version: 66.07
glider: 130
mission: 12
dive: 7
start: 2 17 111 0 50 52
data:
$ID,130
$MISSION,12
$DIVE,7
$D_SURF,3
$D_FLARE,2
$D_TGT,200
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$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,89
$T_MISSION,95
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$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,260
$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,-92457.836
$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,2858
$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,0.0099999998
$PITCH_ADJ_DBAND,2
$ROLL_MIN,162
$ROLL_MAX,3945
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,30
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,516
$VBD_MAX,3960
$C_VBD,2659
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,92
$AH0_10V,97
$MINV_24V,19
$MINV_10V,7.8000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-9.5150938
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,120
$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
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.0044026845
$SEABIRD_T_H,0.00064110267
$SEABIRD_T_I,2.6319482e-05
$SEABIRD_T_J,2.9463893e-06
$SEABIRD_C_G,-9.7963085
$SEABIRD_C_H,1.1040274
$SEABIRD_C_I,-0.0013956937
$SEABIRD_C_J,0.00019230587
$GPS1,170211,004006,4744.328,-12223.933,40,1.5,41,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-64.1
$GPS2,170211,004955,4744.450,-12223.875,12,1.8,17,18.2
$SPEED_LIMITS,0.130,0.253
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.061,-0.115
$KALMAN_X,-25.0,-177.6,36.1,1749.3,171.5
$KALMAN_Y,-536.2,-547.0,-60.8,3458.4,102.1
$MHEAD_RNG_PITCHd_Wd,133.8,658,-26.8,-7.491
$D_GRID,200
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-2.11,-40.9,0.0,0.0,0,89,0.00,0.00,-67.45,0.000,2,0.000,0.000,415,1910,2599,0,0,0,0,0,0
$GC,93,-2.16,-81.7,2.1,-2.5,8,128,10.95,2.47,-13.93,0.000,4,0.150,0.067,2379,3292,2994,0,0,0,0,0,0
$GC,232,-2.09,-81.7,24.6,-21.8,27,241,0.08,2.45,0.00,0.000,6,0.122,0.048,2395,1911,2994,0,0,0,0,0,0
$GC,324,-2.03,-81.7,45.0,-21.0,40,334,0.10,0.00,0.00,0.000,6,0.148,0.000,2411,1911,2994,0,0,0,0,0,0
$GC,412,-1.98,-81.7,62.8,-19.4,53,420,0.00,2.45,0.00,0.000,4,0.000,0.053,2411,3288,2994,0,0,0,0,0,0
$GC,476,-1.94,-81.7,75.1,-18.3,63,483,0.12,2.30,0.00,0.000,6,0.132,0.047,2433,1972,2994,0,0,0,0,0,0
$GC,632,-1.91,-81.7,100.0,-14.8,88,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,1971,2994,0,0,0,0,0,0
$GC,791,-1.87,-81.7,125.0,-15.3,113,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,1970,2994,0,0,0,0,0,0
$GC,944,-1.84,-81.7,147.8,-13.2,138,952,0.12,0.00,0.00,0.000,6,0.133,0.000,2454,1970,2994,0,0,0,0,0,0
$GC,1097,-1.84,-81.7,166.9,-13.3,163,1104,0.00,2.65,0.00,0.000,4,0.000,0.062,2454,486,2994,0,0,0,0,0,0
$STATE,1116,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1116,begin apogee
$GC,1126,-0.38,0.0,170.1,13.6,166,1197,1.60,0.00,65.12,0.686,6,0.112,0.000,2767,1865,2659,0,0,0,0,0,0
$STATE,1198,end apogee,CONTROL_FINISHED_OK
$STATE,1198,begin climb
$GC,1200,2.16,81.7,174.4,0.0,175,1280,2.58,2.47,68.28,0.673,4,0.063,0.050,3329,3237,2323,0,0,0,0,0,0
$GC,1433,2.11,81.7,147.4,15.7,211,1440,0.00,2.45,0.00,0.000,6,0.000,0.049,3329,1848,2317,0,0,0,0,0,0
$GC,1589,2.05,81.7,125.7,14.9,236,1598,0.12,2.55,0.00,0.000,4,0.134,0.063,3307,445,2315,0,0,0,0,0,0
$GC,1737,1.97,81.7,103.0,15.5,259,1743,0.00,2.38,0.00,0.000,6,0.000,0.039,3308,1829,2315,0,0,0,0,0,0
$GC,1896,1.93,81.7,81.6,11.3,284,1906,0.15,2.53,0.00,0.000,4,0.133,0.054,3282,3253,2314,0,0,0,0,0,0
$GC,1991,1.91,81.7,71.1,10.9,299,1998,0.00,2.53,0.00,0.000,6,0.000,0.048,3282,1815,2313,0,0,0,0,0,0
$GC,2147,1.89,81.7,54.4,10.4,324,2155,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1815,2313,0,0,0,0,0,0
$GC,2312,1.86,81.7,39.0,9.3,349,2320,0.00,2.55,0.00,0.000,4,0.000,0.053,3282,3247,2313,0,0,0,0,0,0
$GC,2509,1.86,81.7,22.8,8.7,378,2518,0.00,2.50,0.00,0.000,6,0.000,0.049,3282,1838,2313,0,0,0,0,0,0
$GC,2600,1.84,81.7,14.5,8.5,391,2609,0.12,0.00,0.00,0.000,6,0.139,0.000,3261,1838,2313,0,0,0,0,0,0
$GC,2693,1.88,108.6,10.0,4.2,404,2720,0.00,2.60,21.38,0.572,4,0.000,0.053,3261,3259,2215,0,0,0,0,0,0
$STATE,2813,end climb,SURFACE_DEPTH_REACHED
$STATE,2813,begin surface coast
$FINISH,-0.0,1.011344
$STATE,2863,end surface coast,CONTROL_FINISHED_OK
$STATE,2863,begin surface
$SM_CCo,2889,83.18,0.065,0,0,1599,260.02
$SM_GC,0.99,0.00,0.00,83.18,0.000,0.000,0.065,414,1897,1599,-11.24,-0.08,260.02
$IRIDIUM_FIX,4726.11,-12232.20,160211,232314
$TT8_MAMPS,0.025466
$HUMID,32.24
$INTERNAL_PRESSURE,9.09093
$TCM_TEMP,11.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.6,59.3
$24V_AH,23.7,0.780
$10V_AH,10.3,0.694
$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,28.675,39.700,154.775,83.175,0.000,27.335,30.347,313.303,0.500,0.000,18.082,985.738,190.849,316.585,1578.265,490.784,33.339,769.038,0.000,1412.930,0.000,5.583,0.000
$DEVICE_MAMPS,149.940,67.320,686.205,65.025,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,362.632,196.883,978.249,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323668
$DATA_FILE_SIZE,23590,428
$CAP_FILE_SIZE,57195,0
$CFSIZE,260165632,67166208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170211,014114,4744.485,-12223.658,10,1.5,10,18.2