version: 66.06
glider: 127
mission: 4
dive: 2
start: 2 2 110 19 8 42
data:
$ID,127
$MISSION,4
$DIVE,2
$D_SURF,4
$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,50
$T_MISSION,85
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$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,735
$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,-89603.242
$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,2764
$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,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,19
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$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
$GPS1,190408,4807.810,-12223.378,12,1.5,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-63.4
$GPS2,190750,4807.821,-12223.440,13,1.5,13,18.3
$SPEED_LIMITS,0.143,0.225
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.141,-0.176
$KALMAN_X,-105.8,-105.8,-105.8,-86.6,-234.7
$KALMAN_Y,88.3,88.3,88.3,-113.5,195.7
$MHEAD_RNG_PITCHd_Wd,123.0,1616,-20.7,-10.000
$D_GRID,105
$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,15,-1.61,-107.0,0.0,0.0,0,129,0.00,0.00,-111.00,0.000,2,0.000,0.000,392,2036,3200,0,0,0,0,0,0
$GC,133,-1.61,-107.0,3.6,-3.7,19,171,11.57,0.00,-20.00,0.000,6,0.170,0.000,2408,2035,3956,0,0,0,0,0,0
$GC,241,-1.61,-107.0,10.7,-7.4,40,247,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2035,3956,0,0,0,0,0,0
$GC,315,-1.61,-107.0,17.7,-9.3,56,322,0.00,2.65,0.00,0.000,4,0.000,0.082,2408,3454,3956,0,0,0,0,0,0
$GC,329,-1.61,-107.0,19.0,-9.1,58,336,0.00,2.55,0.00,0.000,6,0.000,0.065,2408,2054,3956,0,0,0,0,0,0
$GC,406,-1.61,-107.0,25.7,-8.8,74,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2054,3956,0,0,0,0,0,0
$GC,479,-1.61,-107.0,33.1,-10.1,90,486,0.00,2.62,0.00,0.000,4,0.000,0.081,2408,3455,3956,0,0,0,0,0,0
$GC,493,-1.61,-107.0,34.5,-10.2,92,500,0.00,2.55,0.00,0.000,6,0.000,0.064,2408,2051,3956,0,0,0,0,0,0
$GC,566,-1.61,-107.0,42.1,-10.3,108,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2051,3956,0,0,0,0,0,0
$GC,709,-1.61,-107.0,57.0,-10.5,139,715,0.00,2.60,0.00,0.000,4,0.000,0.081,2408,3457,3956,0,0,0,0,0,0
$GC,785,-1.61,-107.0,65.4,-11.1,155,792,0.00,2.50,0.00,0.000,6,0.000,0.064,2408,2053,3956,0,0,0,0,0,0
$GC,931,-1.61,-107.0,81.3,-10.5,186,938,0.00,2.62,0.00,0.000,4,0.000,0.081,2408,3459,3956,0,0,0,0,0,0
$GC,985,-1.61,-107.0,87.2,-11.2,197,991,0.00,2.53,0.00,0.000,6,0.000,0.063,2408,2048,3956,0,0,0,0,0,0
$GC,1128,-1.61,-107.0,102.3,-10.4,228,1135,0.00,2.62,0.00,0.000,4,0.000,0.079,2408,3455,3956,0,0,0,0,0,0
$STATE,1154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1154,begin apogee
$GC,1161,-0.36,0.0,105.0,10.6,233,1253,1.35,0.00,85.80,0.759,6,0.107,0.000,2679,2039,3519,0,0,0,0,0,0
$STATE,1255,end apogee,CONTROL_FINISHED_OK
$STATE,1255,begin climb
$GC,1257,1.61,107.0,107.7,0.0,250,1349,2.05,0.00,85.57,0.746,6,0.075,0.000,3111,2039,3082,0,0,0,0,0,0
$GC,1488,1.61,107.0,87.5,10.5,297,1494,0.00,2.65,0.00,0.000,4,0.000,0.085,3111,3460,3081,0,0,0,0,0,0
$GC,1644,1.61,107.0,70.2,10.6,331,1650,0.00,2.55,0.00,0.000,6,0.000,0.063,3111,2045,3081,0,0,0,0,0,0
$GC,1787,1.61,107.0,55.3,10.5,362,1794,0.00,2.65,0.00,0.000,4,0.000,0.076,3111,3459,3082,0,0,0,0,0,0
$GC,1917,1.61,107.0,41.2,10.9,390,1924,0.00,2.55,0.00,0.000,6,0.000,0.061,3111,2052,3081,0,0,0,0,0,0
$GC,2058,1.61,107.0,26.7,10.3,421,2064,0.00,2.62,0.00,0.000,4,0.000,0.078,3111,3460,3081,0,0,0,0,0,0
$GC,2211,1.61,107.0,10.4,10.1,455,2218,0.00,2.55,0.00,0.000,6,0.000,0.067,3111,2054,3082,0,0,0,0,0,0
$GC,2286,1.69,172.0,4.6,5.9,471,2346,0.00,2.65,52.35,0.660,4,0.000,0.080,3111,646,2817,0,0,0,0,0,0
$GC,2459,2.18,569.6,12.4,-15.0,506,2603,0.52,2.55,134.57,0.668,2,0.067,0.065,3237,2050,2145,0,0,0,0,0,0
$STATE,2604,end climb,SURFACE_DEPTH_REACHED
$STATE,2604,begin surface coast
$FINISH,3.1,1.018088
$STATE,2640,end surface coast,CONTROL_FINISHED_OK
$STATE,2640,begin surface
$SM_CCo,2662,274.10,0.638,1,0,521,735.16
$SM_GC,0.94,0.00,0.00,274.10,0.000,0.000,0.638,391,2050,521,-10.92,0.00,735.16
$RAFOS_CLK,192
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12226.29,290499,191938
$TT8_MAMPS,0.02301
$HUMID,33.46
$INTERNAL_PRESSURE,9.09614
$TCM_TEMP,15.50
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,80.0,5.9
$24V_AH,23.7,0.499
$10V_AH,10.4,0.242
$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,29.050,46.600,358.300,274.100,0.000,0.000,0.000,0.000,2.750,0.000,13.628,790.088,199.272,637.960,1302.059,88.684,32.187,1229.169,0.000,1302.358,0.000,5.426,0.000
$DEVICE_MAMPS,170.274,85.137,759.330,638.144,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,369.524,404.192,1002.609,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,184908
$DATA_FILE_SIZE,31789,537
$CAP_FILE_SIZE,68983,0
$CFSIZE,260165632,192278528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1481.5
$GPS,020210,195858,4807.594,-12223.206,12,99.0,31,18.3