version: 66.06
glider: 130
mission: 7
dive: 14
start: 12 9 109 11 9 54
data:
$ID,130
$MISSION,7
$DIVE,14
$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,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,-69889.617
$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
$GPS1,110056,4806.440,-12222.124,11,1.1,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-71.8
$GPS2,110856,4806.437,-12222.106,13,1.6,13,18.3
$SPEED_LIMITS,0.104,0.182
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.017,-0.181
$KALMAN_X,893.4,-7.3,-44.8,1121.7,-21.3
$KALMAN_Y,1342.8,134.6,218.8,-4219.9,400.3
$MHEAD_RNG_PITCHd_Wd,156.2,819,-13.2,-6.024
$D_GRID,108
$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,-97.3,0.0,0.0,0,49,0.00,0.00,-28.35,0.000,2,0.000,0.000,416,2049,1136,0,0,0,0,0,0
$GC,52,-1.14,-97.3,2.1,-1.4,4,150,12.50,2.55,-79.38,0.000,4,0.147,0.073,2675,3454,3187,0,0,0,0,0,0
$GC,372,-0.95,-97.3,24.9,-9.0,53,380,0.20,2.47,0.00,0.000,6,0.084,0.045,2719,2054,3186,0,0,0,0,0,0
$GC,434,-0.86,-97.3,29.6,-7.5,64,442,0.10,0.00,0.00,0.000,6,0.119,0.000,2738,2054,3186,0,0,0,0,0,0
$GC,497,-0.86,-97.3,33.8,-6.5,75,504,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2054,3186,0,0,0,0,0,0
$GC,568,-0.86,-97.3,38.5,-6.5,86,577,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2054,3186,0,0,0,0,0,0
$GC,635,-0.86,-97.3,42.7,-6.3,97,639,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2054,3187,0,0,0,0,0,0
$GC,833,-0.86,-97.3,54.3,-5.6,136,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2054,3186,0,0,0,0,0,0
$GC,1038,-0.86,-97.3,65.5,-5.5,175,1043,0.00,2.50,0.00,0.000,4,0.000,0.055,2738,634,3186,0,0,0,0,0,0
$GC,1082,-0.86,-97.3,68.1,-6.0,183,1088,0.00,2.40,0.00,0.000,6,0.000,0.038,2738,2051,3186,0,0,0,0,0,0
$STATE,1144,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1144,begin apogee
$GC,1150,-0.38,0.0,72.2,6.0,194,1232,0.47,0.00,76.28,0.652,6,0.078,0.000,2841,2052,2789,0,0,0,0,0,0
$STATE,1232,end apogee,CONTROL_FINISHED_OK
$STATE,1232,begin climb
$GC,1235,1.14,97.3,74.5,0.0,208,1323,1.55,0.00,79.22,0.633,6,0.061,0.000,3176,2051,2391,0,0,0,0,0,0
$GC,1518,0.98,97.3,52.7,9.4,261,1525,0.17,0.00,0.00,0.000,6,0.110,0.000,3143,2051,2384,0,0,0,0,0,0
$GC,1727,0.90,97.3,37.2,7.0,300,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2051,2383,0,0,0,0,0,0
$GC,1800,0.81,97.3,32.3,6.8,311,1808,0.17,0.00,0.00,0.000,6,0.097,0.000,3109,2052,2383,0,0,0,0,0,0
$GC,1862,0.82,106.0,28.9,5.7,322,1878,0.00,0.00,7.35,0.501,6,0.000,0.000,3109,2051,2356,0,0,0,0,0,0
$GC,1932,0.84,121.1,25.2,5.4,334,1948,0.00,0.00,13.85,0.551,6,0.000,0.000,3109,2052,2296,0,0,0,0,0,0
$GC,2002,0.86,131.6,21.2,5.6,346,2018,0.00,0.00,9.80,0.526,6,0.000,0.000,3109,2051,2253,0,0,0,0,0,0
$GC,2072,0.89,138.5,17.3,5.7,358,2088,0.00,0.00,7.60,0.496,6,0.000,0.000,3109,2052,2223,0,0,0,0,0,0
$GC,2142,0.95,149.4,13.5,5.6,370,2159,0.12,0.00,10.62,0.525,6,0.067,0.000,3144,2052,2179,0,0,0,0,0,0
$GC,2213,0.95,149.4,9.2,6.1,382,2222,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2052,2177,0,0,0,0,0,0
$GC,2275,0.98,175.8,6.1,4.9,393,2307,0.00,2.53,21.92,0.565,4,0.000,0.053,3144,3450,2072,0,0,0,0,0,0
$GC,2560,1.30,313.7,5.2,0.2,449,2585,0.28,2.45,18.38,0.562,2,0.032,0.040,3224,2046,1983,0,0,0,0,0,0
$FREEZE,5.08,8.272,-1.391,0,1,0
$STATE,2587,end climb,NO_VERTICAL_VELOCITY
$STATE,2587,begin surface
$SM_CCo,2590,298.62,0.548,3,0,515,557.81
$SM_GC,1.86,12.55,0.00,0.00,0.035,0.000,0.000,411,2044,515,-11.52,-0.17,558.06
$IRIDIUM_FIX,4748.51,-12139.83,050399,101016
$TT8_MAMPS,0.026078
$HUMID,30.42
$INTERNAL_PRESSURE,9.15929
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.1,12.1
$24V_AH,23.7,1.781
$10V_AH,10.3,1.316
$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,28.125,14.900,245.025,298.625,0.000,28.473,29.839,233.555,0.500,0.000,13.075,720.600,216.449,535.088,1176.341,856.585,33.335,1102.488,0.000,1483.484,0.000,5.445,0.000
$DEVICE_MAMPS,147.264,72.865,651.950,548.405,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,376.033,372.399,1126.294,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324620
$DATA_FILE_SIZE,25577,452
$CAP_FILE_SIZE,57444,0
$CFSIZE,260165632,145891328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,091209,120130,4806.206,-12221.939,40,0.9,40,18.3