version: 66.06
glider: 130
mission: 7
dive: 10
start: 12 9 109 6 41 23
data:
$ID,130
$MISSION,7
$DIVE,10
$D_SURF,4
$D_FLARE,2
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,5
$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,83
$T_MISSION,85
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,240
$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,100
$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,-69815.977
$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,2930
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$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,26
$R_STBD_OVSHOOT,27
$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,70
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,063100,4807.221,-12222.493,34,1.4,35,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-70.7
$GPS2,064026,4807.259,-12222.491,13,1.7,13,18.3
$SPEED_LIMITS,0.104,0.182
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.026,-0.180
$KALMAN_X,779.1,82.0,24.5,600.7,20.6
$KALMAN_Y,293.0,-37.9,-60.8,-1197.5,204.4
$MHEAD_RNG_PITCHd_Wd,153.5,2409,-13.2,-6.024
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.14,-97.3,0.0,0.0,0,56,0.00,0.00,-35.40,0.000,2,0.000,0.000,410,2060,1262,0,0,0,0,0,0
$GC,60,-1.14,-97.3,2.3,-1.5,6,158,12.60,2.53,-78.65,0.000,4,0.149,0.075,2678,3454,3187,0,0,0,0,0,0
$GC,260,-0.94,-97.3,13.6,-6.5,39,269,0.17,2.50,0.00,0.000,6,0.085,0.048,2716,2049,3187,0,0,0,0,0,0
$GC,323,-0.82,-97.3,17.6,-6.1,50,331,0.15,2.58,0.00,0.000,4,0.104,0.062,2747,3456,3187,0,0,0,0,0,0
$GC,349,-0.75,-97.3,19.3,-5.9,54,359,0.00,2.47,0.00,0.000,6,0.000,0.046,2747,2050,3187,0,0,0,0,0,0
$GC,410,-0.75,-97.3,22.9,-5.8,65,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2050,3187,0,0,0,0,0,0
$GC,484,-0.75,-97.3,27.0,-5.8,76,491,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2050,3187,0,0,0,0,0,0
$GC,545,-0.75,-97.3,30.4,-5.7,87,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2050,3186,0,0,0,0,0,0
$GC,616,-0.75,-97.3,34.6,-5.7,98,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2050,3187,0,0,0,0,0,0
$GC,689,-0.75,-97.3,38.6,-5.6,109,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2050,3186,0,0,0,0,0,0
$GC,750,-0.78,-97.3,42.2,-5.7,120,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2050,3186,0,0,0,0,0,0
$GC,956,-0.83,-97.3,53.2,-5.3,159,963,0.00,2.55,0.00,0.000,4,0.000,0.058,2747,641,3186,0,0,0,0,0,0
$GC,993,-0.87,-97.3,55.2,-5.5,165,999,0.00,2.40,0.00,0.000,6,0.000,0.040,2748,2056,3186,0,0,0,0,0,0
$GC,1196,-0.91,-97.3,65.7,-4.7,204,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2056,3186,0,0,0,0,0,0
$GC,1402,-0.97,-97.3,75.5,-4.9,243,1407,0.12,0.00,0.00,0.000,6,0.071,0.000,2712,2056,3186,0,0,0,0,0,0
$GC,1612,-0.97,-97.3,87.4,-5.4,282,1620,0.00,2.53,0.00,0.000,4,0.000,0.054,2712,637,3186,0,0,0,0,0,0
$GC,1655,-0.94,-97.3,89.7,-5.7,289,1662,0.00,2.42,0.00,0.000,6,0.000,0.038,2712,2048,3186,0,0,0,0,0,0
$GC,1860,-0.94,-97.3,101.7,-5.8,328,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2048,3186,0,0,0,0,0,0
$STATE,1919,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1919,begin apogee
$GC,1925,-0.38,0.0,105.0,5.6,339,2008,0.60,0.00,76.38,0.663,6,0.078,0.000,2841,2048,2789,0,0,0,0,0,0
$STATE,2008,end apogee,CONTROL_FINISHED_OK
$STATE,2008,begin climb
$GC,2013,1.14,97.3,107.0,0.0,353,2100,1.52,2.53,79.07,0.643,4,0.057,0.051,3176,3457,2390,0,0,0,0,0,0
$GC,2183,0.93,97.3,93.8,10.4,383,2189,0.22,2.42,0.00,0.000,6,0.110,0.039,3134,2046,2385,0,0,0,0,0,0
$GC,2386,0.84,97.3,76.5,7.8,422,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2047,2383,0,0,0,0,0,0
$GC,2589,0.76,97.3,61.0,7.6,461,2594,0.20,0.00,0.00,0.000,6,0.089,0.000,3093,2046,2383,0,0,0,0,0,0
$GC,2792,0.78,110.0,48.8,5.5,500,2806,0.00,0.00,10.35,0.538,6,0.000,0.000,3094,2046,2341,0,0,0,0,0,0
$GC,3001,0.78,115.4,36.8,5.8,540,3010,0.00,0.00,5.93,0.467,6,0.000,0.000,3093,2046,2319,0,0,0,0,0,0
$GC,3065,0.82,115.4,33.2,6.1,551,3072,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2046,2318,0,0,0,0,0,0
$GC,3137,0.86,116.8,28.8,6.0,562,3146,0.10,0.00,0.00,0.000,6,0.077,0.000,3125,2046,2317,0,0,0,0,0,0
$GC,3210,0.86,116.8,24.1,6.5,573,3217,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2046,2317,0,0,0,0,0,0
$GC,3271,0.83,116.8,20.3,6.4,584,3278,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2046,2318,0,0,0,0,0,0
$GC,3342,0.83,116.8,15.7,6.2,595,3351,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2046,2317,0,0,0,0,0,0
$GC,3415,0.83,119.2,11.5,5.9,606,3429,0.00,2.53,4.60,0.413,4,0.000,0.054,3124,3443,2303,0,0,0,0,0,0
$GC,3494,0.85,132.3,6.8,5.5,621,3511,0.00,2.45,12.07,0.531,6,0.000,0.043,3124,2048,2250,0,0,0,0,0,0
$GC,3565,1.14,245.6,5.4,1.3,633,3664,0.22,2.53,92.55,0.578,4,0.048,0.055,3183,644,1786,0,0,0,0,0,0
$FREEZE,5.07,6.754,-1.280,0,1,0
$STATE,3814,end climb,NO_VERTICAL_VELOCITY
$STATE,3814,begin surface
$SM_CCo,3817,254.27,0.553,2,0,516,557.81
$SM_GC,1.74,12.30,0.00,0.00,0.033,0.000,0.000,410,2051,515,-11.53,0.03,558.06
$IRIDIUM_FIX,4751.72,-12225.30,050399,050528
$TT8_MAMPS,0.025311
$HUMID,29.64
$INTERNAL_PRESSURE,9.15929
$TCM_TEMP,13.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.1,38.5
$24V_AH,23.7,1.410
$10V_AH,10.3,0.991
$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,28.225,34.900,280.950,254.275,0.000,29.155,26.491,310.577,1.500,0.000,13.249,1052.820,382.055,533.634,1685.982,1114.578,33.337,1292.373,0.000,2142.374,0.000,13.003,0.000
$DEVICE_MAMPS,148.798,75.166,663.455,553.007,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,544.898,493.862,1494.603,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324920
$DATA_FILE_SIZE,38215,670
$CAP_FILE_SIZE,79307,0
$CFSIZE,260165632,146010112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,091209,075236,4806.981,-12222.309,32,1.1,33,18.3