version: 66.06
glider: 127
mission: 4
dive: 19
start: 2 3 110 14 16 42
data:
$ID,127
$MISSION,4
$DIVE,19
$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,-90040.523
$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,26
$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
$GPS1,140838,4807.463,-12223.529,11,1.8,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-67.2
$GPS2,141544,4807.456,-12223.512,15,2.0,15,18.3
$SPEED_LIMITS,0.099,0.199
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.101,0.172
$KALMAN_X,410.3,456.7,-40.0,-1330.9,12.2
$KALMAN_Y,-1930.5,-323.8,15.4,1723.7,-34.7
$MHEAD_RNG_PITCHd_Wd,311.3,1175,-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,17,-1.18,-107.0,0.0,0.0,0,119,0.00,0.00,-99.80,0.000,2,0.000,0.000,394,2398,3640,0,0,0,0,0,0
$GC,122,-1.18,-107.0,3.7,-3.0,17,148,12.62,0.00,-7.28,0.000,6,0.187,0.000,2492,2398,3956,0,0,0,0,0,0
$GC,218,-1.18,-107.0,12.2,-5.4,36,224,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2398,3957,0,0,0,0,0,0
$GC,292,-1.18,-107.0,17.1,-6.8,52,299,0.00,2.67,0.00,0.000,4,0.000,0.086,2492,3804,3956,0,0,0,0,0,0
$GC,349,-1.18,-107.0,21.5,-8.2,64,356,0.00,2.53,0.00,0.000,6,0.000,0.061,2492,2405,3957,0,0,0,0,0,0
$GC,427,-1.18,-107.0,27.2,-7.5,80,433,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2405,3957,0,0,0,0,0,0
$GC,500,-1.18,-107.0,33.2,-7.9,96,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2405,3956,0,0,0,0,0,0
$GC,574,-1.18,-107.0,39.1,-8.2,112,581,0.00,2.60,0.00,0.000,4,0.000,0.073,2492,997,3956,0,0,0,0,0,0
$GC,620,-1.18,-107.0,42.8,-8.4,121,626,0.00,2.55,0.00,0.000,6,0.000,0.067,2492,2400,3956,0,0,0,0,0,0
$GC,763,-1.18,-107.0,54.8,-7.9,152,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2400,3956,0,0,0,0,0,0
$GC,910,-1.18,-107.0,66.3,-7.7,183,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2400,3957,0,0,0,0,0,0
$GC,1052,-1.18,-107.0,77.0,-7.5,214,1059,0.00,2.58,0.00,0.000,4,0.000,0.071,2492,1003,3956,0,0,0,0,0,0
$GC,1103,-1.18,-107.0,80.9,-7.7,224,1110,0.00,2.55,0.00,0.000,6,0.000,0.067,2492,2396,3957,0,0,0,0,0,0
$GC,1249,-1.18,-107.0,91.4,-7.2,255,1254,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2397,3956,0,0,0,0,0,0
$GC,1393,-1.18,-107.0,101.8,-7.1,286,1400,0.00,2.58,0.00,0.000,4,0.000,0.071,2492,998,3956,0,0,0,0,0,0
$GC,1423,-1.18,-107.0,104.2,-7.3,292,1431,0.00,2.55,0.00,0.000,6,0.000,0.066,2492,2395,3956,0,0,0,0,0,0
$GC,1569,-1.18,-107.0,114.3,-7.0,323,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2396,3956,0,0,0,0,0,0
$STATE,1606,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1607,begin apogee
$GC,1612,-0.36,0.0,116.9,6.9,331,1705,0.85,0.00,86.95,0.765,6,0.095,0.000,2668,2395,3519,0,0,0,0,0,0
$STATE,1706,end apogee,CONTROL_FINISHED_OK
$STATE,1707,begin climb
$GC,1708,1.18,107.0,119.2,0.0,348,1801,1.60,0.00,86.97,0.748,6,0.074,0.000,3006,2395,3082,0,0,0,0,0,0
$GC,1942,1.18,107.0,103.5,7.8,395,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2395,3081,0,0,0,0,0,0
$GC,2087,1.18,107.0,91.9,8.3,426,2094,0.00,2.65,0.00,0.000,4,0.000,0.082,3006,3806,3081,0,0,0,0,0,0
$GC,2124,1.18,107.0,88.7,8.4,433,2129,0.00,2.50,0.00,0.000,6,0.000,0.064,3006,2398,3081,0,0,0,0,0,0
$GC,2266,1.18,107.0,77.8,7.3,464,2273,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2398,3081,0,0,0,0,0,0
$GC,2411,1.18,107.0,67.4,7.3,495,2416,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2397,3081,0,0,0,0,0,0
$GC,2554,1.18,107.0,56.9,7.4,526,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2397,3081,0,0,0,0,0,0
$GC,2700,1.18,107.0,45.6,7.9,557,2705,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2397,3081,0,0,0,0,0,0
$GC,2842,1.18,107.0,35.4,7.4,588,2849,0.00,2.58,0.00,0.000,4,0.000,0.073,3007,994,3081,0,0,0,0,0,0
$GC,2877,1.18,107.0,32.6,7.4,595,2884,0.00,2.58,0.00,0.000,6,0.000,0.065,3006,2404,3081,0,0,0,0,0,0
$GC,2954,1.18,111.2,27.5,6.8,611,2968,0.00,2.65,4.90,0.526,4,0.000,0.093,3006,3805,3065,0,0,0,0,0,0
$GC,2985,1.18,111.2,25.0,7.0,616,2992,0.00,2.53,0.00,0.000,6,0.000,0.059,3007,2398,3065,0,0,0,0,0,0
$GC,3061,1.19,116.3,19.8,6.7,632,3074,0.00,0.00,6.30,0.568,6,0.000,0.000,3006,2397,3043,0,0,0,0,0,0
$GC,3144,1.19,116.3,13.8,7.7,649,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2397,3043,0,0,0,0,0,0
$GC,3218,1.20,124.7,8.6,6.6,665,3232,0.00,2.65,8.30,0.605,4,0.000,0.085,3007,3811,3009,0,0,0,0,0,0
$STATE,3273,end climb,SURFACE_DEPTH_REACHED
$STATE,3273,begin surface coast
$FINISH,3.9,1.020731
$STATE,3359,end surface coast,CONTROL_FINISHED_OK
$STATE,3359,begin surface
$SM_CCo,3382,279.70,0.649,1,0,1154,580.13
$SM_GC,0.92,0.00,0.00,279.70,0.000,0.000,0.649,390,2400,1154,-10.88,0.00,580.13
$RAFOS_CLK,193
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12223.57,300499,131317
$TT8_MAMPS,0.023777
$HUMID,33.02
$INTERNAL_PRESSURE,9.15473
$TCM_TEMP,16.30
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,80.2,43.7
$24V_AH,23.7,2.564
$10V_AH,10.4,1.662
$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,27.350,41.275,193.425,279.700,0.000,28.821,26.304,228.672,1.750,0.000,15.342,1093.367,330.865,568.850,1620.928,473.149,35.337,1211.044,0.000,1628.547,0.000,5.533,0.000
$DEVICE_MAMPS,187.148,92.807,764.699,648.882,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,478.828,478.699,1185.848,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,184848
$DATA_FILE_SIZE,41246,695
$CAP_FILE_SIZE,73416,0
$CFSIZE,260165632,191528960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1483.3
$GPS,030210,151907,4807.816,-12223.770,35,1.1,35,18.3