version: 66.06
glider: 127
mission: 4
dive: 4
start: 2 2 110 21 12 15
data:
$ID,127
$MISSION,4
$DIVE,4
$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,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,550
$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,-89700.102
$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,2350
$C_ROLL_CLIMB,2350
$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,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
$GPS1,210436,4807.229,-12223.012,12,1.2,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-69.1
$GPS2,211120,4807.148,-12223.075,15,1.7,15,18.3
$SPEED_LIMITS,0.143,0.225
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.071,-0.124
$KALMAN_X,-156.9,-160.2,-148.8,500.0,-39.6
$KALMAN_Y,-133.6,-11.6,12.1,-949.5,-40.4
$MHEAD_RNG_PITCHd_Wd,132.1,290,-32.6,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-2.38,-44.5,0.0,0.0,0,83,0.00,0.00,-63.70,0.000,2,0.000,0.000,390,2352,2935,0,0,0,0,0,0
$GC,86,-2.44,-90.1,3.3,-3.1,11,131,10.55,2.67,-23.15,0.000,4,0.171,0.103,2217,3758,3888,0,0,0,0,0,0
$GC,381,-2.44,-90.1,42.8,-17.3,75,387,0.00,2.53,0.00,0.000,6,0.000,0.064,2217,2349,3888,0,0,0,0,0,0
$GC,525,-2.44,-90.1,68.0,-17.6,106,532,0.00,2.65,0.00,0.000,4,0.000,0.089,2217,3756,3888,0,0,0,0,0,0
$GC,719,-2.44,-90.1,103.4,-18.2,147,725,0.00,2.53,0.00,0.000,6,0.000,0.073,2217,2341,3888,0,0,0,0,0,0
$STATE,730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,730,begin apogee
$GC,736,-0.36,0.0,105.7,17.9,149,817,2.38,0.00,73.00,0.758,6,0.130,0.000,2672,2339,3518,0,0,0,0,0,0
$STATE,818,end apogee,CONTROL_FINISHED_OK
$STATE,818,begin climb
$GC,821,2.44,90.1,109.2,0.0,164,904,2.88,2.67,71.90,0.748,4,0.071,0.088,3284,3761,3150,0,0,0,0,0,0
$GC,1017,2.44,90.1,84.6,16.2,203,1023,0.00,2.53,0.00,0.000,6,0.000,0.061,3284,2351,3151,0,0,0,0,0,0
$GC,1159,2.44,90.1,63.5,14.7,234,1166,0.00,2.65,0.00,0.000,4,0.000,0.083,3284,3759,3151,0,0,0,0,0,0
$GC,1420,2.44,90.1,24.7,13.5,292,1427,0.00,2.55,0.00,0.000,6,0.000,0.061,3284,2347,3150,0,0,0,0,0,0
$GC,1497,2.44,90.1,14.5,11.9,308,1504,0.00,2.65,0.00,0.000,4,0.000,0.079,3284,3758,3151,0,0,0,0,0,0
$GC,1524,2.44,90.1,11.7,10.0,313,1531,0.00,2.53,0.00,0.000,6,0.000,0.060,3284,2352,3151,0,0,0,0,0,0
$GC,1600,2.50,136.6,8.1,3.0,329,1644,0.00,2.62,37.88,0.663,4,0.000,0.079,3284,3757,2960,0,0,0,0,0,0
$GC,1896,2.57,197.7,6.9,0.8,393,1953,0.10,2.53,49.55,0.663,6,0.077,0.061,3310,2356,2712,0,0,0,0,0,0
$STATE,1971,end climb,SURFACE_DEPTH_REACHED
$STATE,1972,begin surface coast
$FINISH,4.3,1.019012
$STATE,2124,end surface coast,CONTROL_FINISHED_OK
$STATE,2124,begin surface
$SM_CCo,2147,259.00,0.668,0,0,1275,550.21
$SM_GC,1.09,0.00,0.00,259.00,0.000,0.000,0.668,391,2354,1275,-10.87,0.11,550.21
$RAFOS_CLK,122
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12219.12,290499,202033
$TT8_MAMPS,0.023777
$HUMID,32.79
$INTERNAL_PRESSURE,9.15473
$TCM_TEMP,16.10
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,90.6,5.9
$24V_AH,23.7,0.736
$10V_AH,10.4,0.381
$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,29.950,31.100,232.325,259.000,0.000,28.447,26.686,212.082,3.250,0.000,15.251,678.091,132.619,498.160,1103.223,392.342,34.328,943.559,0.000,1104.600,0.000,10.903,0.000
$DEVICE_MAMPS,171.041,102.778,757.796,668.057,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,304.023,353.849,878.903,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,184880
$DATA_FILE_SIZE,25589,441
$CAP_FILE_SIZE,47806,0
$CFSIZE,260165632,192221184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1480.4
$GPS,020210,215314,4806.991,-12222.996,10,1.8,10,18.3