version: 66.07
glider: 130
mission: 12
dive: 6
start: 2 16 111 23 23 38
data:
$ID,130
$MISSION,12
$DIVE,6
$D_SURF,3
$D_FLARE,2
$D_TGT,200
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$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,89
$T_MISSION,95
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$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,260
$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,-92456.586
$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,2858
$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,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,162
$ROLL_MAX,3945
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,30
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,516
$VBD_MAX,3960
$C_VBD,2659
$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,20
$AH0_24V,92
$AH0_10V,97
$MINV_24V,19
$MINV_10V,7.8000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-9.5150938
$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,120
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$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
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.0044026845
$SEABIRD_T_H,0.00064110267
$SEABIRD_T_I,2.6319482e-05
$SEABIRD_T_J,2.9463893e-06
$SEABIRD_C_G,-9.7963085
$SEABIRD_C_H,1.1040274
$SEABIRD_C_I,-0.0013956937
$SEABIRD_C_J,0.00019230587
$GPS1,160211,231419,4743.889,-12224.847,11,1.6,11,18.2
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-67.2
$GPS2,160211,232238,4743.953,-12224.785,15,1.3,15,18.2
$SPEED_LIMITS,0.130,0.253
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.209,0.143
$KALMAN_X,-112.6,-167.2,-43.2,772.8,76.3
$KALMAN_Y,-860.5,-422.7,-97.2,2780.9,-368.1
$MHEAD_RNG_PITCHd_Wd,37.3,1665,-11.6,-7.491
$D_GRID,175
$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,-1.11,-175.2,0.0,0.0,0,71,0.00,0.00,-50.22,0.000,2,0.000,0.000,415,1920,2609,0,0,0,0,0,0
$GC,75,-1.11,-175.2,2.1,-3.5,6,120,12.27,2.47,-26.45,0.000,4,0.152,0.067,2609,3292,3375,0,0,0,0,0,0
$GC,321,-1.08,-175.2,27.2,-10.7,41,331,0.00,2.47,0.00,0.000,6,0.000,0.048,2608,1898,3375,0,0,0,0,0,0
$GC,412,-1.03,-175.2,37.4,-11.7,54,422,0.12,0.00,0.00,0.000,6,0.112,0.000,2632,1898,3375,0,0,0,0,0,0
$GC,506,-1.01,-175.2,47.3,-10.6,67,514,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,1898,3375,0,0,0,0,0,0
$GC,590,-0.99,-175.2,55.6,-9.0,80,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1898,3376,0,0,0,0,0,0
$GC,744,-0.96,-175.2,68.9,-8.4,105,751,0.00,2.55,0.00,0.000,4,0.000,0.065,2633,476,3375,0,0,0,0,0,0
$GC,847,-0.93,-175.2,79.1,-10.5,121,855,0.05,2.47,0.00,0.000,6,0.076,0.041,2654,1906,3376,0,0,0,0,0,0
$GC,1001,-0.93,-175.2,93.2,-9.0,146,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1907,3375,0,0,0,0,0,0
$GC,1155,-0.93,-175.2,106.5,-8.2,171,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1907,3375,0,0,0,0,0,0
$GC,1307,-0.93,-175.2,118.9,-7.7,196,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1907,3375,0,0,0,0,0,0
$GC,1467,-0.93,-175.2,130.1,-6.8,221,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1910,3375,0,0,0,0,0,0
$GC,1617,-0.93,-175.2,141.7,-8.1,246,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1910,3375,0,0,0,0,0,0
$GC,1771,-0.93,-175.2,154.8,-8.6,271,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1910,3376,0,0,0,0,0,0
