version: 66.06
glider: 130
mission: 7
dive: 8
start: 12 9 109 3 59 59
data:
$ID,130
$MISSION,7
$DIVE,8
$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,-69765.719
$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,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
$GPS1,034906,4807.612,-12222.966,25,1.4,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-74.0
$GPS2,035902,4807.612,-12222.988,15,1.2,15,18.3
$SPEED_LIMITS,0.104,0.182
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.066,-0.169
$KALMAN_X,523.1,113.0,53.9,183.3,32.2
$KALMAN_Y,-215.7,14.3,-111.8,-33.7,-50.5
$MHEAD_RNG_PITCHd_Wd,140.4,3226,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.14,-97.3,0.0,0.0,0,45,0.00,0.00,-23.67,0.000,2,0.000,0.000,415,2043,1269,0,0,0,0,0,0
$GC,48,-1.14,-97.3,2.2,-2.2,4,146,12.55,2.60,-74.55,0.000,4,0.149,0.078,2678,3450,3188,0,0,0,0,0,0
$GC,197,-0.91,-97.3,12.2,-10.5,25,205,0.22,2.47,0.00,0.000,6,0.082,0.048,2726,2057,3188,0,0,0,0,0,0
$GC,259,-0.82,-97.3,16.0,-6.0,36,267,0.12,0.00,0.00,0.000,6,0.109,0.000,2750,2057,3188,0,0,0,0,0,0
$GC,321,-0.82,-97.3,19.3,-5.3,47,328,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2057,3188,0,0,0,0,0,0
$GC,384,-0.82,-97.3,23.0,-5.7,58,391,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2058,3188,0,0,0,0,0,0
$GC,455,-0.82,-97.3,27.3,-5.8,69,464,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2057,3188,0,0,0,0,0,0
$GC,529,-0.82,-97.3,31.5,-5.9,80,536,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2057,3188,0,0,0,0,0,0
$GC,590,-0.82,-97.3,34.9,-5.7,91,597,0.00,2.55,0.00,0.000,4,0.000,0.060,2750,635,3188,0,0,0,0,0,0
$GC,633,-0.82,-97.3,37.9,-6.3,99,643,0.00,2.45,0.00,0.000,6,0.000,0.041,2750,2047,3188,0,0,0,0,0,0
$GC,701,-0.85,-97.3,41.8,-5.8,110,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2047,3188,0,0,0,0,0,0
$GC,905,-0.90,-97.3,53.3,-5.9,149,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2047,3188,0,0,0,0,0,0
$GC,1106,-0.95,-97.3,64.6,-5.5,188,1113,0.12,0.00,0.00,0.000,6,0.071,0.000,2716,2047,3188,0,0,0,0,0,0
$GC,1312,-0.95,-97.3,77.4,-5.9,227,1317,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2047,3188,0,0,0,0,0,0
$GC,1517,-0.95,-97.3,89.7,-5.9,266,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2046,3189,0,0,0,0,0,0
$GC,1720,-0.95,-97.3,101.2,-5.5,305,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2047,3188,0,0,0,0,0,0
$STATE,1823,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1824,begin apogee
$GC,1830,-0.38,0.0,107.1,5.6,325,1913,0.57,0.00,76.60,0.667,6,0.076,0.000,2841,2047,2789,0,0,0,0,0,0
$STATE,1914,end apogee,CONTROL_FINISHED_OK
$STATE,1914,begin climb
$GC,1918,1.14,97.3,109.2,0.0,339,2004,1.52,0.00,78.70,0.647,6,0.058,0.000,3175,2047,2392,0,0,0,0,0,0
$GC,2198,0.97,97.3,86.1,9.8,392,2205,0.17,2.50,0.00,0.000,4,0.108,0.054,3143,3454,2384,0,0,0,0,0,0
$GC,2264,0.84,97.3,80.1,9.0,404,2271,0.12,2.45,0.00,0.000,6,0.091,0.041,3115,2052,2383,0,0,0,0,0,0
$GC,2471,0.80,97.3,65.6,6.4,443,2476,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2052,2383,0,0,0,0,0,0
$GC,2670,0.77,97.3,52.3,6.4,482,2677,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2052,2383,0,0,0,0,0,0
$GC,2872,0.77,97.3,39.4,6.3,521,2881,0.00,2.50,0.00,0.000,4,0.000,0.054,3114,3452,2382,0,0,0,0,0,0
$GC,3008,0.73,97.3,31.1,6.1,547,3017,0.10,2.45,0.00,0.000,6,0.084,0.041,3090,2047,2382,0,0,0,0,0,0
$GC,3070,0.76,121.9,27.8,5.0,558,3102,0.00,2.53,20.05,0.567,4,0.000,0.056,3090,652,2291,0,0,0,0,0,0
$GC,3156,0.80,121.9,22.8,6.1,572,3164,0.00,2.42,0.00,0.000,6,0.000,0.038,3090,2057,2290,0,0,0,0,0,0
$GC,3218,0.87,133.7,19.3,5.5,583,3236,0.12,2.47,11.25,0.531,4,0.064,0.053,3128,3453,2243,0,0,0,0,0,0
$GC,3290,0.87,133.7,14.3,7.4,595,3298,0.00,2.45,0.00,0.000,6,0.000,0.042,3128,2053,2241,0,0,0,0,0,0
$GC,3352,0.87,133.7,10.2,6.5,606,3359,0.00,2.53,0.00,0.000,4,0.000,0.056,3128,639,2240,0,0,0,0,0,0
$GC,3633,1.12,263.6,6.0,0.6,664,3704,0.15,2.42,64.93,0.577,2,0.037,0.038,3175,2057,1921,0,0,0,0,0,0
$FREEZE,5.71,8.561,-1.453,0,1,0
$STATE,3705,end climb,NO_VERTICAL_VELOCITY
$STATE,3706,begin surface
$SM_CCo,3709,283.00,0.552,2,0,515,557.81
$SM_GC,1.84,12.30,0.00,0.00,0.035,0.000,0.000,411,2056,515,-11.52,0.17,558.06
$IRIDIUM_FIX,4751.72,-12219.12,050399,020229
$TT8_MAMPS,0.025311
$HUMID,26.92
$INTERNAL_PRESSURE,9.16906
$TCM_TEMP,13.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,43.0
$24V_AH,23.7,1.193
$10V_AH,10.3,0.785
$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,28.100,34.800,251.525,283.000,0.000,25.749,27.299,323.473,1.000,0.000,15.380,1058.846,376.005,537.733,1611.484,1129.752,33.329,1264.685,0.000,2036.714,0.000,8.606,0.000
$DEVICE_MAMPS,148.798,78.234,667.290,552.240,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,547.901,540.536,1483.020,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324896
$DATA_FILE_SIZE,38131,673
$CAP_FILE_SIZE,76917,0
$CFSIZE,260165632,146100224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,091209,050926,4807.435,-12222.700,10,2.0,11,18.3