version: 66.07
glider: 130
mission: 12
dive: 9
start: 2 17 111 3 12 6
data:
$ID,130
$MISSION,12
$DIVE,9
$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,-92460.359
$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,19
$R_STBD_OVSHOOT,32
$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
$GPS1,170211,030025,4744.520,-12223.857,30,1.9,30,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-65.6
$GPS2,170211,031109,4744.655,-12223.983,13,1.2,14,18.2
$SPEED_LIMITS,0.130,0.253
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.072,-0.243
$KALMAN_X,-1137.6,133.0,291.0,2168.0,-524.9
$KALMAN_Y,1952.7,-856.5,100.0,1497.1,1495.7
$MHEAD_RNG_PITCHd_Wd,145.4,1035,-11.6,-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,-1.11,-175.2,0.0,0.0,0,90,0.00,0.00,-67.68,0.000,2,0.000,0.000,413,1902,2439,0,0,0,0,0,0
$GC,93,-1.11,-175.2,2.0,-1.8,8,146,12.38,2.62,-34.45,0.000,4,0.155,0.077,2610,486,3375,0,0,0,0,0,0
$GC,205,-1.03,-175.2,11.3,-13.7,22,215,0.08,2.45,0.00,0.000,6,0.098,0.039,2629,1896,3376,0,0,0,0,0,0
$GC,297,-0.99,-175.2,23.2,-11.8,35,305,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,1897,3375,0,0,0,0,0,0
$GC,392,-0.95,-175.2,33.8,-12.3,48,401,0.10,2.60,0.00,0.000,4,0.118,0.065,2648,488,3375,0,0,0,0,0,0
$GC,470,-0.93,-175.2,42.8,-10.6,59,479,0.00,2.38,0.00,0.000,6,0.000,0.039,2647,1859,3375,0,0,0,0,0,0
$GC,557,-0.93,-175.2,51.3,-9.2,72,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1863,3375,0,0,0,0,0,0
$GC,711,-0.93,-175.2,65.0,-9.8,97,718,0.00,2.50,0.00,0.000,4,0.000,0.052,2647,3302,3375,0,0,0,0,0,0
$GC,766,-0.93,-175.2,70.9,-10.3,106,774,0.00,2.53,0.00,0.000,6,0.000,0.047,2647,1870,3375,0,0,0,0,0,0
$GC,925,-0.93,-175.2,85.6,-10.6,131,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1870,3375,0,0,0,0,0,0
$GC,1075,-0.93,-175.2,101.3,-9.7,156,1083,0.00,2.47,0.00,0.000,4,0.000,0.063,2648,498,3375,0,0,0,0,0,0
$GC,1148,-0.93,-175.2,108.1,-10.2,167,1155,0.00,2.33,0.00,0.000,6,0.000,0.039,2647,1870,3375,0,0,0,0,0,0
$GC,1306,-0.93,-175.2,122.3,-8.3,192,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1875,3375,0,0,0,0,0,0
$GC,1467,-0.93,-175.2,134.2,-7.1,217,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1875,3375,0,0,0,0,0,0
$GC,1616,-0.93,-175.2,147.2,-8.4,242,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1875,3375,0,0,0,0,0,0
$GC,1772,-0.93,-175.2,159.6,-8.7,267,1778,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1875,3376,0,0,0,0,0,0
$STATE,1813,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1814,begin apogee
$GC,1819,-0.38,0.0,163.8,8.8,274,1963,0.57,0.00,135.90,0.693,6,0.082,0.000,2769,1875,2659,0,0,0,0,0,0
$STATE,1963,end apogee,CONTROL_FINISHED_OK
$STATE,1964,begin climb
$GC,1966,1.11,175.2,169.7,0.0,293,2121,1.52,0.00,141.05,0.666,6,0.073,0.000,3091,1875,1943,0,0,0,0,0,0
