version: 66.06
glider: 127
mission: 4
dive: 5
start: 2 2 110 22 0 15
data:
$ID,127
$MISSION,4
$DIVE,5
$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,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,-89717.148
$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,24
$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,3
$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
$GPS1,215314,4806.991,-12222.996,10,1.8,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-66.4
$GPS2,215919,4806.931,-12223.065,11,2.0,16,18.3
$SPEED_LIMITS,0.143,0.225
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.154,-0.164
$KALMAN_X,-207.0,-219.8,-156.3,633.7,29.3
$KALMAN_Y,-235.9,-34.6,10.0,-1226.4,-116.4
$MHEAD_RNG_PITCHd_Wd,118.6,2170,-20.7,-10.000
$D_GRID,103
$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,-1.61,-107.0,0.0,0.0,0,89,0.00,0.00,-70.55,0.000,2,0.000,0.000,392,2354,3046,0,0,0,0,0,0
$GC,92,-1.61,-107.0,3.0,-2.9,12,136,11.70,2.78,-23.90,0.000,4,0.173,0.103,2399,3805,3958,0,0,0,0,0,0
$GC,144,-1.61,-107.0,7.6,-4.7,20,151,0.00,2.55,0.00,0.000,6,0.000,0.063,2399,2400,3957,0,0,0,0,0,0
$GC,219,-1.61,-107.0,17.1,-12.5,36,226,0.00,2.65,0.00,0.000,4,0.000,0.087,2399,3801,3957,0,0,0,0,0,0
$GC,372,-1.61,-107.0,34.2,-12.4,70,379,0.00,2.55,0.00,0.000,6,0.000,0.063,2399,2394,3958,0,0,0,0,0,0
$GC,447,-1.61,-107.0,43.3,-11.7,86,453,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2394,3958,0,0,0,0,0,0
$GC,591,-1.61,-107.0,59.9,-11.4,117,597,0.00,2.55,0.00,0.000,4,0.000,0.076,2399,995,3958,0,0,0,0,0,0
$GC,634,-1.61,-107.0,64.8,-11.5,126,640,0.00,2.58,0.00,0.000,6,0.000,0.073,2399,2394,3958,0,0,0,0,0,0
$GC,782,-1.61,-107.0,80.8,-10.9,157,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2394,3958,0,0,0,0,0,0
$GC,925,-1.61,-107.0,95.8,-10.1,188,932,0.00,2.58,0.00,0.000,4,0.000,0.074,2399,996,3958,0,0,0,0,0,0
$STATE,991,end dive,TARGET_DEPTH_EXCEEDED
$STATE,991,begin apogee
$GC,998,-0.36,0.0,103.0,10.2,202,1092,1.35,0.00,86.68,0.758,6,0.111,0.000,2667,2401,3518,0,0,0,0,0,0
$STATE,1094,end apogee,CONTROL_FINISHED_OK
$STATE,1094,begin climb
$GC,1096,1.61,107.0,105.9,0.0,219,1195,2.05,2.67,85.72,0.740,4,0.074,0.091,3105,3805,3082,0,0,0,0,0,0
$GC,1237,1.61,107.0,95.1,11.6,246,1244,0.00,2.55,0.00,0.000,6,0.000,0.059,3105,2394,3082,0,0,0,0,0,0
$GC,1382,1.61,107.0,80.1,10.1,277,1388,0.00,2.58,0.00,0.000,4,0.000,0.083,3105,990,3081,0,0,0,0,0,0
$GC,1413,1.61,107.0,76.9,10.5,283,1418,0.00,2.58,0.00,0.000,6,0.000,0.072,3105,2406,3081,0,0,0,0,0,0
$GC,1557,1.62,111.7,62.8,9.7,314,1569,0.00,2.62,5.47,0.548,4,0.000,0.091,3105,3810,3062,0,0,0,0,0,0
$GC,1594,1.62,111.7,59.0,10.7,321,1600,0.00,2.53,0.00,0.000,6,0.000,0.068,3105,2391,3063,0,0,0,0,0,0
$GC,1739,1.62,111.7,44.1,10.0,352,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2390,3063,0,0,0,0,0,0
$GC,1878,1.62,111.7,30.6,10.1,383,1886,0.00,2.65,0.00,0.000,4,0.000,0.082,3105,3802,3063,0,0,0,0,0,0
$GC,1953,1.62,111.7,22.7,10.3,399,1960,0.00,2.53,0.00,0.000,6,0.000,0.071,3105,2399,3063,0,0,0,0,0,0
$GC,2030,1.64,133.3,15.3,8.6,415,2056,0.00,2.60,18.75,0.656,4,0.000,0.073,3105,991,2974,0,0,0,0,0,0
$GC,2106,1.70,182.1,9.4,6.9,430,2155,0.00,2.58,39.75,0.664,6,0.000,0.065,3105,2396,2776,0,0,0,0,0,0
$GC,2226,1.92,359.7,5.7,-1.2,453,2339,0.30,0.00,108.95,0.676,2,0.074,0.000,3172,2397,2233,0,0,0,0,0,0
$STATE,2341,end climb,SURFACE_DEPTH_REACHED
$STATE,2341,begin surface coast
$FINISH,1.3,1.017143
$STATE,2560,end surface coast,CONTROL_FINISHED_OK
$STATE,2560,begin surface
$SM_CCo,2582,169.52,0.630,1,0,1153,580.13
$SM_GC,0.98,0.00,0.00,169.52,0.000,0.000,0.630,394,2397,1153,-10.86,-0.08,580.13
$RAFOS_CLK,137
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12221.84,290499,212131
$TT8_MAMPS,0.02301
$HUMID,34.01
$INTERNAL_PRESSURE,9.14497
$TCM_TEMP,15.90
$XPDR_PINGS,13
$24V_AH,23.7,0.849
$10V_AH,10.4,0.449
$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,28.575,46.700,345.325,169.525,0.000,24.351,28.579,181.614,4.750,0.000,16.411,778.990,189.128,505.225,1267.229,381.377,35.326,1067.457,0.000,1267.990,0.000,14.094,0.000
$DEVICE_MAMPS,173.342,102.778,757.796,630.474,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,358.655,392.102,973.194,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,184872
$DATA_FILE_SIZE,31878,521
$CAP_FILE_SIZE,58800,0
$CFSIZE,260165632,192167936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1480.2
$GPS,020210,224722,4806.739,-12222.882,8,2.7,27,18.3