version: 66.06
glider: 130
mission: 7
dive: 13
start: 12 9 109 10 9 34
data:
$ID,130
$MISSION,7
$DIVE,13
$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,-69875.906
$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,24
$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
$GPS1,095632,4806.671,-12222.263,7,1.3,7,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-70.7
$GPS2,100837,4806.672,-12222.297,30,1.2,30,18.3
$SPEED_LIMITS,0.104,0.182
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.042,-0.177
$KALMAN_X,794.6,35.5,-13.4,913.2,-66.1
$KALMAN_Y,975.6,69.3,202.1,-3338.1,391.7
$MHEAD_RNG_PITCHd_Wd,148.3,1297,-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,-97.3,0.0,0.0,0,55,0.00,0.00,-34.70,0.000,2,0.000,0.000,416,2050,1267,0,0,0,0,0,0
$GC,59,-1.14,-97.3,2.3,-1.7,5,157,12.55,2.53,-79.18,0.000,4,0.149,0.072,2676,3451,3185,0,0,0,0,0,0
$GC,208,-0.88,-97.3,9.4,-6.7,26,215,0.22,2.47,0.00,0.000,6,0.087,0.047,2733,2055,3186,0,0,0,0,0,0
$GC,269,-0.79,-97.3,13.4,-6.5,37,277,0.12,0.00,0.00,0.000,6,0.110,0.000,2757,2055,3186,0,0,0,0,0,0
$GC,330,-0.79,-97.3,16.7,-5.2,48,337,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2055,3186,0,0,0,0,0,0
$GC,394,-0.79,-97.3,20.3,-5.8,59,400,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2055,3186,0,0,0,0,0,0
$GC,464,-0.79,-97.3,24.9,-6.0,70,473,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2055,3186,0,0,0,0,0,0
$GC,538,-0.82,-97.3,29.0,-5.8,81,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2055,3186,0,0,0,0,0,0
$GC,599,-0.85,-97.3,32.5,-5.7,92,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2055,3185,0,0,0,0,0,0
$GC,671,-0.90,-97.3,36.6,-5.5,103,680,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2055,3185,0,0,0,0,0,0
$GC,741,-0.94,-97.3,40.5,-5.4,114,748,0.15,0.00,0.00,0.000,6,0.066,0.000,2717,2055,3185,0,0,0,0,0,0
$GC,945,-0.94,-97.3,54.2,-6.9,153,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2055,3186,0,0,0,0,0,0
$GC,1145,-0.94,-97.3,67.0,-6.5,192,1152,0.00,2.53,0.00,0.000,4,0.000,0.055,2717,638,3185,0,0,0,0,0,0
$GC,1185,-0.94,-97.3,69.9,-7.1,199,1198,0.00,2.42,0.00,0.000,6,0.000,0.038,2717,2059,3185,0,0,0,0,0,0
$STATE,1247,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1247,begin apogee
$GC,1253,-0.38,0.0,74.2,6.7,210,1333,0.60,0.00,75.72,0.657,6,0.078,0.000,2846,2059,2790,0,0,0,0,0,0
$STATE,1333,end apogee,CONTROL_FINISHED_OK
$STATE,1333,begin climb
$GC,1336,1.14,97.3,76.3,0.0,223,1422,1.52,0.00,79.32,0.637,6,0.060,0.000,3177,2059,2391,0,0,0,0,0,0
$GC,1619,0.98,97.3,54.2,9.1,276,1629,0.17,2.47,0.00,0.000,4,0.110,0.054,3145,3451,2383,0,0,0,0,0,0
$GC,1725,0.86,97.3,45.9,7.9,295,1731,0.12,2.45,0.00,0.000,6,0.117,0.041,3121,2038,2383,0,0,0,0,0,0
$GC,1956,0.87,99.1,31.0,5.9,334,1963,0.00,2.47,0.00,0.000,4,0.000,0.054,3120,646,2382,0,0,0,0,0,0
$GC,2047,0.81,99.1,25.4,6.0,352,2056,0.00,2.42,0.00,0.000,6,0.000,0.037,3120,2054,2382,0,0,0,0,0,0
$GC,2121,0.80,122.2,21.7,5.1,363,2150,0.00,2.53,20.40,0.576,4,0.000,0.055,3121,3447,2290,0,0,0,0,0,0
$GC,2196,0.84,149.5,17.9,4.9,376,2228,0.00,2.45,23.80,0.571,6,0.000,0.041,3120,2053,2178,0,0,0,0,0,0
$GC,2282,0.86,166.6,13.7,5.3,390,2305,0.00,0.00,15.27,0.547,6,0.000,0.000,3121,2052,2108,0,0,0,0,0,0
$GC,2359,0.91,166.6,7.9,7.1,403,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2053,2106,0,0,0,0,0,0
$GC,2430,1.05,194.9,4.4,4.8,414,2456,0.17,0.00,21.92,0.071,6,0.053,0.000,3173,2052,1995,0,0,0,0,0,0
$GC,2510,1.34,328.9,4.1,0.4,427,2549,0.22,0.00,35.78,0.071,2,0.048,0.000,3237,2052,1811,0,0,0,0,0,0
$STATE,2549,end climb,SURFACE_DEPTH_REACHED
$STATE,2549,begin surface coast
$FINISH,3.9,1.018459
$STATE,2718,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2718,begin surface
$SM_CCo,2741,268.17,0.551,4,0,547,550.21
$SM_GC,1.82,0.00,0.00,268.17,0.000,0.000,0.551,416,2049,547,-11.56,-0.03,550.21
$IRIDIUM_FIX,4748.51,-12221.84,050399,101018
$TT8_MAMPS,0.025311
$HUMID,30.54
$INTERNAL_PRESSURE,9.16906
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.4,13.8
$24V_AH,23.7,1.676
$10V_AH,10.3,1.239
$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,28.600,24.750,272.225,268.175,0.000,54.021,60.299,335.332,0.500,0.000,30.035,739.435,189.914,531.014,1256.576,1046.506,33.332,1136.755,0.000,1576.368,0.000,5.468,0.000
$DEVICE_MAMPS,148.798,72.098,657.319,551.473,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,396.098,388.389,1189.101,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324612
$DATA_FILE_SIZE,25495,467
$CAP_FILE_SIZE,65199,0
$CFSIZE,260165632,145924096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,091209,110056,4806.440,-12222.124,11,1.1,11,18.3