version: 66.06
glider: 127
mission: 4
dive: 18
start: 2 3 110 13 7 36
data:
$ID,127
$MISSION,4
$DIVE,18
$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,-90024.547
$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,15
$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
$GPS1,125906,4807.122,-12223.239,32,1.2,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-67.6
$GPS2,130638,4807.110,-12223.229,14,1.4,14,18.3
$SPEED_LIMITS,0.099,0.199
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.099,0.173
$KALMAN_X,253.7,485.3,10.5,-902.3,8.5
$KALMAN_Y,-1636.3,-320.9,-175.8,975.9,-22.0
$MHEAD_RNG_PITCHd_Wd,311.9,1903,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.18,-107.0,0.0,0.0,0,100,0.00,0.00,-82.40,0.000,2,0.000,0.000,390,2403,3243,0,0,0,0,0,0
$GC,103,-1.18,-107.0,3.3,-3.4,14,142,12.38,2.70,-17.48,0.000,4,0.178,0.100,2491,3806,3958,0,0,0,0,0,0
$GC,249,-1.18,-107.0,14.5,-7.1,44,256,0.00,2.55,0.00,0.000,6,0.000,0.061,2491,2396,3958,0,0,0,0,0,0
$GC,325,-1.18,-107.0,19.8,-7.1,60,331,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2396,3957,0,0,0,0,0,0
$GC,400,-1.18,-107.0,25.0,-6.7,76,406,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2396,3957,0,0,0,0,0,0
$GC,474,-1.18,-107.0,30.6,-7.4,92,480,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2396,3957,0,0,0,0,0,0
$GC,549,-1.18,-107.0,36.3,-7.8,108,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2396,3957,0,0,0,0,0,0
$GC,623,-1.18,-107.0,42.0,-7.4,124,630,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2396,3957,0,0,0,0,0,0
$GC,768,-1.18,-107.0,53.2,-7.9,155,774,0.00,2.55,0.00,0.000,4,0.000,0.078,2491,998,3957,0,0,0,0,0,0
$GC,836,-1.18,-107.0,58.8,-8.2,169,842,0.00,2.55,0.00,0.000,6,0.000,0.076,2491,2401,3957,0,0,0,0,0,0
$GC,980,-1.18,-107.0,70.2,-7.8,200,987,0.00,2.58,0.00,0.000,4,0.000,0.073,2491,1004,3957,0,0,0,0,0,0
$GC,1016,-1.18,-107.0,73.2,-8.0,207,1022,0.00,2.55,0.00,0.000,6,0.000,0.067,2491,2409,3957,0,0,0,0,0,0
$GC,1163,-1.18,-107.0,84.1,-7.1,238,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2409,3957,0,0,0,0,0,0
$GC,1308,-1.18,-107.0,95.0,-7.7,269,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2409,3957,0,0,0,0,0,0
$GC,1452,-1.18,-107.0,105.7,-7.1,300,1459,0.00,2.60,0.00,0.000,4,0.000,0.071,2491,998,3957,0,0,0,0,0,0
$GC,1479,-1.18,-107.0,107.8,-7.2,305,1485,0.00,2.55,0.00,0.000,6,0.000,0.069,2491,2408,3957,0,0,0,0,0,0
$STATE,1580,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1580,begin apogee
$GC,1587,-0.36,0.0,115.0,7.1,327,1679,0.88,0.00,87.15,0.764,6,0.097,0.000,2670,2408,3519,0,0,0,0,0,0
$STATE,1681,end apogee,CONTROL_FINISHED_OK
$STATE,1681,begin climb
$GC,1683,1.18,107.0,117.4,0.0,344,1783,1.60,2.65,86.70,0.748,4,0.074,0.072,3007,1004,3082,0,0,0,0,0,0
$GC,1801,1.18,112.0,111.6,6.7,365,1813,0.00,2.55,5.80,0.578,6,0.000,0.071,3007,2401,3062,0,0,0,0,0,0
$GC,1952,1.18,112.0,99.4,7.9,397,1958,0.00,2.62,0.00,0.000,4,0.000,0.091,3007,3809,3061,0,0,0,0,0,0
$GC,2010,1.18,112.0,94.4,8.9,409,2017,0.00,2.50,0.00,0.000,6,0.000,0.061,3007,2392,3062,0,0,0,0,0,0
$GC,2154,1.18,112.0,82.7,8.1,440,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2392,3061,0,0,0,0,0,0
$GC,2298,1.18,112.0,71.9,7.2,471,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2392,3061,0,0,0,0,0,0
$GC,2441,1.18,112.0,60.9,7.8,502,2448,0.00,2.67,0.00,0.000,4,0.000,0.082,3007,3809,3061,0,0,0,0,0,0
$GC,2469,1.18,112.0,58.6,8.0,507,2474,0.00,2.50,0.00,0.000,6,0.000,0.059,3007,2395,3061,0,0,0,0,0,0
$GC,2613,1.18,112.0,47.4,7.4,538,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2395,3061,0,0,0,0,0,0
$GC,2759,1.18,112.0,36.8,7.5,569,2765,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2395,3062,0,0,0,0,0,0
$GC,2834,1.18,112.0,31.2,7.4,585,2840,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2395,3061,0,0,0,0,0,0
$GC,2909,1.18,112.0,25.6,7.4,601,2916,0.00,2.58,0.00,0.000,4,0.000,0.072,3007,999,3061,0,0,0,0,0,0
$GC,2954,1.18,112.0,22.1,7.6,610,2961,0.00,2.55,0.00,0.000,6,0.000,0.068,3007,2394,3062,0,0,0,0,0,0
$GC,3032,1.18,112.0,16.6,7.2,626,3039,0.00,2.65,0.00,0.000,4,0.000,0.084,3007,3806,3062,0,0,0,0,0,0
$GC,3060,1.18,112.0,14.5,7.4,631,3067,0.00,2.53,0.00,0.000,6,0.000,0.060,3006,2398,3061,0,0,0,0,0,0
$GC,3135,1.20,126.1,9.3,6.3,647,3154,0.00,2.65,13.12,0.645,4,0.000,0.093,3007,3807,3003,0,0,0,0,0,0
$STATE,3200,end climb,SURFACE_DEPTH_REACHED
$STATE,3200,begin surface coast
$FINISH,4.5,1.020260
$STATE,3287,end surface coast,CONTROL_FINISHED_OK
$STATE,3287,begin surface
$SM_CCo,3310,295.42,0.670,0,0,1153,580.13
$SM_GC,0.93,0.00,0.00,295.42,0.000,0.000,0.670,394,2397,1153,-10.86,-0.08,580.13
$RAFOS_CLK,188
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12219.12,300499,111107
$TT8_MAMPS,0.02301
$HUMID,33.34
$INTERNAL_PRESSURE,9.14497
$TCM_TEMP,15.40
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,80.3,41.6
$24V_AH,23.7,2.456
$10V_AH,10.4,1.577
$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,27.125,51.625,192.775,295.425,0.000,25.991,24.335,248.450,3.500,0.000,14.666,1072.570,315.118,581.496,1588.579,490.252,35.335,1211.835,0.000,1593.975,0.000,5.530,0.000
$DEVICE_MAMPS,177.944,99.710,763.932,670.358,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,468.030,471.572,1167.952,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,184840
$DATA_FILE_SIZE,41274,679
$CAP_FILE_SIZE,73814,0
$CFSIZE,260165632,191569920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1482.5
$GPS,030210,140838,4807.463,-12223.529,11,1.8,11,18.3