version: 66.06
glider: 130
mission: 7
dive: 12
start: 12 9 109 9 4 16
data:
$ID,130
$MISSION,7
$DIVE,12
$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,0
$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,-69845.25
$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,28
$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
$GPS1,085501,4806.837,-12222.312,8,1.2,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-72.7
$GPS2,090319,4806.877,-12222.364,11,1.5,11,18.3
$SPEED_LIMITS,0.104,0.182
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.034,-0.179
$KALMAN_X,856.4,52.7,-6.0,744.2,18.7
$KALMAN_Y,559.6,32.4,154.0,-2455.0,201.6
$MHEAD_RNG_PITCHd_Wd,150.8,1686,-13.2,-6.024
$D_GRID,150
$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,-97.3,0.0,0.0,0,44,0.00,0.00,-23.40,0.000,2,0.000,0.000,414,2044,1000,0,0,0,0,0,0
$GC,47,-1.14,-97.3,2.0,-1.6,4,153,12.65,0.00,-85.32,0.000,6,0.151,0.000,2676,2045,3187,0,0,0,0,0,0
$GC,208,-0.92,-97.3,10.3,-6.7,28,216,0.25,0.00,0.00,0.000,6,0.099,0.000,2727,2045,3187,0,0,0,0,0,0
$GC,270,-0.82,-97.3,13.9,-5.7,39,278,0.12,0.00,0.00,0.000,6,0.110,0.000,2750,2046,3187,0,0,0,0,0,0
$GC,332,-0.82,-97.3,17.6,-5.8,50,340,0.00,2.55,0.00,0.000,4,0.000,0.062,2750,3444,3187,0,0,0,0,0,0
$GC,378,-0.82,-97.3,20.3,-5.7,58,388,0.00,2.47,0.00,0.000,6,0.000,0.046,2750,2049,3187,0,0,0,0,0,0
$GC,439,-0.82,-97.3,23.8,-5.6,69,448,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2049,3187,0,0,0,0,0,0
$GC,513,-0.82,-97.3,27.8,-5.5,80,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2048,3187,0,0,0,0,0,0
$GC,574,-0.82,-97.3,31.3,-5.8,91,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2049,3186,0,0,0,0,0,0
$GC,645,-0.82,-97.3,35.4,-5.6,102,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2049,3186,0,0,0,0,0,0
$GC,719,-0.85,-97.3,39.6,-5.8,113,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2048,3186,0,0,0,0,0,0
$GC,779,-0.90,-97.3,43.3,-5.7,124,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2049,3186,0,0,0,0,0,0
$GC,983,-0.94,-97.3,54.3,-5.4,163,991,0.12,0.00,0.00,0.000,6,0.071,0.000,2717,2048,3186,0,0,0,0,0,0
$GC,1187,-0.94,-97.3,67.3,-6.3,202,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2049,3186,0,0,0,0,0,0
$STATE,1274,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1274,begin apogee
$GC,1279,-0.38,0.0,73.1,6.4,218,1362,0.57,0.00,76.22,0.652,6,0.077,0.000,2840,2049,2789,0,0,0,0,0,0
$STATE,1362,end apogee,CONTROL_FINISHED_OK
$STATE,1363,begin climb
$GC,1365,1.14,97.3,75.5,0.0,232,1452,1.52,2.53,79.20,0.632,4,0.060,0.052,3172,3452,2391,0,0,0,0,0,0
$GC,1528,0.95,97.3,64.2,9.8,261,1535,0.17,2.45,0.00,0.000,6,0.116,0.041,3140,2048,2386,0,0,0,0,0,0
$GC,1728,0.86,97.3,48.3,7.5,300,1739,0.12,2.50,0.00,0.000,4,0.107,0.055,3116,647,2383,0,0,0,0,0,0
$GC,1814,0.80,97.3,42.4,7.3,315,1820,0.00,2.42,0.00,0.000,6,0.000,0.037,3116,2053,2383,0,0,0,0,0,0
$GC,2052,0.81,103.3,28.1,5.8,354,2059,0.00,0.00,4.72,0.431,6,0.000,0.000,3116,2053,2368,0,0,0,0,0,0
$GC,2113,0.81,105.4,24.5,5.9,365,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2053,2367,0,0,0,0,0,0
$GC,2185,0.81,106.3,20.0,6.0,376,2195,0.00,2.47,4.43,0.413,4,0.000,0.053,3116,3452,2355,0,0,0,0,0,0
$GC,2260,0.81,106.3,15.4,6.2,390,2270,0.00,2.45,0.00,0.000,6,0.000,0.041,3116,2055,2354,0,0,0,0,0,0
$GC,2334,0.85,135.2,11.9,4.8,401,2363,0.00,0.00,25.27,0.573,6,0.000,0.000,3116,2055,2237,0,0,0,0,0,0
$GC,2417,0.91,154.3,7.7,5.2,415,2439,0.00,0.00,16.77,0.548,6,0.000,0.000,3116,2055,2159,0,0,0,0,0,0
$GC,2494,1.05,180.3,4.2,4.9,428,2517,0.17,0.00,17.95,0.070,6,0.053,0.000,3165,2054,2055,0,0,0,0,0,0
$GC,2572,1.35,324.5,4.1,-0.0,441,2604,0.25,0.00,29.45,0.070,2,0.046,0.000,3238,2055,1894,0,0,0,0,0,0
$STATE,2605,end climb,SURFACE_DEPTH_REACHED
$STATE,2605,begin surface coast
$FINISH,3.7,1.017844
$STATE,2783,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2783,begin surface
$SM_CCo,2806,265.83,0.150,3,0,547,550.21
$SM_GC,1.84,0.00,0.00,265.83,0.000,0.000,0.150,416,2050,547,-11.56,0.00,550.21
$IRIDIUM_FIX,4748.51,-12219.12,050399,080839
$TT8_MAMPS,0.025311
$HUMID,29.52
$INTERNAL_PRESSURE,9.16906
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.4,12.6
$24V_AH,23.7,1.571
$10V_AH,10.3,1.156
$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,28.675,19.850,254.025,265.825,0.000,25.399,32.071,252.017,0.500,0.000,12.004,766.929,133.647,515.637,1257.307,920.590,33.332,1119.588,0.000,1615.800,0.000,5.447,0.000
$DEVICE_MAMPS,151.099,62.127,651.950,150.332,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,414.942,401.881,1217.043,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324612
$DATA_FILE_SIZE,25477,482
$CAP_FILE_SIZE,62667,0
$CFSIZE,260165632,145960960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,091209,095632,4806.671,-12222.263,7,1.3,7,18.3