version: 66.07
glider: 130
mission: 12
dive: 8
start: 2 17 111 1 51 5
data:
$ID,130
$MISSION,12
$DIVE,8
$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,0
$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,-92459.094
$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,16
$R_STBD_OVSHOOT,32
$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,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
$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
$GPS1,170211,014114,4744.485,-12223.658,10,1.5,10,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-67.5
$GPS2,170211,015006,4744.587,-12223.601,17,1.4,26,18.2
$SPEED_LIMITS,0.130,0.253
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.014,-0.252
$KALMAN_X,-164.9,-105.5,128.8,2069.7,46.1
$KALMAN_Y,288.0,-717.0,121.0,2873.4,640.3
$MHEAD_RNG_PITCHd_Wd,158.5,727,-11.7,-7.491
$D_GRID,200
$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,17,begin dive
$GC,19,-1.11,-174.2,0.0,0.0,0,71,0.00,0.00,-49.78,0.000,2,0.000,0.000,414,1897,2604,0,0,0,0,0,0
$GC,75,-1.11,-175.2,2.0,-3.3,6,118,12.23,0.00,-26.20,0.000,6,0.151,0.000,2605,1899,3375,0,0,0,0,0,0
$GC,200,-1.05,-175.2,16.7,-17.3,23,210,0.10,2.53,0.00,0.000,4,0.129,0.055,2625,3296,3375,0,0,0,0,0,0
$GC,241,-1.00,-175.2,21.0,-10.7,28,250,0.00,2.50,0.00,0.000,6,0.000,0.049,2625,1893,3375,0,0,0,0,0,0
$GC,335,-0.96,-175.2,32.1,-11.1,41,344,0.12,2.58,0.00,0.000,4,0.111,0.066,2649,490,3376,0,0,0,0,0,0
$GC,415,-0.93,-175.2,40.4,-10.1,52,424,0.00,2.30,0.00,0.000,6,0.000,0.039,2649,1821,3375,0,0,0,0,0,0
$GC,505,-0.93,-175.2,49.7,-9.8,65,514,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,1823,3375,0,0,0,0,0,0
$GC,587,-0.93,-175.2,57.6,-9.2,78,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,1823,3375,0,0,0,0,0,0
$GC,741,-0.93,-175.2,70.8,-8.3,103,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,1823,3375,0,0,0,0,0,0
$GC,893,-0.93,-175.2,84.4,-9.2,128,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,1823,3375,0,0,0,0,0,0
$GC,1048,-0.93,-175.2,98.8,-10.1,153,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,1823,3375,0,0,0,0,0,0
$GC,1198,-0.93,-175.2,114.8,-10.2,178,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1824,3376,0,0,0,0,0,0
$GC,1356,-0.93,-175.2,130.2,-9.8,203,1363,0.00,2.58,0.00,0.000,4,0.000,0.053,2649,3302,3375,0,0,0,0,0,0
$GC,1408,-0.93,-175.2,135.6,-9.6,211,1416,0.00,2.65,0.00,0.000,6,0.000,0.047,2649,1779,3376,0,0,0,0,0,0
$GC,1560,-0.93,-175.2,149.3,-9.1,236,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,1779,3375,0,0,0,0,0,0
$STATE,1700,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1700,begin apogee
$GC,1708,-0.38,0.0,161.7,8.4,259,1855,0.55,0.00,136.02,0.690,6,0.080,0.000,2766,1861,2657,0,0,0,0,0,0
$STATE,1855,end apogee,CONTROL_FINISHED_OK
$STATE,1856,begin climb
$GC,1861,1.11,175.2,165.7,0.0,279,2018,1.55,2.65,141.82,0.662,4,0.074,0.064,3094,446,1943,0,0,0,0,0,0
$GC,2102,1.07,175.2,148.5,10.6,314,2111,0.00,2.45,0.00,0.000,6,0.000,0.039,3094,1855,1939,0,0,0,0,0,0
$GC,2262,1.04,175.2,135.2,7.8,339,2268,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1855,1938,0,0,0,0,0,0
$GC,2415,1.04,194.9,123.9,6.9,364,2439,0.00,0.00,16.85,0.597,6,0.000,0.000,3094,1855,1863,0,0,0,0,0,0
$GC,2589,1.01,194.9,110.9,8.0,391,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1855,1861,0,0,0,0,0,0
$GC,2740,0.99,194.9,97.6,9.0,416,2749,0.00,2.60,0.00,0.000,4,0.000,0.066,3094,442,1861,0,0,0,0,0,0
$GC,2803,0.95,194.9,90.9,10.4,426,2812,0.10,2.42,0.00,0.000,6,0.081,0.038,3070,1838,1860,0,0,0,0,0,0
$GC,2963,0.95,195.8,79.5,7.5,451,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1840,1860,0,0,0,0,0,0
$GC,3112,0.95,195.8,67.1,8.7,476,3120,0.00,2.58,0.00,0.000,4,0.000,0.066,3070,440,1860,0,0,0,0,0,0
$GC,3159,0.95,195.8,63.0,9.0,483,3167,0.00,2.38,0.00,0.000,6,0.000,0.038,3070,1819,1860,0,0,0,0,0,0
$GC,3313,0.95,195.8,49.6,7.9,508,3323,0.00,2.53,0.00,0.000,4,0.000,0.052,3070,3242,1859,0,0,0,0,0,0
$GC,3374,0.95,195.8,44.5,8.5,516,3383,0.00,2.53,0.00,0.000,6,0.000,0.050,3070,1821,1859,0,0,0,0,0,0
$GC,3464,0.97,209.4,37.4,7.1,529,3491,0.00,2.58,13.20,0.549,4,0.000,0.067,3069,442,1805,0,0,0,0,0,0
$GC,3535,0.97,209.4,31.9,8.2,538,3544,0.00,2.40,0.00,0.000,6,0.000,0.038,3070,1835,1804,0,0,0,0,0,0
$GC,3626,1.04,267.0,26.2,5.8,551,3684,0.00,0.00,49.83,0.580,6,0.000,0.000,3069,1835,1570,0,0,0,0,0,0
$GC,3770,1.20,386.4,19.0,4.0,570,3882,0.22,2.62,100.85,0.581,4,0.052,0.067,3125,443,1082,0,0,0,0,0,0
$STATE,3963,end climb,SURFACE_DEPTH_REACHED
$STATE,3963,begin surface coast
$FINISH,0.1,1.020991
$STATE,4004,end surface coast,CONTROL_FINISHED_OK
$STATE,4004,begin surface
$SM_CCo,4091,0.00,0.000,0,0,1079,387.82
$SM_GC,0.83,12.05,0.00,0.00,0.035,0.000,0.000,414,1900,1079,-11.18,0.00,387.82
$IRIDIUM_FIX,4722.92,-12226.07,170211,000026
$TT8_MAMPS,0.024717
$HUMID,32.39
$INTERNAL_PRESSURE,9.0421
$TCM_TEMP,11.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.3,51.2
$24V_AH,23.7,0.882
$10V_AH,10.3,0.790
$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,26.925,45.525,458.575,0.000,0.000,29.829,31.607,264.036,0.500,0.000,27.620,1283.136,329.555,433.651,1992.394,588.138,33.318,1151.498,0.000,1905.550,0.000,9.116,0.000
$DEVICE_MAMPS,150.705,80.325,690.030,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,532.512,260.341,1308.777,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323744
$DATA_FILE_SIZE,33584,601
$CAP_FILE_SIZE,71147,0
$CFSIZE,260165632,67100672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170211,030025,4744.520,-12223.857,30,1.9,30,18.2