version: 66.06
glider: 130
mission: 10
dive: 5
start: 8 5 110 20 42 54
data:
$ID,130
$MISSION,10
$DIVE,5
$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,80
$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,-87987.703
$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,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,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
$GPS1,203237,4742.598,-12224.762,26,1.1,27,18.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-71.7
$GPS2,204131,4742.600,-12224.697,14,1.1,14,18.2
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.119,0.187
$KALMAN_X,-483.0,-293.2,-149.2,1401.8,-77.9
$KALMAN_Y,-1191.3,-471.5,-165.9,1032.9,-424.6
$MHEAD_RNG_PITCHd_Wd,14.2,1142,-15.7,-8.000
$D_GRID,166
$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,-1.36,-121.7,0.0,0.0,0,70,0.00,0.00,-49.22,0.000,2,0.000,0.000,413,2054,3350,0,0,0,0,0,0
$GC,74,-1.36,-121.7,2.2,-3.1,7,111,11.35,2.45,-18.65,0.000,4,0.130,0.060,2545,646,3961,0,0,0,0,0,0
$GC,374,-1.11,-121.7,45.7,-15.6,57,384,0.25,2.40,0.00,0.000,6,0.100,0.034,2596,2055,3961,0,0,0,0,0,0
$GC,452,-1.01,-121.7,54.8,-10.6,70,461,0.15,0.00,0.00,0.000,6,0.117,0.000,2625,2055,3961,0,0,0,0,0,0
$GC,600,-0.97,-121.7,67.8,-9.4,95,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2056,3962,0,0,0,0,0,0
$GC,740,-0.97,-121.7,82.4,-9.3,120,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2057,3961,0,0,0,0,0,0
$GC,889,-0.97,-121.7,96.2,-10.1,145,895,0.00,2.45,0.00,0.000,4,0.000,0.050,2625,646,3961,0,0,0,0,0,0
$GC,975,-0.97,-121.7,106.8,-11.6,160,982,0.00,2.40,0.00,0.000,6,0.000,0.035,2625,2054,3962,0,0,0,0,0,0
$GC,1123,-0.97,-121.7,123.2,-10.7,185,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2056,3962,0,0,0,0,0,0
$GC,1265,-0.97,-121.7,138.8,-10.9,210,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2057,3962,0,0,0,0,0,0
$GC,1415,-0.97,-121.7,154.7,-10.5,235,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2058,3961,0,0,0,0,0,0
$STATE,1515,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1515,begin apogee
$GC,1521,-0.38,0.0,166.6,11.9,253,1610,0.62,0.00,83.12,0.633,6,0.081,0.000,2757,2058,3520,0,0,0,0,0,0
$STATE,1611,end apogee,CONTROL_FINISHED_OK
$STATE,1613,begin climb
$GC,1616,1.36,121.7,173.2,0.0,268,1718,1.77,0.00,93.53,0.618,6,0.070,0.000,3137,2058,3024,0,0,0,0,0,0
$GC,1857,1.19,121.7,156.7,9.9,309,1863,0.15,0.00,0.00,0.000,6,0.107,0.000,3108,2058,3023,0,0,0,0,0,0
$GC,2000,1.09,121.7,144.7,8.4,334,2008,0.12,0.00,0.00,0.000,6,0.104,0.000,3084,2058,3023,0,0,0,0,0,0
$GC,2147,1.05,121.7,133.2,8.8,359,2152,0.00,2.45,0.00,0.000,4,0.000,0.052,3083,650,3022,0,0,0,0,0,0
$GC,2217,0.97,121.7,126.3,9.8,371,2224,0.05,2.40,0.00,0.000,6,0.094,0.035,3060,2049,3022,0,0,0,0,0,0
$GC,2361,1.00,145.7,115.3,6.9,396,2384,0.00,0.00,19.52,0.564,6,0.000,0.000,3060,2049,2925,0,0,0,0,0,0
$GC,2523,1.08,174.7,104.4,6.7,424,2555,0.10,0.00,23.85,0.565,6,0.077,0.000,3090,2050,2806,0,0,0,0,0,0
$GC,2693,1.09,183.5,90.3,7.6,453,2706,0.00,0.00,8.12,0.492,6,0.000,0.000,3090,2050,2772,0,0,0,0,0,0
$GC,2844,1.09,183.5,77.5,9.4,479,2850,0.00,2.45,0.00,0.000,4,0.000,0.053,3090,648,2771,0,0,0,0,0,0
$GC,2895,1.09,183.5,71.8,10.2,488,2903,0.00,2.40,0.00,0.000,6,0.000,0.035,3090,2046,2771,0,0,0,0,0,0
$GC,3042,1.11,199.1,60.2,7.3,513,3059,0.00,0.00,13.50,0.522,6,0.000,0.000,3090,2046,2709,0,0,0,0,0,0
$GC,3199,1.11,199.1,46.8,9.9,540,3206,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2046,2708,0,0,0,0,0,0
$GC,3278,1.11,199.1,39.1,8.8,553,3285,0.00,2.47,0.00,0.000,4,0.000,0.052,3090,653,2707,0,0,0,0,0,0
$GC,3346,1.11,199.1,32.7,10.1,564,3354,0.00,2.40,0.00,0.000,6,0.000,0.035,3090,2051,2707,0,0,0,0,0,0
$GC,3426,1.14,199.1,25.1,9.2,577,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2051,2707,0,0,0,0,0,0
$GC,3504,1.18,205.5,18.6,7.7,590,3520,0.00,0.00,6.30,0.439,6,0.000,0.000,3090,2051,2682,0,0,0,0,0,0
$GC,3593,1.22,210.3,12.3,7.8,604,3601,0.10,0.00,5.53,0.417,6,0.077,0.000,3123,2051,2663,0,0,0,0,0,0
$GC,3674,1.22,210.3,5.1,8.9,617,3680,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2051,2662,0,0,0,0,0,0
$STATE,3699,end climb,SURFACE_DEPTH_REACHED
$STATE,3699,begin surface coast
$FINISH,0.0,1.020776
$STATE,3735,end surface coast,CONTROL_FINISHED_OK
$STATE,3735,begin surface
$SM_CCo,3757,16.73,0.060,0,0,2500,250.21
$SM_GC,2.26,0.00,0.00,16.73,0.000,0.000,0.060,413,2054,2500,-11.20,0.03,250.21
$IRIDIUM_FIX,4722.92,-12228.76,301099,191932
$TT8_MAMPS,0.026078
$HUMID,52.16
$INTERNAL_PRESSURE,9.36438
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,150.0,45.2
$24V_AH,23.8,0.451
$10V_AH,10.4,0.439
$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,26.575,24.275,253.475,16.725,0.000,22.944,25.428,294.190,4.500,0.000,14.941,980.975,513.198,260.955,1708.497,878.133,33.320,906.323,0.000,1948.996,0.000,32.972,0.000
$DEVICE_MAMPS,130.390,59.826,632.775,59.826,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,476.386,341.315,1345.486,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324684
$DATA_FILE_SIZE,35008,627
$CAP_FILE_SIZE,72372,0
$CFSIZE,260165632,99758080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050810,214643,4742.814,-12224.550,14,1.6,14,18.2