version: 66.06
glider: 130
mission: 10
dive: 4
start: 8 5 110 19 24 10
data:
$ID,130
$MISSION,10
$DIVE,4
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,4
$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,75
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$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,250
$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,-87972.133
$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,2848
$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,2053
$C_ROLL_CLIMB,2053
$HEAD_ERRBAND,30
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,3
$VBD_MIN,516
$VBD_MAX,3960
$C_VBD,3521
$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,92
$AH0_10V,97
$MINV_24V,19
$MINV_10V,7.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-9.7846985
$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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$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
$GPS1,191801,4742.592,-12225.061,9,1.2,9,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-72.4
$GPS2,192249,4742.580,-12225.020,11,1.3,16,18.2
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.151,0.162
$KALMAN_X,-285.2,-193.5,-174.3,725.5,-167.3
$KALMAN_Y,-620.8,-298.0,-221.4,311.4,-420.3
$MHEAD_RNG_PITCHd_Wd,24.7,1490,-15.7,-8.000
$D_GRID,184
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.36,-121.7,0.0,0.0,0,62,0.00,0.00,-42.72,0.000,2,0.000,0.000,415,2051,3498,0,0,0,0,0,0
$GC,65,-1.36,-121.7,2.3,-4.4,6,95,11.27,2.42,-12.77,0.000,4,0.129,0.058,2548,644,3962,0,0,0,0,0,0
$GC,358,-1.12,-121.7,40.1,-14.1,55,367,0.25,2.38,0.00,0.000,6,0.107,0.033,2599,2052,3962,0,0,0,0,0,0
$GC,439,-1.02,-121.7,48.5,-9.8,68,447,0.12,0.00,0.00,0.000,6,0.123,0.000,2621,2053,3962,0,0,0,0,0,0
$GC,518,-0.98,-121.7,55.5,-8.4,81,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2053,3962,0,0,0,0,0,0
$GC,659,-0.94,-121.7,69.2,-11.1,106,667,0.10,2.47,0.00,0.000,4,0.129,0.050,2638,649,3962,0,0,0,0,0,0
$GC,748,-0.94,-121.7,78.7,-10.3,121,754,0.00,2.33,0.00,0.000,6,0.000,0.034,2638,2055,3962,0,0,0,0,0,0
$GC,893,-0.94,-121.7,92.2,-9.4,146,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2058,3962,0,0,0,0,0,0
$GC,1043,-0.94,-121.7,105.4,-8.7,171,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2059,3962,0,0,0,0,0,0
$GC,1183,-0.94,-121.7,118.5,-9.7,196,1190,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2060,3962,0,0,0,0,0,0
$GC,1331,-0.94,-121.7,131.0,-7.4,221,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2060,3962,0,0,0,0,0,0
$GC,1479,-0.94,-121.7,141.9,-8.3,246,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2060,3961,0,0,0,0,0,0
$GC,1624,-0.94,-121.7,155.6,-9.8,271,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2059,3962,0,0,0,0,0,0
$GC,1763,-0.94,-121.7,168.2,-8.1,296,1771,0.00,2.45,0.00,0.000,4,0.000,0.051,2639,655,3961,0,0,0,0,0,0
$STATE,1886,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1886,begin apogee
$GC,1896,-0.38,0.0,180.2,10.2,318,1987,0.57,0.00,82.47,0.646,6,0.087,0.000,2759,2051,3520,0,0,0,0,0,0
$STATE,1988,end apogee,CONTROL_FINISHED_OK
$STATE,1990,begin climb
$GC,1992,1.36,121.7,184.9,0.0,333,2093,1.75,0.00,93.43,0.627,6,0.068,0.000,3135,2051,3024,0,0,0,0,0,0
$GC,2230,1.22,132.9,170.4,7.5,374,2251,0.00,2.55,10.05,0.542,4,0.000,0.052,3135,641,2979,0,0,0,0,0,0
$GC,2388,1.02,132.9,154.6,10.1,401,2395,0.25,2.42,0.00,0.000,6,0.072,0.036,3070,2049,2979,0,0,0,0,0,0
$GC,2532,1.12,209.6,145.5,4.6,426,2598,0.00,0.00,60.30,0.601,6,0.000,0.000,3070,2049,2665,0,0,0,0,0,0
$GC,2735,1.24,273.9,135.7,5.1,461,2796,0.20,2.53,51.85,0.588,4,0.051,0.052,3125,653,2402,0,0,0,0,0,0
$GC,2824,1.18,273.9,126.0,13.0,475,2829,0.00,2.38,0.00,0.000,6,0.000,0.035,3125,2055,2400,0,0,0,0,0,0
$GC,2964,1.18,273.9,107.8,11.6,500,2972,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2055,2398,0,0,0,0,0,0
$GC,3109,1.18,273.9,91.0,12.1,525,3115,0.00,2.47,0.00,0.000,4,0.000,0.053,3125,650,2397,0,0,0,0,0,0
$GC,3172,1.14,273.9,82.5,13.2,536,3179,0.10,2.42,0.00,0.000,6,0.075,0.036,3100,2057,2396,0,0,0,0,0,0
$GC,3318,1.18,273.9,68.3,9.0,561,3323,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2057,2396,0,0,0,0,0,0
$GC,3457,1.21,273.9,53.5,11.0,586,3465,0.00,2.50,0.00,0.000,4,0.000,0.054,3100,651,2396,0,0,0,0,0,0
$GC,3548,1.21,273.9,42.8,12.0,601,3557,0.00,2.40,0.00,0.000,6,0.000,0.035,3099,2050,2395,0,0,0,0,0,0
$GC,3630,1.26,273.9,35.2,9.1,614,3638,0.10,0.00,0.00,0.000,6,0.077,0.000,3134,2050,2395,0,0,0,0,0,0
$GC,3710,1.26,273.9,26.3,11.6,627,3717,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2050,2395,0,0,0,0,0,0
$GC,3789,1.26,273.9,17.1,11.4,640,3797,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2050,2395,0,0,0,0,0,0
$GC,3869,1.26,273.9,8.8,10.3,653,3876,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2050,2394,0,0,0,0,0,0
$GC,3913,1.83,737.1,4.3,10.0,660,3929,0.45,0.00,13.55,0.476,2,0.036,0.000,3252,2051,2286,0,0,0,0,0,0
$STATE,3930,end climb,SURFACE_DEPTH_REACHED
$STATE,3930,begin surface coast
$FINISH,0.0,0.999723
$STATE,3960,end surface coast,CONTROL_FINISHED_OK
$STATE,3960,begin surface
$SM_CCo,4043,0.00,0.000,0,0,2273,305.89
$SM_GC,1.10,12.48,0.00,0.00,0.035,0.000,0.000,413,2054,2273,-11.13,0.00,305.89
$IRIDIUM_FIX,4722.92,-12223.37,301099,191919
$TT8_MAMPS,0.025311
$HUMID,52.24
$INTERNAL_PRESSURE,9.36438
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.2,54.1
$24V_AH,23.8,0.387
$10V_AH,10.4,0.347
$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,27.650,34.100,311.650,0.000,0.000,0.000,0.000,0.000,3.250,0.000,16.847,1018.158,635.727,280.839,1783.038,426.712,32.330,976.552,0.000,2049.280,0.000,22.601,0.000
$DEVICE_MAMPS,128.856,58.292,645.814,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,507.684,364.540,1397.901,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324684
$DATA_FILE_SIZE,38131,667
$CAP_FILE_SIZE,85617,1
$CFSIZE,260165632,99786752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050810,203237,4742.598,-12224.762,26,1.1,27,18.2