version: 66.06
glider: 130
mission: 7
dive: 16
start: 12 9 109 13 11 1
data:
$ID,130
$MISSION,7
$DIVE,16
$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,-69914.375
$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
$GPS1,130213,4805.986,-12221.933,8,1.6,8,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-72.3
$GPS2,131002,4805.948,-12221.889,12,1.7,12,18.3
$SPEED_LIMITS,0.104,0.182
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.153,0.098
$KALMAN_X,1509.9,-89.6,-99.7,910.1,260.1
$KALMAN_Y,1505.2,274.3,189.3,-5395.7,66.4
$MHEAD_RNG_PITCHd_Wd,284.5,4611,-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,-97.3,0.0,0.0,0,57,0.00,0.00,-35.35,0.000,2,0.000,0.000,412,2047,1260,0,0,0,0,0,0
$GC,60,-1.14,-97.3,2.1,-1.3,6,151,12.80,2.55,-67.80,0.000,4,0.156,0.071,2675,645,3187,0,0,0,0,0,0
$GC,223,-0.90,-97.3,13.5,-8.0,30,231,0.22,2.45,0.00,0.000,6,0.087,0.043,2731,2045,3187,0,0,0,0,0,0
$GC,285,-0.81,-97.3,17.5,-6.7,41,292,0.10,0.00,0.00,0.000,6,0.117,0.000,2750,2046,3187,0,0,0,0,0,0
$GC,348,-0.81,-97.3,21.5,-6.1,52,355,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2046,3187,0,0,0,0,0,0
$GC,419,-0.81,-97.3,26.0,-6.0,63,428,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2046,3187,0,0,0,0,0,0
$GC,493,-0.81,-97.3,30.0,-5.7,74,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2046,3187,0,0,0,0,0,0
$GC,554,-0.81,-97.3,33.6,-6.0,85,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2046,3187,0,0,0,0,0,0
$GC,625,-0.81,-97.3,37.9,-5.7,96,634,0.00,2.53,0.00,0.000,4,0.000,0.057,2751,3456,3187,0,0,0,0,0,0
$GC,678,-0.86,-97.3,40.9,-5.9,105,684,0.00,2.45,0.00,0.000,6,0.000,0.041,2750,2042,3187,0,0,0,0,0,0
$GC,878,-0.90,-97.3,52.3,-5.7,144,887,0.00,2.50,0.00,0.000,4,0.000,0.057,2750,644,3187,0,0,0,0,0,0
$GC,932,-0.94,-97.3,55.4,-5.9,153,939,0.08,2.42,0.00,0.000,6,0.048,0.038,2721,2051,3187,0,0,0,0,0,0
$GC,1131,-0.94,-97.3,67.7,-5.9,192,1141,0.00,2.50,0.00,0.000,4,0.000,0.054,2721,3460,3186,0,0,0,0,0,0
$GC,1192,-0.94,-97.3,71.5,-6.3,202,1199,0.00,2.45,0.00,0.000,6,0.000,0.040,2722,2056,3186,0,0,0,0,0,0
$STATE,1295,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1295,begin apogee
$GC,1302,-0.38,0.0,77.5,5.9,221,1385,0.55,0.00,75.65,0.649,6,0.077,0.000,2840,2055,2791,0,0,0,0,0,0
$STATE,1386,end apogee,CONTROL_FINISHED_OK
$STATE,1386,begin climb
$GC,1388,1.14,97.3,80.2,0.0,235,1474,1.52,0.00,79.30,0.630,6,0.058,0.000,3172,2055,2392,0,0,0,0,0,0
$GC,1670,0.98,97.3,59.3,8.7,288,1677,0.15,0.00,0.00,0.000,6,0.115,0.000,3145,2055,2385,0,0,0,0,0,0
$GC,1874,0.88,97.3,44.5,7.1,327,1880,0.12,2.47,0.00,0.000,4,0.109,0.053,3121,645,2384,0,0,0,0,0,0
$GC,1949,0.82,97.3,39.0,6.9,341,1959,0.00,2.42,0.00,0.000,6,0.000,0.036,3121,2054,2384,0,0,0,0,0,0
$GC,2024,0.78,98.7,34.8,6.0,352,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2054,2383,0,0,0,0,0,0
$GC,2085,0.76,103.1,31.3,5.8,363,2093,0.12,0.00,4.75,0.430,6,0.100,0.000,3095,2055,2368,0,0,0,0,0,0
$GC,2147,0.78,125.6,28.0,5.1,374,2170,0.00,0.00,20.12,0.571,6,0.000,0.000,3095,2055,2277,0,0,0,0,0,0
$GC,2225,0.85,145.6,24.1,5.2,387,2247,0.00,2.53,17.40,0.559,4,0.000,0.053,3095,646,2197,0,0,0,0,0,0
$GC,2294,0.90,146.4,19.9,6.0,399,2304,0.10,2.42,0.00,0.000,6,0.038,0.036,3132,2051,2195,0,0,0,0,0,0
$GC,2368,0.90,146.4,15.2,6.4,410,2375,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2051,2195,0,0,0,0,0,0
$GC,2429,0.90,146.4,11.5,6.3,421,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2051,2194,0,0,0,0,0,0
$GC,2500,0.90,147.5,7.0,6.0,432,2509,0.00,2.47,0.00,0.000,4,0.000,0.053,3132,3446,2193,0,0,0,0,0,0
$GC,2787,1.19,291.6,5.8,-0.0,490,2821,0.22,2.45,27.12,0.571,2,0.031,0.041,3201,2043,2063,0,0,0,0,0,0
$FREEZE,5.88,8.782,-1.414,0,1,0
$STATE,2822,end climb,NO_VERTICAL_VELOCITY
$STATE,2822,begin surface
$SM_CCo,2826,311.45,0.561,2,0,516,557.81
$SM_GC,1.76,12.40,0.00,0.00,0.033,0.000,0.000,410,2042,514,-11.53,-0.23,558.06
$IRIDIUM_FIX,4745.30,-12222.84,050399,121201
$TT8_MAMPS,0.025311
$HUMID,30.58
$INTERNAL_PRESSURE,9.15929
$TCM_TEMP,13.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,75.4,11.9
$24V_AH,23.7,1.999
$10V_AH,10.2,1.473
$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,28.400,34.625,224.350,311.450,0.000,22.394,23.981,241.850,1.000,0.000,13.008,798.145,234.038,550.212,1275.318,881.563,33.349,1150.269,0.000,1603.464,0.000,9.757,0.000
$DEVICE_MAMPS,155.701,70.564,648.882,560.677,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,407.527,399.610,1209.363,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324572
$DATA_FILE_SIZE,28712,494
$CAP_FILE_SIZE,64964,0
$CFSIZE,260165632,145813504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,091209,140636,4806.098,-12222.104,36,1.4,36,18.3