version: 66.06
glider: 130
mission: 7
dive: 11
start: 12 9 109 8 2 41
data:
$ID,130
$MISSION,7
$DIVE,11
$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,-69832.625
$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,27
$R_STBD_OVSHOOT,24
$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,10
$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,2
$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
$GPS1,075236,4806.981,-12222.309,32,1.1,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-72.0
$GPS2,080144,4807.028,-12222.354,16,1.0,16,18.3
$SPEED_LIMITS,0.104,0.182
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.016,-0.181
$KALMAN_X,894.9,63.0,2.7,696.8,43.0
$KALMAN_Y,370.6,-12.8,40.1,-1825.1,208.1
$MHEAD_RNG_PITCHd_Wd,156.6,1954,-13.2,-6.024
$D_GRID,107
$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,-1.14,-97.3,0.0,0.0,0,52,0.00,0.00,-28.85,0.000,2,0.000,0.000,409,2052,1120,0,0,0,0,0,0
$GC,55,-1.14,-97.3,2.0,-1.0,5,154,12.57,0.00,-78.47,0.000,6,0.148,0.000,2676,2053,3187,0,0,0,0,0,0
$GC,210,-0.94,-97.3,10.8,-7.0,28,218,0.25,0.00,0.00,0.000,6,0.098,0.000,2728,2053,3186,0,0,0,0,0,0
$GC,272,-0.84,-97.3,14.0,-5.2,39,279,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2053,3186,0,0,0,0,0,0
$GC,344,-0.77,-97.3,18.4,-5.8,50,354,0.15,0.00,0.00,0.000,6,0.103,0.000,2758,2053,3186,0,0,0,0,0,0
$GC,419,-0.77,-97.3,22.4,-5.4,61,426,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2053,3186,0,0,0,0,0,0
$GC,480,-0.77,-97.3,26.0,-6.0,72,487,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2053,3186,0,0,0,0,0,0
$GC,552,-0.81,-97.3,30.2,-5.9,83,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2053,3186,0,0,0,0,0,0
$GC,626,-0.85,-97.3,34.0,-5.3,94,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2053,3186,0,0,0,0,0,0
$GC,687,-0.89,-97.3,37.2,-5.3,105,694,0.10,0.00,0.00,0.000,6,0.081,0.000,2730,2054,3186,0,0,0,0,0,0
$GC,745,-0.89,-97.3,41.0,-5.9,116,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2054,3186,0,0,0,0,0,0
$GC,949,-0.89,-97.3,52.9,-6.0,155,955,0.00,2.47,0.00,0.000,4,0.000,0.056,2730,645,3186,0,0,0,0,0,0
$GC,993,-0.89,-97.3,55.8,-6.2,163,999,0.00,2.40,0.00,0.000,6,0.000,0.039,2729,2062,3186,0,0,0,0,0,0
$GC,1195,-0.89,-97.3,67.4,-5.7,202,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2062,3186,0,0,0,0,0,0
$STATE,1286,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1286,begin apogee
$GC,1292,-0.38,0.0,72.5,5.5,219,1373,0.52,0.00,75.72,0.649,6,0.078,0.000,2843,2062,2791,0,0,0,0,0,0
$STATE,1374,end apogee,CONTROL_FINISHED_OK
$STATE,1374,begin climb
$GC,1378,1.14,97.3,74.7,0.0,233,1471,1.52,2.53,79.35,0.628,4,0.059,0.054,3175,3446,2391,0,0,0,0,0,0
$GC,1528,0.94,97.3,64.5,9.8,259,1534,0.20,2.45,0.00,0.000,6,0.114,0.041,3137,2043,2387,0,0,0,0,0,0
$GC,1733,0.86,97.3,47.9,7.7,298,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2043,2384,0,0,0,0,0,0
$GC,1931,0.78,97.3,33.7,6.9,337,1941,0.17,2.50,0.00,0.000,4,0.094,0.056,3102,646,2383,0,0,0,0,0,0
$GC,2019,0.78,97.3,28.0,6.8,353,2026,0.00,2.42,0.00,0.000,6,0.000,0.038,3101,2053,2383,0,0,0,0,0,0
$GC,2080,0.79,101.5,24.5,5.9,364,2088,0.00,2.47,0.00,0.000,4,0.000,0.054,3101,3444,2383,0,0,0,0,0,0
$GC,2143,0.79,101.5,20.5,6.1,376,2152,0.00,2.45,0.00,0.000,6,0.000,0.042,3102,2047,2382,0,0,0,0,0,0
$GC,2217,0.81,117.9,16.7,5.3,387,2239,0.00,0.00,16.90,0.560,6,0.000,0.000,3101,2047,2307,0,0,0,0,0,0
$GC,2293,0.82,127.0,12.6,5.6,400,2309,0.00,0.00,8.93,0.509,6,0.000,0.000,3101,2047,2271,0,0,0,0,0,0
$GC,2363,0.89,144.2,8.9,5.3,412,2386,0.10,0.00,15.62,0.545,6,0.075,0.000,3133,2047,2200,0,0,0,0,0,0
$GC,2441,0.95,164.4,4.9,5.2,425,2463,0.00,0.00,16.25,0.071,6,0.000,0.000,3132,2047,2119,0,0,0,0,0,0
$GC,2518,1.32,306.8,4.8,0.0,438,2664,0.35,0.00,128.07,0.273,6,0.043,0.000,3223,2047,1538,0,0,0,0,1,0
$GC,2718,1.68,443.0,4.3,0.3,467,2742,0.30,0.00,15.73,0.174,2,0.049,0.000,3306,2046,1482,0,0,0,0,1,0
$FREEZE,4.11,5.815,-1.281,0,1,0
$STATE,2744,end climb,NO_VERTICAL_VELOCITY
$STATE,2744,begin surface
$SM_CCo,2747,200.18,0.536,3,0,516,557.81
$SM_GC,2.04,12.90,0.00,0.00,0.035,0.000,0.000,415,2045,515,-11.51,-0.14,558.06
$IRIDIUM_FIX,4748.51,-12226.29,050399,060600
$TT8_MAMPS,0.025311
$HUMID,29.28
$INTERNAL_PRESSURE,9.14952
$TCM_TEMP,14.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.2,12.2
$24V_AH,23.7,1.505
$10V_AH,10.3,1.073
$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,29.150,19.700,356.575,200.175,0.000,22.680,25.770,287.465,0.500,0.000,16.019,730.717,222.285,501.703,1218.399,953.708,33.340,1166.998,0.000,1553.993,0.000,5.448,0.000
$DEVICE_MAMPS,148.031,55.991,648.882,536.133,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,391.214,409.227,1178.314,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324576
$DATA_FILE_SIZE,25521,470
$CAP_FILE_SIZE,64471,0
$CFSIZE,260165632,145997824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,091209,085501,4806.837,-12222.312,8,1.2,26,18.3