$GC,1923,-0.93,-175.2,167.3,-8.6,296,1931,0.00,2.58,0.00,0.000,4,0.000,0.063,2654,487,3375,0,0,0,0,0,0
$GC,2019,-0.93,-175.2,174.6,-8.4,311,2026,0.00,2.45,0.00,0.000,6,0.000,0.040,2654,1912,3375,0,0,0,0,0,0
$STATE,2033,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2033,begin apogee
$GC,2040,-0.38,0.0,176.2,8.4,313,2186,0.52,0.00,136.15,0.688,6,0.080,0.000,2766,1835,2659,0,0,0,0,0,0
$STATE,2187,end apogee,CONTROL_FINISHED_OK
$STATE,2187,begin climb
$GC,2193,1.11,175.2,181.9,0.0,333,2347,1.52,0.00,142.62,0.666,6,0.070,0.000,3091,1835,1942,0,0,0,0,0,0
$GC,2491,1.08,175.2,160.3,10.0,378,2499,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1835,1938,0,0,0,0,0,0
$GC,2646,1.05,175.2,145.3,9.7,403,2656,0.00,2.53,0.00,0.000,4,0.000,0.067,3091,445,1936,0,0,0,0,0,0
$GC,2729,1.00,175.2,136.0,10.7,416,2738,0.00,2.38,0.00,0.000,6,0.000,0.040,3091,1812,1936,0,0,0,0,0,0
$GC,2886,0.97,175.2,121.2,9.4,441,2894,0.10,0.00,0.00,0.000,6,0.112,0.000,3070,1812,1936,0,0,0,0,0,0
$GC,3037,0.97,175.2,106.9,9.1,466,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1812,1936,0,0,0,0,0,0
$GC,3191,0.97,175.2,92.4,9.8,491,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1812,1936,0,0,0,0,0,0
$GC,3341,0.97,175.2,79.5,7.6,516,3350,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1812,1936,0,0,0,0,0,0
$GC,3498,0.98,187.2,68.6,7.1,541,3514,0.00,0.00,10.23,0.545,6,0.000,0.000,3070,1812,1894,0,0,0,0,0,0
$GC,3661,1.05,237.6,58.0,6.0,567,3712,0.00,0.00,43.75,0.596,6,0.000,0.000,3070,1812,1689,0,0,0,0,0,0
$GC,3865,1.18,349.5,47.6,4.2,598,3966,0.20,0.00,94.40,0.591,6,0.054,0.000,3125,1812,1233,0,0,0,0,0,0
$GC,4051,1.18,349.5,33.3,8.9,622,4060,0.00,2.53,0.00,0.000,4,0.000,0.067,3126,447,1230,0,0,0,0,0,0
$GC,4095,1.18,349.5,29.2,8.5,628,4105,0.00,2.38,0.00,0.000,6,0.000,0.041,3126,1805,1229,0,0,0,0,0,0
$GC,4188,1.18,349.5,21.1,8.7,641,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1809,1228,0,0,0,0,0,0
$GC,4279,1.18,349.5,12.7,8.8,654,4287,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1809,1228,0,0,0,0,0,0
$GC,4370,1.18,349.5,4.6,8.3,667,4378,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1809,1227,0,0,0,0,0,0
$STATE,4385,end climb,SURFACE_DEPTH_REACHED
$STATE,4385,begin surface coast
$FINISH,-0.1,1.021359
$STATE,4425,end surface coast,CONTROL_FINISHED_OK
$STATE,4426,begin surface
$SM_CCo,4508,0.00,0.000,0,0,1226,351.51
$SM_GC,0.95,12.00,0.00,0.00,0.035,0.000,0.000,416,1909,1226,-11.17,0.23,351.51
$IRIDIUM_FIX,4726.11,-12220.67,160211,222222
$TT8_MAMPS,0.024717
$HUMID,32.71
$INTERNAL_PRESSURE,9.0714
$TCM_TEMP,13.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.4,71.2
$24V_AH,23.7,0.728
$10V_AH,10.3,0.620
$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,26.800,25.075,427.150,0.000,0.000,23.314,32.984,253.025,0.500,0.000,18.843,1445.281,392.466,417.900,2138.637,617.433,33.317,1165.333,0.000,2113.776,0.000,5.618,0.000
$DEVICE_MAMPS,152.235,93.330,687.735,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,571.717,286.449,1428.953,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323656
$DATA_FILE_SIZE,36898,675
$CAP_FILE_SIZE,73355,0
$CFSIZE,260165632,67170304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170211,004006,4744.328,-12223.933,40,1.5,41,18.2