version: 66.06
glider: 130
mission: 7
dive: 2
start: 12 8 109 21 4 17
data:
$ID,130
$MISSION,7
$DIVE,2
$D_SURF,3
$D_FLARE,2
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,200
$D_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,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$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,450
$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,-69561.414
$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,2880
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$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,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,3
$VBD_MIN,516
$VBD_MAX,3960
$C_VBD,2790
$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,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-7.5355983
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$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
$GPS1,205914,4807.859,-12223.696,9,1.5,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-72.0
$GPS2,210325,4807.883,-12223.728,12,1.5,12,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.118,-0.232
$KALMAN_X,-37.5,-37.5,-37.5,76.2,-79.3
$KALMAN_Y,85.9,85.9,85.9,-110.0,181.4
$MHEAD_RNG_PITCHd_Wd,134.8,1867,-17.5,-10.000
$D_GRID,105
$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,-1.27,-146.0,0.0,0.0,0,56,0.00,0.00,-35.28,0.000,2,0.000,0.000,412,2057,1261,0,0,0,0,0,0
$GC,60,-1.27,-146.0,2.1,-1.2,6,165,12.00,0.00,-86.38,0.000,6,0.146,0.000,2596,2059,3385,0,0,0,0,0,0
$GC,221,-1.06,-146.0,12.4,-11.6,30,229,0.25,2.58,0.00,0.000,4,0.113,0.063,2647,646,3386,0,0,0,0,0,0
$GC,320,-0.97,-146.0,23.7,-11.9,49,327,0.08,2.45,0.00,0.000,6,0.102,0.047,2664,2040,3385,0,0,0,0,0,0
$GC,383,-0.97,-146.0,30.1,-10.0,60,390,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2040,3385,0,0,0,0,0,0
$GC,454,-0.97,-146.0,37.6,-9.9,71,463,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2040,3385,0,0,0,0,0,0
$GC,517,-0.97,-146.0,43.7,-9.3,82,526,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2040,3385,0,0,0,0,0,0
$GC,722,-1.00,-146.0,62.3,-9.3,121,728,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2040,3385,0,0,0,0,0,0
$GC,926,-1.04,-146.0,81.9,-9.2,160,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2040,3386,0,0,0,0,0,0
$GC,1138,-1.10,-146.0,100.9,-8.9,199,1144,0.10,0.00,0.00,0.000,6,0.083,0.000,2637,2040,3385,0,0,0,0,0,0
$STATE,1173,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1173,begin apogee
$GC,1179,-0.31,0.0,105.0,10.4,206,1301,0.80,0.00,113.85,0.672,6,0.084,0.000,2804,2040,2789,0,0,0,0,0,0
$STATE,1302,end apogee,CONTROL_FINISHED_OK
$STATE,1302,begin climb
$GC,1305,1.27,146.0,109.5,0.0,227,1434,1.60,2.55,118.05,0.647,4,0.064,0.055,3150,3464,2191,0,0,0,0,0,0
$GC,1489,1.27,146.0,96.3,10.1,259,1494,0.00,2.42,0.00,0.000,6,0.000,0.043,3150,2055,2185,0,0,0,0,0,0
$GC,1687,1.31,151.2,75.9,9.8,298,1696,0.00,0.00,3.80,0.387,6,0.000,0.000,3150,2055,2172,0,0,0,0,0,0
$GC,1893,1.37,164.3,56.8,9.4,337,1911,0.12,0.00,12.77,0.559,6,0.072,0.000,3183,2055,2118,0,0,0,0,0,0
$GC,2117,1.37,164.3,31.3,10.5,378,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2055,2116,0,0,0,0,0,0
$GC,2190,1.37,164.3,24.0,10.4,389,2197,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2055,2116,0,0,0,0,0,0
$GC,2250,1.39,178.4,18.0,9.4,400,2274,0.00,2.55,12.68,0.539,4,0.000,0.055,3183,3455,2060,0,0,0,0,0,0
$GC,2308,1.39,178.4,11.9,11.0,409,2316,0.00,2.47,0.00,0.000,6,0.000,0.044,3183,2048,2059,0,0,0,0,0,0
$GC,2369,1.46,199.8,6.1,9.0,420,2393,0.00,2.50,18.40,0.549,4,0.000,0.055,3183,644,1973,0,0,0,0,0,0
$FREEZE,4.38,8.252,-1.333,0,1,0
$STATE,2541,end climb,NO_VERTICAL_VELOCITY
$STATE,2541,begin surface
$SM_CCo,2544,289.50,0.557,2,0,516,557.81
$SM_GC,1.79,12.27,0.00,0.00,0.033,0.000,0.000,410,2058,515,-11.29,0.23,558.06
$IRIDIUM_FIX,4745.30,-12243.34,040399,212122
$TT8_MAMPS,0.025311
$HUMID,24.36
$INTERNAL_PRESSURE,9.15929
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.2,25.6
$24V_AH,23.7,0.541
$10V_AH,10.2,0.235
$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,27.225,20.000,279.550,289.500,0.000,0.000,0.000,0.000,1.000,0.000,12.979,684.429,270.451,546.797,1110.383,421.509,30.182,1108.350,0.000,1393.480,0.000,8.577,0.000
$DEVICE_MAMPS,145.730,62.894,671.892,556.842,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,382.326,324.800,991.470,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324656
$DATA_FILE_SIZE,25556,454
$CAP_FILE_SIZE,66182,0
$CFSIZE,260165632,146366464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,081209,215454,4807.654,-12223.404,25,1.0,37,18.3