version: 66.06
glider: 130
mission: 10
dive: 6
start: 8 5 110 21 56 25
data:
$ID,130
$MISSION,10
$DIVE,6
$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,-88002.953
$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
$GPS1,214643,4742.814,-12224.550,14,1.6,14,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-71.9
$GPS2,215502,4742.828,-12224.531,14,1.5,14,18.2
$SPEED_LIMITS,0.139,0.222
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.171,0.141
$KALMAN_X,-811.1,-333.2,-47.5,1876.5,-151.9
$KALMAN_Y,-1524.2,-535.2,-135.7,1816.1,-325.6
$MHEAD_RNG_PITCHd_Wd,32.3,735,-15.7,-8.000
$D_GRID,174
$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,-42.67,0.000,2,0.000,0.000,413,2055,3456,0,0,0,0,0,0
$GC,65,-1.36,-121.7,2.1,-3.8,6,103,11.35,2.47,-15.93,0.000,4,0.131,0.060,2549,651,3961,0,0,0,0,0,0
$GC,251,-1.12,-121.7,24.9,-12.9,36,260,0.22,2.40,0.00,0.000,6,0.097,0.034,2596,2058,3962,0,0,0,0,0,0
$GC,333,-1.02,-121.7,34.1,-11.0,49,340,0.15,0.00,0.00,0.000,6,0.109,0.000,2625,2058,3962,0,0,0,0,0,0
$GC,415,-0.98,-121.7,41.8,-8.7,62,421,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2058,3962,0,0,0,0,0,0
$GC,493,-0.94,-121.7,48.3,-8.5,75,499,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2059,3962,0,0,0,0,0,0
$GC,566,-0.94,-121.7,54.6,-8.0,88,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2059,3962,0,0,0,0,0,0
$GC,710,-0.94,-121.7,65.5,-7.7,113,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2059,3962,0,0,0,0,0,0
$GC,850,-0.94,-121.7,77.1,-8.6,138,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2059,3962,0,0,0,0,0,0
$GC,994,-0.94,-121.7,89.5,-8.4,163,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2061,3962,0,0,0,0,0,0
$GC,1143,-0.94,-121.7,102.3,-8.6,188,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2063,3962,0,0,0,0,0,0
$GC,1292,-0.94,-121.7,115.7,-9.6,213,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2063,3962,0,0,0,0,0,0
$GC,1435,-0.94,-121.7,131.2,-10.8,238,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2063,3962,0,0,0,0,0,0
$GC,1583,-0.94,-121.7,146.0,-8.8,263,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2063,3962,0,0,0,0,0,0
$GC,1722,-0.94,-121.7,159.0,-8.4,288,1729,0.00,2.47,0.00,0.000,4,0.000,0.051,2625,650,3961,0,0,0,0,0,0
$GC,1811,-0.90,-121.7,166.2,-8.2,303,1817,0.12,2.35,0.00,0.000,6,0.117,0.035,2648,2056,3962,0,0,0,0,0,0
$STATE,1916,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1916,begin apogee
$GC,1922,-0.38,0.0,174.1,7.6,322,2012,0.52,0.00,82.93,0.644,6,0.079,0.000,2760,2056,3520,0,0,0,0,0,0
$STATE,2013,end apogee,CONTROL_FINISHED_OK
$STATE,2015,begin climb
$GC,2017,1.36,121.7,177.1,0.0,337,2118,1.75,0.00,93.62,0.625,6,0.065,0.000,3138,2056,3024,0,0,0,0,0,0
$GC,2255,1.19,121.7,156.2,10.7,378,2262,0.15,0.00,0.00,0.000,6,0.107,0.000,3109,2056,3023,0,0,0,0,0,0
$GC,2402,1.09,121.7,141.6,9.5,403,2407,0.12,0.00,0.00,0.000,6,0.105,0.000,3085,2057,3023,0,0,0,0,0,0
$GC,2543,1.04,121.7,128.9,8.0,428,2550,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2057,3022,0,0,0,0,0,0
$GC,2688,1.02,138.1,118.0,7.3,453,2706,0.00,0.00,14.05,0.551,6,0.000,0.000,3085,2057,2957,0,0,0,0,0,0
$GC,2845,1.03,145.7,106.5,7.7,480,2857,0.00,2.47,7.47,0.491,4,0.000,0.051,3085,649,2925,0,0,0,0,0,0
$GC,2912,0.98,145.7,101.0,9.4,491,2918,0.12,2.38,0.00,0.000,6,0.104,0.035,3060,2052,2924,0,0,0,0,0,0
$GC,3056,1.05,168.1,90.4,7.0,516,3079,0.00,0.00,18.62,0.553,6,0.000,0.000,3060,2053,2834,0,0,0,0,0,0
$GC,3218,1.11,176.9,78.7,7.6,544,3230,0.12,0.00,8.32,0.492,6,0.067,0.000,3097,2053,2798,0,0,0,0,0,0
$GC,3369,1.11,176.9,65.5,8.2,570,3376,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2053,2798,0,0,0,0,0,0
$GC,3513,1.14,201.2,54.1,6.9,595,3542,0.00,2.55,20.30,0.538,4,0.000,0.052,3097,650,2699,0,0,0,0,0,0
$GC,3626,1.14,201.2,45.3,8.1,614,3634,0.00,2.40,0.00,0.000,6,0.000,0.035,3097,2048,2697,0,0,0,0,0,0
$GC,3706,1.14,201.2,39.1,8.0,627,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2048,2697,0,0,0,0,0,0
$GC,3785,1.14,201.2,32.3,8.9,640,3793,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2048,2697,0,0,0,0,0,0
$GC,3865,1.14,201.2,25.9,8.3,653,3872,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2047,2697,0,0,0,0,0,0
$GC,3943,1.14,201.2,19.0,8.9,666,3951,0.00,2.47,0.00,0.000,4,0.000,0.051,3097,651,2696,0,0,0,0,0,0
$GC,3993,1.14,201.2,14.2,9.7,674,4002,0.00,2.40,0.00,0.000,6,0.000,0.035,3098,2052,2696,0,0,0,0,0,0
$GC,4075,1.17,201.2,7.4,8.4,687,4082,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2052,2696,0,0,0,0,0,0
$STATE,4121,end climb,SURFACE_DEPTH_REACHED
$STATE,4121,begin surface coast
$FINISH,0.7,1.020650
$STATE,4157,end surface coast,CONTROL_FINISHED_OK
$STATE,4157,begin surface
$SM_CCo,4179,21.55,0.061,0,0,2501,250.21
$SM_GC,2.43,0.00,0.00,21.55,0.000,0.000,0.061,414,2055,2501,-11.20,0.06,250.21
$IRIDIUM_FIX,4722.92,-12226.07,301099,202022
$TT8_MAMPS,0.025311
$HUMID,51.85
$INTERNAL_PRESSURE,9.36438
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.2,56.0
$24V_AH,23.8,0.511
$10V_AH,10.4,0.538
$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,26.500,24.375,245.325,21.550,0.000,24.300,25.619,259.908,3.250,0.000,14.616,1092.483,594.675,276.761,1891.393,879.438,33.336,985.449,0.000,2170.217,0.000,22.601,0.000
$DEVICE_MAMPS,131.157,59.826,643.513,60.593,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,531.881,399.537,1507.081,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324680
$DATA_FILE_SIZE,38027,701
$CAP_FILE_SIZE,78032,0
$CFSIZE,260165632,99704832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050810,230736,4743.094,-12224.001,11,1.0,29,18.2