$GC,2266,1.08,175.2,150.1,8.4,338,2274,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1875,1939,0,0,0,0,0,0
$GC,2422,1.05,175.2,136.8,8.6,363,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1876,1937,0,0,0,0,0,0
$GC,2573,1.03,175.2,123.5,8.5,388,2582,0.00,2.62,0.00,0.000,4,0.000,0.066,3091,448,1937,0,0,0,0,0,0
$GC,2638,0.99,175.2,117.2,10.4,398,2647,0.00,2.42,0.00,0.000,6,0.000,0.039,3091,1847,1936,0,0,0,0,0,0
$GC,2796,0.96,175.2,104.4,7.9,423,2803,0.12,0.00,0.00,0.000,6,0.104,0.000,3066,1847,1936,0,0,0,0,0,0
$GC,2949,1.00,205.4,93.7,6.6,448,2979,0.00,0.00,25.52,0.608,6,0.000,0.000,3066,1847,1820,0,0,0,0,0,0
$GC,3126,1.06,250.6,83.0,6.2,476,3172,0.10,2.65,39.22,0.609,4,0.080,0.065,3097,441,1636,0,0,0,0,0,0
$GC,3234,1.03,250.6,73.9,10.4,491,3240,0.00,2.42,0.00,0.000,6,0.000,0.037,3096,1851,1635,0,0,0,0,0,0
$GC,3390,1.03,250.6,61.0,8.0,516,3398,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1851,1634,0,0,0,0,0,0
$GC,3548,1.03,250.6,47.3,8.9,541,3556,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1852,1634,0,0,0,0,0,0
$GC,3637,1.04,257.9,40.2,7.3,554,3648,0.00,0.00,7.15,0.491,6,0.000,0.000,3096,1852,1607,0,0,0,0,0,0
$GC,3731,1.09,301.8,34.0,6.2,567,3783,0.00,2.65,38.47,0.576,4,0.000,0.067,3096,443,1427,0,0,0,0,0,0
$GC,3841,1.09,301.8,24.6,9.6,581,3849,0.00,2.38,0.00,0.000,6,0.000,0.038,3096,1815,1426,0,0,0,0,0,0
$GC,3931,1.09,301.8,17.1,8.4,594,3939,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1815,1426,0,0,0,0,0,0
$GC,4023,1.12,321.1,10.6,6.9,607,4049,0.00,0.00,17.40,0.539,6,0.000,0.000,3096,1815,1349,0,0,0,0,0,0
$GC,4131,1.15,344.1,3.2,6.8,622,4141,0.00,0.00,7.78,0.076,2,0.000,0.000,3096,1815,1320,0,0,0,0,0,0
$STATE,4141,end climb,SURFACE_DEPTH_REACHED
$STATE,4141,begin surface coast
$FINISH,-0.0,1.011758
$STATE,4195,end surface coast,CONTROL_FINISHED_OK
$STATE,4195,begin surface
$SM_CCo,4279,0.00,0.000,0,0,1317,329.19
$SM_GC,0.87,11.93,0.00,0.00,0.037,0.000,0.000,413,1902,1317,-11.19,0.06,329.19
$IRIDIUM_FIX,4726.11,-12218.96,170211,010114
$TT8_MAMPS,0.024717
$HUMID,32.75
$INTERNAL_PRESSURE,9.0714
$TCM_TEMP,11.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.0,48.4
$24V_AH,23.7,0.981
$10V_AH,10.3,0.892
$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,26.800,35.150,412.500,0.000,0.000,29.841,37.208,362.870,1.000,0.000,15.001,1359.208,351.323,420.505,2157.620,634.795,33.308,1137.629,0.000,2013.703,0.000,10.002,0.000
$DEVICE_MAMPS,155.295,80.325,693.090,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,556.806,273.767,1370.554,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323684
$DATA_FILE_SIZE,33624,631
$CAP_FILE_SIZE,75193,0
$CFSIZE,260165632,67055616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170211,042436,4744.513,-12223.961,31,0.9,32,18.2