version: 66.06
glider: 127
mission: 4
dive: 20
start: 2 3 110 15 27 29
data:
$ID,127
$MISSION,4
$DIVE,20
$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,-90075.18
$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,28
$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
$GPS1,151907,4807.816,-12223.770,35,1.1,35,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-64.1
$GPS2,152633,4807.841,-12223.773,14,2.3,33,18.3
$SPEED_LIMITS,0.099,0.199
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.077,0.093
$KALMAN_X,639.9,377.8,-76.0,-1769.7,52.5
$KALMAN_Y,-2164.0,-299.0,192.4,2466.8,-107.3
$MHEAD_RNG_PITCHd_Wd,302.2,407,-26.6,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.95,-36.8,0.0,0.0,0,114,0.00,0.00,-94.20,0.000,2,0.000,0.000,390,2400,3500,0,0,0,0,0,0
$GC,117,-1.98,-68.5,3.4,-2.9,16,143,11.35,2.65,-7.35,0.000,4,0.179,0.104,2317,3816,3799,0,0,0,0,0,0
$GC,159,-1.98,-68.5,8.5,-11.1,23,166,0.00,2.55,0.00,0.000,6,0.000,0.061,2317,2406,3799,0,0,0,0,0,0
$GC,234,-1.98,-68.5,14.2,-7.9,39,241,0.00,2.65,0.00,0.000,4,0.000,0.084,2317,3809,3799,0,0,0,0,0,0
$GC,370,-1.98,-68.5,26.6,-10.4,69,377,0.00,2.55,0.00,0.000,6,0.000,0.061,2317,2396,3799,0,0,0,0,0,0
$GC,447,-1.98,-68.5,34.6,-10.4,85,453,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2396,3799,0,0,0,0,0,0
$GC,522,-1.98,-68.5,43.3,-11.6,101,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2396,3799,0,0,0,0,0,0
$GC,663,-1.98,-68.5,59.6,-11.7,132,670,0.00,2.58,0.00,0.000,4,0.000,0.075,2317,994,3799,0,0,0,0,0,0
$GC,727,-1.98,-68.5,67.3,-12.3,145,733,0.00,2.55,0.00,0.000,6,0.000,0.067,2317,2402,3799,0,0,0,0,0,0
$GC,871,-1.98,-68.5,84.5,-11.7,176,877,0.00,2.58,0.00,0.000,4,0.000,0.072,2317,1000,3799,0,0,0,0,0,0
$GC,916,-1.98,-68.5,89.8,-11.6,185,922,0.00,2.55,0.00,0.000,6,0.000,0.077,2317,2405,3799,0,0,0,0,0,0
$GC,1061,-1.98,-68.5,107.2,-12.1,216,1068,0.00,2.62,0.00,0.000,4,0.000,0.084,2317,3805,3799,0,0,0,0,0,0
$STATE,1135,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1135,begin apogee
$GC,1144,-0.36,0.0,116.0,11.4,232,1205,1.83,0.00,56.35,0.765,6,0.126,0.000,2667,2390,3519,0,0,0,0,0,0
$STATE,1206,end apogee,CONTROL_FINISHED_OK
$STATE,1206,begin climb
$GC,1208,1.98,68.5,118.4,0.0,243,1274,2.42,0.00,55.88,0.754,6,0.071,0.000,3185,2390,3239,0,0,0,0,0,0
$GC,1413,1.98,68.5,97.8,10.6,285,1418,0.00,2.65,0.00,0.000,4,0.000,0.082,3185,3807,3239,0,0,0,0,0,0
$GC,1509,1.98,68.5,87.1,11.2,305,1515,0.00,2.50,0.00,0.000,6,0.000,0.058,3185,2397,3239,0,0,0,0,0,0
$GC,1651,1.98,68.5,72.1,10.0,336,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2396,3239,0,0,0,0,0,0
$GC,1798,1.98,68.5,58.0,9.9,367,1803,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2396,3239,0,0,0,0,0,0
$GC,1940,1.98,68.5,43.4,9.9,398,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2396,3239,0,0,0,0,0,0
$GC,2085,1.98,68.5,29.8,10.0,429,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2397,3239,0,0,0,0,0,0
$GC,2158,1.98,68.5,22.4,9.3,445,2165,0.00,2.65,0.00,0.000,4,0.000,0.090,3185,3806,3239,0,0,0,0,0,0
$STATE,2371,end climb,SURFACE_DEPTH_REACHED
$STATE,2371,begin surface coast
$FINISH,4.4,1.021629
$STATE,2478,end surface coast,CONTROL_FINISHED_OK
$STATE,2478,begin surface
$SM_CCo,2502,313.20,0.669,0,0,1153,580.13
$SM_GC,0.93,0.00,0.00,313.20,0.000,0.000,0.669,389,2392,1153,-10.88,-0.23,580.13
$RAFOS_CLK,146
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12223.57,300499,141442
$TT8_MAMPS,0.02301
$HUMID,33.06
$INTERNAL_PRESSURE,9.14497
$TCM_TEMP,16.20
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,80.2,42.6
$24V_AH,23.7,2.664
$10V_AH,10.4,1.731
$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,28.925,36.175,112.225,313.200,0.000,29.249,27.681,222.657,2.750,0.000,34.026,829.623,220.268,519.224,1249.384,433.606,35.327,989.553,0.000,1236.830,0.000,5.527,0.000
$DEVICE_MAMPS,178.711,103.545,764.699,668.824,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,356.479,372.706,924.133,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,184812
$DATA_FILE_SIZE,31705,517
$CAP_FILE_SIZE,55445,0
$CFSIZE,260165632,191516672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1483.0
$GPS,030210,161520,4808.028,-12223.916,12,1.5,12,18.3