version: 66.06
glider: 130
mission: 7
dive: 3
start: 12 8 109 22 24 27
data:
$ID,130
$MISSION,7
$DIVE,3
$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,72
$T_MISSION,85
$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,500
$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,-69650.805
$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,2910
$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,24
$R_STBD_OVSHOOT,27
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,85
$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
$GPS1,221925,4807.688,-12223.409,12,1.1,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-73.0
$GPS2,222332,4807.682,-12223.392,14,1.1,14,18.3
$SPEED_LIMITS,0.120,0.228
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.067,-0.218
$KALMAN_X,26.7,-1.3,-4.3,349.0,12.8
$KALMAN_Y,146.8,122.2,117.7,-602.5,100.5
$MHEAD_RNG_PITCHd_Wd,144.5,1353,-12.0,-6.944
$D_GRID,107
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-0.93,-146.0,0.0,0.0,0,56,0.00,0.00,-35.17,0.000,2,0.000,0.000,410,2058,1235,0,0,0,0,0,0
$GC,59,-0.93,-146.0,2.1,-1.2,6,150,12.60,2.53,-70.93,0.000,4,0.146,0.083,2702,3449,3386,0,0,0,0,0,0
$GC,309,-0.83,-146.0,22.6,-9.3,50,317,0.08,2.47,0.00,0.000,6,0.086,0.050,2721,2054,3386,0,0,0,0,0,0
$GC,371,-0.78,-146.0,28.6,-9.7,61,379,0.00,2.53,0.00,0.000,4,0.000,0.063,2721,3444,3386,0,0,0,0,0,0
$GC,389,-0.74,-146.0,30.7,-9.7,63,396,0.10,2.45,0.00,0.000,6,0.083,0.048,2745,2055,3386,0,0,0,0,0,0
$GC,449,-0.74,-146.0,35.5,-7.6,74,456,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2055,3386,0,0,0,0,0,0
$GC,521,-0.74,-146.0,39.8,-6.0,85,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2056,3386,0,0,0,0,0,0
$GC,581,-0.74,-146.0,43.7,-6.1,96,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2055,3386,0,0,0,0,0,0
$GC,787,-0.78,-146.0,55.5,-6.1,135,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2055,3385,0,0,0,0,0,0
$GC,988,-0.83,-146.0,67.7,-5.7,174,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2056,3386,0,0,0,0,0,0
$GC,1193,-0.88,-146.0,79.6,-5.9,213,1198,0.12,0.00,0.00,0.000,6,0.071,0.000,2711,2056,3385,0,0,0,0,0,0
$GC,1395,-0.88,-146.0,93.6,-6.9,252,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2055,3386,0,0,0,0,0,0
$STATE,1591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1591,begin apogee
$GC,1597,-0.31,0.0,107.0,6.8,289,1720,0.57,0.00,113.78,0.667,6,0.074,0.000,2837,2054,2789,0,0,0,0,0,0
$STATE,1721,end apogee,CONTROL_FINISHED_OK
$STATE,1721,begin climb
$GC,1724,0.93,146.0,110.1,0.0,310,1848,1.23,0.00,117.20,0.644,6,0.059,0.000,3106,2054,2193,0,0,0,0,0,0
$GC,2043,0.88,146.0,89.0,7.6,369,2048,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2054,2185,0,0,0,0,0,0
$GC,2246,0.85,146.0,72.7,8.2,408,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2054,2184,0,0,0,0,0,0
$GC,2449,0.82,146.0,57.6,7.3,447,2454,0.00,2.50,0.00,0.000,4,0.000,0.054,3107,3461,2183,0,0,0,0,0,0
$GC,2512,0.79,146.0,52.6,8.1,459,2518,0.12,2.45,0.00,0.000,6,0.101,0.042,3081,2039,2181,0,0,0,0,0,0
$GC,2713,0.85,161.3,39.8,6.4,498,2735,0.00,2.53,11.95,0.546,4,0.000,0.058,3081,647,2131,0,0,0,0,0,0
$GC,2790,0.90,170.0,35.4,6.7,511,2807,0.08,2.42,9.27,0.518,6,0.042,0.039,3113,2051,2095,0,0,0,0,0,0
$GC,2861,0.90,170.0,30.5,7.1,523,2868,0.00,2.50,0.00,0.000,4,0.000,0.057,3114,3451,2092,0,0,0,0,0,0
$GC,2931,0.90,170.0,25.1,7.9,536,2938,0.00,2.45,0.00,0.000,6,0.000,0.043,3114,2056,2092,0,0,0,0,0,0
$GC,2992,0.92,185.1,21.1,6.5,547,3008,0.00,0.00,13.55,0.541,6,0.000,0.000,3113,2056,2034,0,0,0,0,0,0
$GC,3062,0.92,189.4,16.6,6.8,559,3070,0.00,0.00,4.75,0.416,6,0.000,0.000,3114,2056,2018,0,0,0,0,0,0
$GC,3124,0.93,195.9,12.2,6.7,570,3140,0.00,0.00,7.35,0.482,6,0.000,0.000,3114,2056,1989,0,0,0,0,0,0
$GC,3193,1.09,268.4,8.8,4.6,582,3261,0.15,0.00,61.08,0.572,6,0.058,0.000,3158,2055,1693,0,0,0,0,0,0
$GC,3317,1.57,458.5,6.1,0.8,601,3430,0.40,0.00,109.62,0.568,2,0.049,0.000,3258,2056,1154,0,0,0,0,0,0
$FREEZE,5.55,5.800,-1.208,0,1,0
$STATE,3432,end climb,NO_VERTICAL_VELOCITY
$STATE,3432,begin surface
$SM_CCo,3436,133.68,0.535,2,0,515,557.81
$SM_GC,1.92,12.65,0.00,0.00,0.035,0.000,0.000,412,2053,515,-11.43,0.08,558.30
$IRIDIUM_FIX,4745.30,-12215.68,040399,222225
$TT8_MAMPS,0.026078
$HUMID,23.38
$INTERNAL_PRESSURE,9.15929
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,23.7,0.676
$10V_AH,10.3,0.336
$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,28.100,24.825,448.550,133.675,0.000,0.000,0.000,0.000,1.250,0.000,14.874,921.967,363.165,460.407,1463.584,562.121,31.416,1225.406,0.000,1870.264,0.000,11.297,0.000
$DEVICE_MAMPS,146.497,82.836,666.523,535.366,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,514.245,462.731,1308.842,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324668
$DATA_FILE_SIZE,35024,616
$CAP_FILE_SIZE,83536,0
$CFSIZE,260165632,146305024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,081209,232650,4807.276,-12223.107,9,1.3,10,18.3