version: 66.06
glider: 130
mission: 7
dive: 19
start: 12 9 109 16 43 4
data:
$ID,130
$MISSION,7
$DIVE,19
$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,-69954.219
$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,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
$GPS1,163100,4806.720,-12222.647,37,1.2,38,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-73.8
$GPS2,164207,4806.781,-12222.692,14,1.2,14,18.3
$SPEED_LIMITS,0.104,0.182
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.140,0.116
$KALMAN_X,1837.8,-36.4,104.3,-662.1,96.3
$KALMAN_Y,2435.0,168.6,-255.6,-4241.4,140.1
$MHEAD_RNG_PITCHd_Wd,291.5,2777,-13.2,-6.024
$D_GRID,105
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.14,-97.3,0.0,0.0,0,57,0.00,0.00,-34.55,0.000,2,0.000,0.000,415,2056,1258,0,0,0,0,0,0
$GC,61,-1.14,-97.3,2.1,-1.0,5,152,12.57,2.55,-69.03,0.000,4,0.150,0.074,2675,3450,3187,0,0,0,0,0,0
$GC,438,-0.97,-97.3,32.8,-9.1,64,445,0.17,2.47,0.00,0.000,6,0.082,0.044,2714,2049,3188,0,0,0,0,0,0
$GC,510,-0.90,-97.3,38.5,-7.5,75,519,0.00,2.53,0.00,0.000,4,0.000,0.059,2714,644,3187,0,0,0,0,0,0
$GC,589,-0.84,-97.3,44.6,-7.9,89,596,0.15,2.42,0.00,0.000,6,0.104,0.040,2744,2053,3187,0,0,0,0,0,0
$GC,792,-0.87,-97.3,56.8,-5.8,128,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2053,3187,0,0,0,0,0,0
$GC,996,-0.90,-97.3,67.9,-5.5,167,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2054,3187,0,0,0,0,0,0
$GC,1201,-0.95,-97.3,78.9,-5.3,206,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2053,3186,0,0,0,0,0,0
$GC,1406,-1.00,-97.3,89.4,-5.1,245,1411,0.15,0.00,0.00,0.000,6,0.064,0.000,2704,2053,3187,0,0,0,0,0,0
$GC,1619,-0.96,-97.3,102.5,-5.9,284,1627,0.00,2.50,0.00,0.000,4,0.000,0.053,2704,645,3186,0,0,0,0,0,0
$STATE,1661,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1661,begin apogee
$GC,1670,-0.38,0.0,105.1,5.8,292,1753,0.65,0.00,76.65,0.663,6,0.079,0.000,2842,2057,2789,0,0,0,0,0,0
$STATE,1753,end apogee,CONTROL_FINISHED_OK
$STATE,1753,begin climb
$GC,1756,1.14,97.3,107.1,0.0,306,1844,1.52,0.00,79.43,0.644,6,0.057,0.000,3176,2057,2391,0,0,0,0,0,0
$GC,2041,0.96,97.3,82.6,9.9,359,2047,0.17,0.00,0.00,0.000,6,0.110,0.000,3142,2058,2385,0,0,0,0,0,0
$GC,2243,0.87,97.3,65.7,8.2,398,2250,0.12,2.47,0.00,0.000,4,0.107,0.052,3117,3454,2383,0,0,0,0,0,0
$GC,2285,0.80,97.3,62.7,7.9,405,2290,0.00,2.42,0.00,0.000,6,0.000,0.038,3117,2046,2382,0,0,0,0,0,0
$GC,2485,0.80,97.3,48.2,7.2,444,2491,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2046,2382,0,0,0,0,0,0
$GC,2682,0.77,97.3,34.8,6.5,483,2691,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2045,2383,0,0,0,0,0,0
$GC,2757,0.74,99.9,30.6,5.9,494,2764,0.12,0.00,0.00,0.000,6,0.103,0.000,3092,2046,2382,0,0,0,0,0,0
$GC,2818,0.75,113.9,27.2,5.4,505,2834,0.00,0.00,13.73,0.551,6,0.000,0.000,3093,2045,2324,0,0,0,0,0,0
$GC,2889,0.81,120.6,23.3,5.7,517,2905,0.00,0.00,7.00,0.484,6,0.000,0.000,3092,2045,2297,0,0,0,0,0,0
$GC,2959,0.87,132.8,19.4,5.5,529,2976,0.12,0.00,11.85,0.531,6,0.065,0.000,3128,2045,2246,0,0,0,0,0,0
$GC,3030,0.87,132.8,14.9,6.7,541,3037,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2045,2244,0,0,0,0,0,0
$GC,3101,0.87,132.8,10.2,6.4,552,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2045,2244,0,0,0,0,0,0
$GC,3175,0.89,147.9,6.3,5.4,563,3197,0.00,2.53,12.93,0.532,4,0.000,0.053,3129,3443,2185,0,0,0,0,0,0
$GC,3205,0.99,181.3,5.0,4.6,567,3241,0.00,2.45,27.75,0.557,6,0.000,0.041,3129,2046,2048,0,0,0,0,0,0
$GC,3298,1.38,316.8,4.9,0.3,582,3437,0.40,2.53,124.90,0.304,4,0.038,0.054,3234,639,1497,0,0,0,0,1,0
$GC,3483,1.71,458.9,4.0,0.0,610,3495,0.25,2.42,5.72,0.073,2,0.031,0.036,3309,2052,1475,0,0,0,0,0,0
$STATE,3496,end climb,SURFACE_DEPTH_REACHED
$STATE,3496,begin surface coast
$FINISH,3.7,1.017480
$STATE,3505,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3505,begin surface
$SM_CCo,3528,199.45,0.527,5,0,547,550.21
$SM_GC,1.80,0.00,0.00,199.45,0.000,0.000,0.527,415,2052,547,-11.57,0.06,550.21
$IRIDIUM_FIX,4748.51,-12224.57,050399,151556
$TT8_MAMPS,0.026078
$HUMID,30.31
$INTERNAL_PRESSURE,9.16906
$TCM_TEMP,13.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.2,12.4
$24V_AH,23.7,2.321
$10V_AH,10.2,1.766
$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,29.500,29.725,359.950,199.450,0.000,25.945,45.240,374.049,2.000,0.000,14.325,944.456,260.382,506.254,1554.894,1158.661,33.331,1240.425,0.000,1944.408,0.000,15.957,0.000
$DEVICE_MAMPS,149.565,74.399,662.688,526.929,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,490.143,428.058,1359.373,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324912
$DATA_FILE_SIZE,34924,612
$CAP_FILE_SIZE,74276,0
$CFSIZE,260165632,145670144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,091209,174631,4807.133,-12223.016,8,1.8,13,18.3