version: 66.06
glider: 127
mission: 4
dive: 17
start: 2 3 110 11 49 24
data:
$ID,127
$MISSION,4
$DIVE,17
$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,-90009.25
$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,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
$GPS1,114055,4806.824,-12222.926,9,1.1,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-62.7
$GPS2,114828,4806.796,-12222.861,10,3.3,29,18.3
$SPEED_LIMITS,0.099,0.199
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.112,0.165
$KALMAN_X,271.2,422.5,25.2,-417.7,151.6
$KALMAN_Y,-1469.4,-258.4,-273.4,262.2,-187.1
$MHEAD_RNG_PITCHd_Wd,307.6,2637,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.18,-107.0,0.0,0.0,0,120,0.00,0.00,-99.60,0.000,2,0.000,0.000,389,2405,2990,0,0,0,0,0,0
$GC,123,-1.18,-107.0,3.1,-3.0,17,169,12.35,2.62,-24.27,0.000,4,0.178,0.087,2491,995,3957,0,0,0,0,0,0
$GC,185,-1.18,-107.0,7.6,-3.0,27,192,0.00,2.60,0.00,0.000,6,0.000,0.078,2491,2400,3957,0,0,0,0,0,0
$GC,262,-1.18,-107.0,11.7,-6.0,43,268,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2399,3957,0,0,0,0,0,0
$GC,336,-1.18,-107.0,16.7,-6.7,59,343,0.00,2.65,0.00,0.000,4,0.000,0.088,2491,3802,3958,0,0,0,0,0,0
$GC,450,-1.18,-107.0,25.7,-8.2,84,457,0.00,2.53,0.00,0.000,6,0.000,0.061,2491,2404,3957,0,0,0,0,0,0
$GC,526,-1.18,-107.0,31.5,-7.7,100,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2404,3957,0,0,0,0,0,0
$GC,600,-1.18,-107.0,37.2,-7.5,116,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2404,3957,0,0,0,0,0,0
$GC,674,-1.18,-107.0,42.8,-7.5,132,681,0.00,2.58,0.00,0.000,4,0.000,0.073,2491,1003,3957,0,0,0,0,0,0
$GC,731,-1.18,-107.0,47.4,-8.1,144,738,0.00,2.55,0.00,0.000,6,0.000,0.068,2491,2390,3957,0,0,0,0,0,0
$GC,875,-1.18,-107.0,58.5,-7.7,175,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2390,3958,0,0,0,0,0,0
$GC,1017,-1.18,-107.0,69.5,-7.8,206,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2390,3957,0,0,0,0,0,0
$GC,1166,-1.18,-107.0,80.8,-7.5,237,1171,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2391,3958,0,0,0,0,0,0
$GC,1309,-1.18,-107.0,91.7,-7.7,268,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2391,3957,0,0,0,0,0,0
$GC,1455,-1.18,-107.0,102.2,-7.4,299,1461,0.00,2.55,0.00,0.000,4,0.000,0.075,2491,992,3957,0,0,0,0,0,0
$GC,1498,-1.18,-107.0,105.8,-7.6,308,1505,0.00,2.58,0.00,0.000,6,0.000,0.067,2491,2400,3957,0,0,0,0,0,0
$GC,1649,-1.18,-107.0,116.0,-6.7,339,1654,0.00,2.60,0.00,0.000,4,0.000,0.090,2491,3808,3957,0,0,0,0,0,0
$STATE,1661,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1661,begin apogee
$GC,1669,-0.36,0.0,116.9,6.7,341,1761,0.88,0.00,87.12,0.759,6,0.097,0.000,2671,2392,3519,0,0,0,0,0,0
$STATE,1764,end apogee,CONTROL_FINISHED_OK
$STATE,1764,begin climb
$GC,1766,1.18,107.0,119.5,0.0,358,1862,1.60,2.58,86.15,0.750,4,0.075,0.071,3006,996,3082,0,0,0,0,0,0
$GC,1877,1.18,112.1,113.8,6.7,378,1890,0.00,2.60,5.88,0.569,6,0.000,0.074,3006,2402,3062,0,0,0,0,0,0
