version: 66.06
glider: 130
mission: 7
dive: 6
start: 12 9 109 1 24 48
data:
$ID,130
$MISSION,7
$DIVE,6
$D_SURF,4
$D_FLARE,2
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,2
$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,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52028
$NAV_MODE,1
$FERRY_MAX,45
$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,44.380001
$TGT_DEFAULT_LON,-125.01
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$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,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-69714.508
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,417
$PITCH_MAX,3725
$C_PITCH,2910
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,162
$ROLL_MAX,3945
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,3
$VBD_MIN,516
$VBD_MAX,3960
$C_VBD,2790
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$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,-7.5355983
$PRESSURE_SLOPE,0.0001159091
$AD7714Ch0Gain,128
$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,5
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,85
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$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,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044082953
$SEABIRD_T_H,0.00065181591
$SEABIRD_T_I,3.2922526e-05
$SEABIRD_T_J,4.287429e-06
$SEABIRD_C_G,-9.794486
$SEABIRD_C_H,1.1032488
$SEABIRD_C_I,-0.0011085917
$SEABIRD_C_J,0.0001701656
$GPS1,011614,4807.050,-12223.026,10,1.5,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-72.6
$GPS2,012350,4807.023,-12223.036,12,1.5,12,18.3
$SPEED_LIMITS,0.120,0.228
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.034,0.225
$KALMAN_X,337.5,88.1,20.0,370.0,116.3
$KALMAN_Y,-166.4,53.8,36.0,-1361.1,-186.7
$MHEAD_RNG_PITCHd_Wd,333.0,1810,-12.0,-6.944
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.93,-146.0,0.0,0.0,0,58,0.00,0.00,-35.35,0.000,2,0.000,0.000,416,2061,1276,0,0,0,0,0,0
$GC,62,-0.93,-146.0,2.3,-1.2,6,159,12.65,2.53,-76.45,0.000,4,0.146,0.077,2702,3456,3387,0,0,0,0,0,0
$GC,235,-0.81,-146.0,15.3,-8.8,34,245,0.10,2.50,0.00,0.000,6,0.082,0.048,2726,2048,3387,0,0,0,0,0,0
$GC,296,-0.73,-146.0,19.7,-6.8,45,307,0.10,2.55,0.00,0.000,4,0.114,0.063,2746,650,3387,0,0,0,0,0,0
$GC,367,-0.73,-146.0,25.0,-7.4,58,376,0.00,2.42,0.00,0.000,6,0.000,0.043,2746,2038,3387,0,0,0,0,0,0
$GC,441,-0.73,-146.0,29.6,-6.5,69,447,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2038,3386,0,0,0,0,0,0
$GC,501,-0.73,-146.0,33.6,-6.8,80,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2037,3387,0,0,0,0,0,0
$GC,572,-0.73,-146.0,38.6,-6.8,91,581,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2037,3387,0,0,0,0,0,0
$GC,635,-0.76,-146.0,42.8,-6.4,102,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2038,3386,0,0,0,0,0,0
$GC,841,-0.80,-146.0,56.1,-6.7,141,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2037,3386,0,0,0,0,0,0
$GC,1040,-0.84,-146.0,68.8,-6.1,180,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2037,3387,0,0,0,0,0,0
$GC,1242,-0.89,-146.0,80.1,-5.6,219,1248,0.15,0.00,0.00,0.000,6,0.063,0.000,2706,2037,3386,0,0,0,0,0,0
$GC,1445,-0.89,-146.0,94.1,-6.7,258,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2037,3387,0,0,0,0,0,0
$STATE,1606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1606,begin apogee
$GC,1612,-0.31,0.0,105.1,7.0,288,1734,0.60,0.00,113.03,0.664,6,0.076,0.000,2835,2038,2790,0,0,0,0,0,0
$STATE,1735,end apogee,CONTROL_FINISHED_OK
$STATE,1735,begin climb
$GC,1738,0.93,146.0,108.2,0.0,309,1867,1.25,0.00,116.82,0.641,6,0.058,0.000,3110,2038,2192,0,0,0,0,0,0
$GC,2063,0.88,146.0,85.2,8.0,369,2068,0.00,2.50,0.00,0.000,4,0.000,0.054,3110,3454,2185,0,0,0,0,0,0
$GC,2076,0.83,146.0,84.0,7.8,371,2082,0.00,2.42,0.00,0.000,6,0.000,0.041,3110,2042,2184,0,0,0,0,0,0
$GC,2278,0.80,146.0,68.2,7.5,410,2286,0.12,0.00,0.00,0.000,6,0.097,0.000,3085,2042,2184,0,0,0,0,0,0
$GC,2482,0.81,156.9,54.9,6.6,449,2494,0.00,0.00,8.65,0.524,6,0.000,0.000,3084,2042,2150,0,0,0,0,0,0
$GC,2691,0.88,185.0,41.8,6.0,489,2723,0.00,0.00,25.08,0.580,6,0.000,0.000,3085,2043,2033,0,0,0,0,0,0
$GC,2777,0.96,204.1,36.4,6.3,504,2800,0.15,0.00,16.52,0.558,6,0.060,0.000,3128,2042,1957,0,0,0,0,0,0
$GC,2854,0.96,204.1,30.2,8.3,517,2861,0.00,2.55,0.00,0.000,4,0.000,0.057,3128,3454,1954,0,0,0,0,0,0
$GC,3030,0.96,204.1,14.7,8.5,553,3040,0.00,2.45,0.00,0.000,6,0.000,0.044,3128,2057,1952,0,0,0,0,0,0
$GC,3104,0.96,207.2,9.8,6.8,564,3111,0.00,2.50,0.00,0.000,4,0.000,0.054,3128,3455,1951,0,0,0,0,0,0
$GC,3166,1.14,276.2,6.3,4.7,576,3237,0.10,2.45,59.60,0.581,6,0.039,0.042,3167,2049,1662,0,0,0,0,0,0
$GC,3292,1.63,475.2,5.6,0.5,595,3377,0.40,0.00,80.68,0.569,2,0.049,0.000,3266,2050,1267,0,0,0,0,0,0
$STATE,3377,end climb,SURFACE_DEPTH_REACHED
$STATE,3378,begin surface coast
$FINISH,1.3,1.015979
$STATE,3565,end surface coast,CONTROL_FINISHED_OK
$STATE,3565,begin surface
$SM_CCo,3587,98.72,0.525,1,0,750,500.17
$SM_GC,2.37,0.00,0.00,98.72,0.000,0.000,0.525,411,2046,750,-11.50,-0.11,500.17
$IRIDIUM_FIX,4751.72,-12216.40,050399,000050
$TT8_MAMPS,0.026078
$HUMID,24.87
$INTERNAL_PRESSURE,9.19835
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.2,27.8
$24V_AH,23.7,0.984
$10V_AH,10.3,0.571
$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,28.375,24.875,420.375,98.725,0.000,30.048,28.766,212.726,0.750,0.000,12.785,960.397,260.939,422.856,1548.989,967.304,33.325,1196.169,0.000,1950.216,0.000,7.044,0.000
$DEVICE_MAMPS,146.497,76.700,664.222,524.628,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,568.228,463.430,1427.721,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324588
$DATA_FILE_SIZE,35038,647
$CAP_FILE_SIZE,69886,0
$CFSIZE,260165632,146202624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,091209,022728,4807.343,-12222.994,6,2.4,26,18.3