version: 66.06
glider: 130
mission: 7
dive: 15
start: 12 9 109 12 14 29
data:
$ID,130
$MISSION,7
$DIVE,15
$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,550
$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,-69900.742
$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,28
$R_STBD_OVSHOOT,26
$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
$GPS1,120130,4806.206,-12221.939,40,0.9,40,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-71.3
$GPS2,121332,4806.172,-12221.862,10,1.3,10,18.3
$SPEED_LIMITS,0.104,0.182
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.078,-0.145
$KALMAN_X,1221.3,-55.5,-88.7,1184.6,114.6
$KALMAN_Y,1403.5,212.5,244.7,-4869.6,198.7
$MHEAD_RNG_PITCHd_Wd,190.0,362,-15.2,-6.024
$D_GRID,108
$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,-1.27,-78.0,0.0,0.0,0,56,0.00,0.00,-34.92,0.000,2,0.000,0.000,411,2043,1239,0,0,0,0,0,0
$GC,59,-1.29,-97.3,2.2,-1.2,5,151,12.60,2.55,-72.72,0.000,4,0.155,0.074,2644,3452,3186,0,0,0,0,0,0
$GC,345,-1.09,-97.3,23.7,-10.0,49,353,0.20,2.47,0.00,0.000,6,0.089,0.046,2687,2057,3186,0,0,0,0,0,0
$GC,407,-0.99,-97.3,29.2,-8.8,60,415,0.12,0.00,0.00,0.000,6,0.113,0.000,2711,2056,3186,0,0,0,0,0,0
$GC,470,-0.99,-97.3,34.2,-7.7,71,477,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2056,3186,0,0,0,0,0,0
$GC,541,-0.99,-97.3,39.6,-7.3,82,550,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2056,3186,0,0,0,0,0,0
$GC,602,-0.99,-97.3,44.0,-7.0,93,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2056,3185,0,0,0,0,0,0
$GC,802,-0.99,-97.3,57.5,-6.8,132,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2056,3186,0,0,0,0,0,0
$GC,1011,-1.02,-97.3,70.5,-6.2,171,1017,0.00,2.47,0.00,0.000,4,0.000,0.055,2711,640,3185,0,0,0,0,0,0
$STATE,1035,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1035,begin apogee
$GC,1046,-0.38,0.0,72.6,6.6,175,1127,0.62,0.00,76.05,0.657,6,0.082,0.000,2843,2053,2789,0,0,0,0,0,0
$STATE,1128,end apogee,CONTROL_FINISHED_OK
$STATE,1128,begin climb
$GC,1131,1.29,97.3,75.2,0.0,189,1224,1.70,2.55,79.28,0.633,4,0.061,0.054,3210,3451,2391,0,0,0,0,0,0
$GC,1311,1.09,97.3,60.7,11.1,221,1318,0.22,2.42,0.00,0.000,6,0.118,0.041,3169,2042,2386,0,0,0,0,0,0
$GC,1513,1.00,97.3,42.3,9.0,260,1520,0.00,2.50,0.00,0.000,4,0.000,0.055,3169,641,2383,0,0,0,0,0,0
$GC,1637,0.88,97.3,31.4,9.2,280,1645,0.20,2.42,0.00,0.000,6,0.087,0.038,3126,2047,2383,0,0,0,0,0,0
$GC,1699,0.88,97.3,27.0,6.9,291,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2047,2382,0,0,0,0,0,0
$GC,1770,0.88,97.3,22.4,6.2,302,1779,0.00,2.50,0.00,0.000,4,0.000,0.054,3126,3453,2382,0,0,0,0,0,0
$GC,1848,0.88,99.5,17.9,5.9,316,1855,0.00,2.45,0.00,0.000,6,0.000,0.041,3126,2048,2382,0,0,0,0,0,0
$GC,1909,0.92,130.2,15.1,4.4,327,1941,0.00,2.50,26.98,0.574,4,0.000,0.054,3125,644,2257,0,0,0,0,0,0
$GC,1986,0.98,143.8,10.9,5.3,339,2008,0.00,2.42,12.82,0.535,6,0.000,0.037,3126,2047,2201,0,0,0,0,0,0
$GC,2062,1.10,171.3,7.3,4.6,352,2093,0.20,2.50,23.30,0.562,4,0.054,0.051,3176,3455,2089,0,0,0,0,0,0
$GC,2371,1.36,285.1,5.3,0.1,413,2402,0.17,2.45,25.75,0.567,2,0.037,0.039,3232,2049,1963,0,0,0,0,0,0
$FREEZE,5.26,8.316,-1.366,0,1,0
$STATE,2404,end climb,NO_VERTICAL_VELOCITY
$STATE,2404,begin surface
$SM_CCo,2407,286.85,0.560,2,0,516,557.81
$SM_GC,1.85,12.60,0.00,0.00,0.036,0.000,0.000,412,2048,515,-11.52,-0.06,558.06
$IRIDIUM_FIX,4748.51,-12220.12,050399,121218
$TT8_MAMPS,0.025311
$HUMID,30.58
$INTERNAL_PRESSURE,9.15929
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.1,12.4
$24V_AH,23.7,1.894
$10V_AH,10.3,1.391
$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,28.650,34.675,244.175,286.850,0.000,54.606,60.377,342.143,0.500,0.000,10.496,663.785,257.305,521.122,1095.002,1009.662,33.341,1055.048,0.000,1380.528,0.000,5.443,0.000
$DEVICE_MAMPS,154.934,74.399,656.552,559.910,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,343.351,347.459,1048.402,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324596
$DATA_FILE_SIZE,22397,417
$CAP_FILE_SIZE,57801,0
$CFSIZE,260165632,145858560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,091209,130213,4805.986,-12221.933,8,1.6,8,18.3