$GC,2028,1.18,112.1,101.7,8.0,410,2036,0.00,2.65,0.00,0.000,4,0.000,0.082,3006,3809,3062,0,0,0,0,0,0
$GC,2105,1.18,112.1,94.9,9.0,426,2112,0.00,2.55,0.00,0.000,6,0.000,0.058,3006,2391,3061,0,0,0,0,0,0
$GC,2252,1.18,112.1,83.4,7.8,457,2258,0.00,2.65,0.00,0.000,4,0.000,0.089,3006,3810,3062,0,0,0,0,0,0
$GC,2283,1.18,112.1,80.7,8.2,463,2289,0.00,2.50,0.00,0.000,6,0.000,0.057,3006,2399,3062,0,0,0,0,0,0
$GC,2426,1.18,112.1,69.7,7.3,494,2433,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2398,3061,0,0,0,0,0,0
$GC,2573,1.18,112.1,59.7,7.0,525,2578,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2398,3061,0,0,0,0,0,0
$GC,2716,1.18,113.2,49.6,6.9,556,2723,0.00,2.65,0.00,0.000,4,0.000,0.082,3006,3805,3062,0,0,0,0,0,0
$GC,2739,1.18,113.2,47.7,7.1,560,2746,0.00,2.53,0.00,0.000,6,0.000,0.069,3006,2398,3062,0,0,0,0,0,0
$GC,2885,1.18,113.2,37.6,7.1,591,2892,0.00,2.58,0.00,0.000,4,0.000,0.072,3006,1000,3061,0,0,0,0,0,0
$GC,2920,1.18,113.2,35.0,7.1,598,2927,0.00,2.55,0.00,0.000,6,0.000,0.064,3006,2398,3062,0,0,0,0,0,0
$GC,2997,1.18,113.2,29.7,7.1,614,3004,0.00,2.65,0.00,0.000,4,0.000,0.087,3006,3809,3062,0,0,0,0,0,0
$GC,3031,1.18,113.2,27.3,7.1,620,3038,0.00,2.53,0.00,0.000,6,0.000,0.058,3006,2398,3062,0,0,0,0,0,0
$GC,3105,1.19,115.5,22.0,6.8,636,3112,0.00,0.00,4.60,0.513,6,0.000,0.000,3006,2398,3048,0,0,0,0,0,0
$GC,3183,1.20,128.4,17.2,6.4,652,3202,0.00,0.00,12.07,0.646,6,0.000,0.000,3006,2398,2995,0,0,0,0,0,0
$GC,3272,1.21,138.5,11.2,6.5,670,3287,0.00,2.72,9.43,0.616,4,0.000,0.087,3006,3810,2954,0,0,0,0,0,0
$GC,3538,1.38,273.7,5.8,1.0,729,3652,0.17,2.53,105.18,0.690,2,0.063,0.060,3051,2403,2427,0,0,0,0,0,0
$STATE,3653,end climb,SURFACE_DEPTH_REACHED
$STATE,3653,begin surface coast
$FINISH,2.8,1.017275
$STATE,3873,end surface coast,CONTROL_FINISHED_OK
$STATE,3873,begin surface
$SM_CCo,3893,206.88,0.645,1,0,1153,580.13
$SM_GC,0.94,0.00,0.00,206.88,0.000,0.000,0.645,390,2402,1153,-10.87,0.06,580.13
$RAFOS_CLK,216
$RAFOS,0,1265199388,12.290000,12.274445,44,42,40,0,0,0,1281,629,1291,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12226.29,300499,101014
$TT8_MAMPS,0.02301
$HUMID,32.87
$INTERNAL_PRESSURE,9.14497
$TCM_TEMP,15.40
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,80.3,42.8
$24V_AH,23.7,2.341
$10V_AH,10.4,1.492
$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,27.500,62.050,310.425,206.875,0.000,30.432,29.629,232.559,3.250,0.000,30.212,1230.513,331.036,573.397,1920.374,493.450,35.344,1339.079,0.000,1909.458,400.000,7.733,0.000
$DEVICE_MAMPS,177.944,89.739,759.330,645.047,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,549.334,583.516,1447.879,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,184856
$DATA_FILE_SIZE,47477,797
$CAP_FILE_SIZE,83246,0
$CFSIZE,260165632,191606784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1481.0
$GPS,030210,125906,4807.122,-12223.239,32,1.2,32,18.3