version: 66.06
glider: 130
mission: 7
dive: 18
start: 12 9 109 15 18 31
data:
$ID,130
$MISSION,7
$DIVE,18
$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,-69939.258
$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,30
$R_STBD_OVSHOOT,26
$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,0
$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
$GPS1,150808,4806.295,-12222.309,11,1.4,11,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-73.1
$GPS2,151732,4806.309,-12222.296,13,1.2,13,18.3
$SPEED_LIMITS,0.104,0.182
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.142,0.114
$KALMAN_X,1947.4,-92.2,31.5,-156.1,264.3
$KALMAN_Y,1687.0,295.0,-95.8,-4647.6,-45.9
$MHEAD_RNG_PITCHd_Wd,290.3,3775,-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,-97.3,0.0,0.0,0,64,0.00,0.00,-43.03,0.000,2,0.000,0.000,415,2042,1443,0,0,0,0,0,0
$GC,67,-1.14,-97.3,2.3,-1.3,6,142,12.57,2.53,-56.25,0.000,4,0.151,0.073,2672,645,3187,0,0,0,0,0,0
$GC,171,-0.73,-97.3,11.2,-10.4,21,181,0.45,2.45,0.00,0.000,6,0.087,0.044,2765,2043,3187,0,0,0,0,0,0
$GC,232,-0.73,-97.3,15.4,-6.2,32,242,0.00,2.55,0.00,0.000,4,0.000,0.062,2765,3452,3187,0,0,0,0,0,0
$GC,483,-0.79,-97.3,30.2,-5.9,82,491,0.00,2.45,0.00,0.000,6,0.000,0.044,2765,2058,3187,0,0,0,0,0,0
$GC,545,-0.84,-97.3,33.5,-5.4,93,553,0.00,2.53,0.00,0.000,4,0.000,0.059,2765,647,3187,0,0,0,0,0,0
$GC,616,-0.90,-97.3,37.6,-6.0,106,625,0.10,2.42,0.00,0.000,6,0.044,0.040,2731,2047,3186,0,0,0,0,0,0
$GC,678,-0.90,-97.3,41.4,-6.1,117,683,0.00,2.47,0.00,0.000,4,0.000,0.056,2731,3454,3186,0,0,0,0,0,0
$GC,764,-0.90,-97.3,46.9,-6.2,133,771,0.00,2.45,0.00,0.000,6,0.000,0.041,2731,2047,3186,0,0,0,0,0,0
$GC,971,-0.90,-97.3,59.0,-6.0,172,978,0.00,2.50,0.00,0.000,4,0.000,0.055,2731,642,3186,0,0,0,0,0,0
$GC,1094,-0.90,-97.3,66.8,-6.3,196,1104,0.00,2.42,0.00,0.000,6,0.000,0.038,2731,2052,3186,0,0,0,0,0,0
$GC,1306,-0.90,-97.3,78.3,-5.5,235,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2052,3186,0,0,0,0,0,0
$GC,1518,-0.90,-97.3,90.2,-5.6,274,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2052,3186,0,0,0,0,0,0
$GC,1733,-0.90,-97.3,101.8,-5.2,313,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2053,3186,0,0,0,0,0,0
$STATE,1830,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1830,begin apogee
$GC,1838,-0.38,0.0,107.1,5.2,332,1921,0.50,0.00,76.20,0.663,6,0.072,0.000,2841,2053,2789,0,0,0,0,0,0
$STATE,1922,end apogee,CONTROL_FINISHED_OK
$STATE,1922,begin climb
$GC,1926,1.14,97.3,109.2,0.0,346,2014,1.52,2.50,79.53,0.644,4,0.054,0.050,3177,3457,2391,0,0,0,0,0,0
$GC,2040,0.91,97.3,102.1,8.0,365,2047,0.25,2.45,0.00,0.000,6,0.107,0.038,3130,2048,2387,0,0,0,0,0,0
$GC,2243,0.84,97.3,85.9,7.6,404,2250,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2048,2384,0,0,0,0,0,0
$GC,2445,0.76,97.3,71.4,7.1,443,2452,0.17,2.45,0.00,0.000,4,0.094,0.051,3095,3454,2383,0,0,0,0,0,0
$GC,2502,0.76,97.3,67.6,6.3,453,2508,0.00,2.42,0.00,0.000,6,0.000,0.039,3095,2048,2382,0,0,0,0,0,0
$GC,2703,0.79,116.4,56.7,5.2,492,2723,0.00,2.55,15.77,0.572,4,0.000,0.053,3095,645,2314,0,0,0,0,0,0
$GC,2751,0.80,128.4,53.9,5.5,500,2768,0.00,2.42,11.38,0.545,6,0.000,0.035,3095,2053,2266,0,0,0,0,0,0
$GC,2967,0.85,129.6,41.1,6.0,541,2972,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2054,2263,0,0,0,0,0,0
$GC,3206,0.91,137.1,27.3,5.7,580,3220,0.15,0.00,8.43,0.511,6,0.059,0.000,3138,2053,2230,0,0,0,0,0,0
$GC,3274,0.86,137.1,22.7,7.4,592,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2053,2228,0,0,0,0,0,0
$GC,3345,0.83,137.1,17.1,7.7,603,3355,0.12,0.00,0.00,0.000,6,0.099,0.000,3112,2053,2229,0,0,0,0,0,0
$GC,3420,0.87,137.1,12.4,6.3,614,3426,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2053,2228,0,0,0,0,0,0
$GC,3481,0.93,145.5,9.0,5.7,625,3497,0.00,0.00,8.38,0.502,6,0.000,0.000,3112,2053,2195,0,0,0,0,0,0
$GC,3551,1.10,197.0,6.4,3.9,637,3598,0.25,0.00,43.33,0.569,6,0.045,0.000,3186,2053,1985,0,0,0,0,0,0
$GC,3654,1.42,362.6,6.0,-0.9,653,3797,0.22,0.00,136.18,0.565,6,0.047,0.000,3252,2054,1310,0,0,0,0,0,0
$STATE,3822,end climb,SURFACE_DEPTH_REACHED
$STATE,3822,begin surface coast
$FINISH,1.0,1.008082
$STATE,4061,end surface coast,CONTROL_FINISHED_OK
$STATE,4061,begin surface
$SM_CCo,4083,163.15,0.527,4,0,547,550.21
$SM_GC,1.79,0.00,0.00,163.15,0.000,0.000,0.527,415,2056,547,-11.57,0.17,550.21
$IRIDIUM_FIX,4748.51,-12201.35,050399,141434
$TT8_MAMPS,0.025311
$HUMID,30.35
$INTERNAL_PRESSURE,9.14952
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,105.0,11.6
$24V_AH,23.7,2.214
$10V_AH,10.2,1.670
$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,28.925,39.575,379.175,163.150,0.000,24.919,28.847,322.768,3.000,0.000,13.080,1125.304,278.939,474.257,1804.969,1158.827,33.329,1284.251,0.000,2253.909,0.000,24.661,0.000
$DEVICE_MAMPS,151.099,72.865,663.455,526.929,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,665.572,491.561,1641.318,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324896
$DATA_FILE_SIZE,41309,727
$CAP_FILE_SIZE,80864,0
$CFSIZE,260165632,145702912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,091209,163100,4806.720,-12222.647,37,1.2,38,18.3