version: 66.06
glider: 127
mission: 4
dive: 14
start: 2 3 110 7 57 6
data:
$ID,127
$MISSION,4
$DIVE,14
$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,-89925.047
$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,29
$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,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
$GPS1,074844,4806.391,-12222.461,13,1.3,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-65.8
$GPS2,075607,4806.348,-12222.446,12,1.3,17,18.3
$SPEED_LIMITS,0.099,0.199
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.093,0.177
$KALMAN_X,-271.0,72.9,65.8,945.1,221.7
$KALMAN_Y,-601.8,-3.4,-40.4,-1921.6,-477.3
$MHEAD_RNG_PITCHd_Wd,314.0,3612,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.18,-107.0,0.0,0.0,0,95,0.00,0.00,-76.95,0.000,2,0.000,0.000,393,2395,3088,0,0,0,0,0,0
$GC,98,-1.18,-107.0,3.1,-3.9,13,144,12.32,2.70,-24.80,0.000,4,0.178,0.097,2491,3806,3956,0,0,0,0,0,0
$GC,324,-1.18,-107.0,18.3,-7.0,61,331,0.00,2.55,0.00,0.000,6,0.000,0.062,2491,2398,3956,0,0,0,0,0,0
$GC,400,-1.18,-107.0,23.4,-6.9,77,407,0.00,2.58,0.00,0.000,4,0.000,0.074,2491,1003,3956,0,0,0,0,0,0
$GC,449,-1.18,-107.0,27.2,-7.7,87,456,0.00,2.58,0.00,0.000,6,0.000,0.069,2491,2396,3956,0,0,0,0,0,0
$GC,526,-1.18,-107.0,33.1,-7.8,103,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2395,3957,0,0,0,0,0,0
$GC,600,-1.18,-107.0,38.9,-7.5,119,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2396,3956,0,0,0,0,0,0
$GC,676,-1.18,-107.0,44.7,-7.6,135,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2396,3956,0,0,0,0,0,0
$GC,816,-1.18,-107.0,55.4,-7.5,166,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2396,3956,0,0,0,0,0,0
$GC,961,-1.18,-107.0,66.1,-7.9,197,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2396,3956,0,0,0,0,0,0
$GC,1103,-1.18,-107.0,77.1,-7.3,228,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2396,3956,0,0,0,0,0,0
$GC,1252,-1.18,-107.0,87.7,-7.0,259,1257,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2396,3956,0,0,0,0,0,0
$GC,1394,-1.18,-107.0,97.8,-7.4,290,1401,0.00,2.58,0.00,0.000,4,0.000,0.071,2491,999,3956,0,0,0,0,0,0
$GC,1468,-1.18,-107.0,103.2,-7.6,305,1474,0.00,2.55,0.00,0.000,6,0.000,0.076,2491,2409,3955,0,0,0,0,0,0
$GC,1613,-1.18,-107.0,113.5,-7.0,336,1620,0.00,2.60,0.00,0.000,4,0.000,0.085,2491,3802,3956,0,0,0,0,0,0
$STATE,1651,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1651,begin apogee
$GC,1660,-0.36,0.0,116.3,7.1,344,1754,0.88,0.00,86.93,0.765,6,0.098,0.000,2671,2398,3518,0,0,0,0,0,0
$STATE,1756,end apogee,CONTROL_FINISHED_OK
$STATE,1756,begin climb
$GC,1758,1.18,107.0,118.5,0.0,361,1859,1.60,2.70,85.80,0.750,4,0.074,0.091,3007,3800,3082,0,0,0,0,0,0
$GC,1916,1.18,107.0,108.0,9.5,391,1922,0.00,2.50,0.00,0.000,6,0.000,0.068,3007,2399,3081,0,0,0,0,0,0
$GC,2061,1.18,107.0,95.7,8.0,422,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2397,3081,0,0,0,0,0,0
$GC,2207,1.18,107.0,84.6,7.8,453,2212,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2398,3081,0,0,0,0,0,0
$GC,2350,1.18,107.0,73.7,7.7,484,2356,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2398,3081,0,0,0,0,0,0
$GC,2497,1.18,107.0,63.0,7.2,515,2503,0.00,2.65,0.00,0.000,4,0.000,0.084,3007,3816,3081,0,0,0,0,0,0
$GC,2551,1.18,107.0,58.6,8.3,526,2557,0.00,2.55,0.00,0.000,6,0.000,0.058,3007,2394,3081,0,0,0,0,0,0
$GC,2694,1.18,107.0,48.5,7.9,557,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2394,3081,0,0,0,0,0,0
$GC,2840,1.18,107.0,38.7,7.1,588,2847,0.00,2.67,0.00,0.000,4,0.000,0.088,3007,3809,3081,0,0,0,0,0,0
$GC,2884,1.18,107.0,35.1,7.7,597,2891,0.00,2.53,0.00,0.000,6,0.000,0.059,3007,2400,3081,0,0,0,0,0,0
$GC,2960,1.21,131.6,30.9,5.9,613,2985,0.00,0.00,21.02,0.672,6,0.000,0.000,3007,2400,2981,0,0,0,0,0,0
$GC,3055,1.21,131.6,23.5,8.7,632,3061,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2400,2981,0,0,0,0,0,0
$GC,3129,1.21,131.6,17.9,8.5,648,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2400,2981,0,0,0,0,0,0
$GC,3203,1.25,165.9,12.8,5.4,664,3238,0.00,2.60,28.65,0.677,4,0.000,0.074,3007,990,2841,0,0,0,0,0,0
$GC,3489,1.44,325.5,7.1,-0.1,726,3624,0.22,2.58,125.97,0.684,2,0.060,0.066,3064,2398,2211,0,0,0,0,0,0
$STATE,3624,end climb,SURFACE_DEPTH_REACHED
$STATE,3625,begin surface coast
$FINISH,1.5,1.017803
$STATE,3828,end surface coast,CONTROL_FINISHED_OK
$STATE,3828,begin surface
$SM_CCo,3848,174.93,0.638,1,0,1154,580.13
$SM_GC,0.90,0.00,0.00,174.93,0.000,0.000,0.638,391,2398,1154,-10.87,-0.06,580.13
$RAFOS_CLK,209
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12220.12,300499,060646
$TT8_MAMPS,0.02301
$HUMID,32.67
$INTERNAL_PRESSURE,9.14497
$TCM_TEMP,16.00
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,80.3,43.0
$24V_AH,23.7,1.929
$10V_AH,10.4,1.212
$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,27.550,41.425,348.375,174.925,0.000,29.482,23.446,236.647,2.750,0.000,17.298,1200.692,341.423,540.016,1894.977,485.779,35.353,1292.678,0.000,1897.048,0.000,7.258,0.000
$DEVICE_MAMPS,177.944,97.409,764.699,638.144,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,547.138,579.446,1437.765,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,184896
$DATA_FILE_SIZE,47450,794
$CAP_FILE_SIZE,77509,0
$CFSIZE,260165632,191754240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1481.5
$GPS,030210,090528,4806.521,-12222.522,11,99.0,30,18.3