957,0,0,0,0,0,0
$GC,1467,-1.18,-107.0,102.9,-7.2,303,1473,0.00,2.58,0.00,0.000,4,0.000,0.081,2491,994,3957,0,0,0,0,0,0
$GC,1537,-1.18,-107.0,108.3,-7.7,318,1544,0.00,2.58,0.00,0.000,6,0.000,0.068,2491,2400,3957,0,0,0,0,0,0
$STATE,1674,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1674,begin apogee
$GC,1680,-0.36,0.0,117.4,6.4,348,1775,0.88,0.00,86.90,0.765,6,0.097,0.000,2671,2399,3519,0,0,0,0,0,0
$STATE,1777,end apogee,CONTROL_FINISHED_OK
$STATE,1777,begin climb
$GC,1778,1.18,107.0,119.5,0.0,365,1879,1.58,2.72,86.05,0.751,4,0.074,0.085,3005,3810,3081,0,0,0,0,0,0
$GC,1900,1.18,107.0,112.4,8.2,387,1906,0.00,2.53,0.00,0.000,6,0.000,0.063,3004,2398,3081,0,0,0,0,0,0
$GC,2045,1.18,107.0,100.7,7.7,418,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2396,3081,0,0,0,0,0,0
$GC,2192,1.18,107.0,89.5,7.8,449,2198,0.00,2.55,0.00,0.000,4,0.000,0.075,3005,997,3081,0,0,0,0,0,0
$GC,2216,1.18,107.0,87.3,7.9,454,2223,0.00,2.58,0.00,0.000,6,0.000,0.065,3005,2401,3081,0,0,0,0,0,0
$GC,2363,1.18,107.0,76.6,7.2,485,2368,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2401,3081,0,0,0,0,0,0
$GC,2506,1.18,107.0,66.1,7.4,516,2513,0.00,2.62,0.00,0.000,4,0.000,0.085,3005,3805,3081,0,0,0,0,0,0
$GC,2553,1.18,107.0,62.4,8.2,525,2559,0.00,2.50,0.00,0.000,6,0.000,0.067,3005,2394,3081,0,0,0,0,0,0
$GC,2694,1.18,107.0,51.8,7.2,556,2701,0.00,2.55,0.00,0.000,4,0.000,0.071,3005,1007,3081,0,0,0,0,0,0
$GC,2713,1.18,107.0,50.5,7.3,559,2719,0.00,2.53,0.00,0.000,6,0.000,0.071,3005,2404,3081,0,0,0,0,0,0
$GC,2858,1.18,110.1,40.3,6.8,590,2870,0.00,2.65,4.10,0.485,4,0.000,0.088,3005,3805,3069,0,0,0,0,0,0
$GC,2908,1.18,110.1,36.7,7.7,600,2915,0.00,2.53,0.00,0.000,6,0.000,0.059,3005,2395,3070,0,0,0,0,0,0
$GC,2985,1.18,111.5,31.3,6.9,616,2991,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2395,3070,0,0,0,0,0,0
$GC,3059,1.20,123.3,26.5,6.4,632,3078,0.00,0.00,12.57,0.656,6,0.000,0.000,3005,2395,3015,0,0,0,0,0,0
$GC,3148,1.20,123.3,20.3,7.3,650,3154,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2395,3015,0,0,0,0,0,0
$GC,3222,1.20,123.3,14.7,7.3,666,3228,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2395,3015,0,0,0,0,0,0
$GC,3296,1.20,123.3,9.0,7.7,682,3303,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2395,3015,0,0,0,0,0,0
$STATE,3355,end climb,SURFACE_DEPTH_REACHED
$STATE,3355,begin surface coast
$FINISH,4.8,1.020551
$STATE,3445,end surface coast,CONTROL_FINISHED_OK
$STATE,3445,begin surface
$SM_CCo,3466,317.83,0.672,0,0,1154,580.13
$SM_GC,0.88,0.00,0.00,317.83,0.000,0.000,0.672,393,2395,1154,-10.86,-0.17,580.13
$RAFOS_CLK,208
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12224.57,300499,060600
$TT8_MAMPS,0.02301
$HUMID,33.57
$INTERNAL_PRESSURE,9.14497
$TCM_TEMP,16.10
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,80.1,44.3
$24V_AH,23.7,1.810
$10V_AH,10.4,1.113
$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,27.025,46.475,189.625,317.825,0.000,52.421,54.423,297.025,4.250,0.000,32.151,1121.939,390.843,606.607,1686.798,612.901,35.347,1266.148,0.000,1678.799,0.000,5.535,0.000
$DEVICE_MAMPS,177.177,102.011,764.699,671.892,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,492.776,494.448,1225.355,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,184852
$DATA_FILE_SIZE,41278,715
$CAP_FILE_SIZE,78440,0
$CFSIZE,260165632,191807488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1483.1
$GPS,030210,074844,4806.391,-12222.461,13,1.3,13,18.3