version: 66.06
glider: 130
mission: 7
dive: 5
start: 12 9 109 0 33 1
data:
$ID,130
$MISSION,7
$DIVE,5
$D_SURF,4
$D_FLARE,2
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,2
$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,-69701.094
$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,28
$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,5
$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
$GPS1,002406,4806.938,-12222.861,49,1.0,49,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-76.1
$GPS2,003202,4806.877,-12222.865,15,1.6,15,18.3
$SPEED_LIMITS,0.120,0.228
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.095,0.126
$KALMAN_X,275.9,81.7,1.9,663.3,125.0
$KALMAN_Y,-106.3,53.2,97.0,-1747.0,-157.7
$MHEAD_RNG_PITCHd_Wd,304.6,282,-19.8,-6.944
$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,-1.31,-63.7,0.0,0.0,0,27,0.00,0.00,-5.43,0.000,2,0.000,0.000,412,2070,1061,0,0,0,0,0,0
$GC,30,-1.42,-146.0,2.4,-0.0,1,136,12.10,2.53,-82.95,0.000,4,0.146,0.074,2594,3450,3387,0,0,0,0,0,0
$GC,260,-1.30,-146.0,25.7,-13.3,40,270,0.10,2.47,0.00,0.000,6,0.104,0.047,2616,2057,3387,0,0,0,0,0,0
$GC,321,-1.24,-146.0,33.6,-12.6,51,331,0.10,0.00,0.00,0.000,6,0.131,0.000,2635,2057,3387,0,0,0,0,0,0
$GC,390,-1.24,-146.0,42.1,-11.6,62,398,0.00,2.53,0.00,0.000,4,0.000,0.059,2635,642,3387,0,0,0,0,0,0
$GC,475,-1.24,-146.0,52.3,-12.0,78,484,0.00,2.42,0.00,0.000,6,0.000,0.042,2635,2038,3387,0,0,0,0,0,0
$GC,683,-1.28,-146.0,75.4,-10.7,117,689,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2038,3387,0,0,0,0,0,0
$GC,887,-1.33,-146.0,97.6,-10.5,156,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2039,3387,0,0,0,0,0,0
$STATE,964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,964,begin apogee
$GC,970,-0.31,0.0,105.4,10.6,170,1093,0.98,0.00,113.97,0.667,6,0.084,0.000,2837,2039,2789,0,0,0,0,0,0
$STATE,1093,end apogee,CONTROL_FINISHED_OK
$STATE,1094,begin climb
$GC,1096,1.42,146.0,109.8,0.0,191,1225,1.73,0.00,117.22,0.640,6,0.058,0.000,3214,2039,2191,0,0,0,0,0,0
$GC,1421,1.38,146.0,73.7,12.8,251,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2039,2184,0,0,0,0,0,0
$GC,1620,1.38,146.0,48.4,11.9,290,1628,0.00,2.53,0.00,0.000,4,0.000,0.058,3214,3453,2182,0,0,0,0,0,0
$GC,1655,1.38,146.0,44.1,12.1,296,1663,0.00,2.47,0.00,0.000,6,0.000,0.044,3214,2044,2182,0,0,0,0,0,0
$GC,1893,1.38,146.0,16.6,11.0,335,1902,0.00,2.53,0.00,0.000,4,0.000,0.057,3214,3450,2181,0,0,0,0,0,0
$GC,1971,1.38,146.0,8.1,10.4,350,1981,0.00,2.45,0.00,0.000,6,0.000,0.044,3214,2054,2181,0,0,0,0,0,0
$GC,2046,1.67,240.9,6.7,-0.0,361,2133,0.25,2.58,76.57,0.575,4,0.051,0.057,3283,641,1805,0,0,0,0,0,0
$GC,2152,1.85,323.8,5.8,0.8,378,2225,0.08,2.45,67.10,0.563,2,0.044,0.038,3313,2059,1477,0,0,0,0,0,0
$FREEZE,5.35,6.465,-1.351,0,1,0
$STATE,2227,end climb,NO_VERTICAL_VELOCITY
$STATE,2227,begin surface
$SM_CCo,2231,190.57,0.544,2,0,516,557.81
$SM_GC,1.81,12.93,0.00,0.00,0.035,0.000,0.000,416,2059,515,-11.42,0.25,558.30
$IRIDIUM_FIX,4751.72,-12223.57,040399,232353
$TT8_MAMPS,0.025311
$HUMID,23.81
$INTERNAL_PRESSURE,9.14952
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,23.7,0.881
$10V_AH,10.3,0.476
$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,28.250,24.950,374.875,190.575,0.000,25.869,26.580,232.388,1.250,0.000,15.510,567.765,228.110,470.876,996.119,766.832,33.309,1026.984,0.000,1250.223,0.000,13.064,0.000
$DEVICE_MAMPS,146.497,74.399,667.290,543.803,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,343.049,233.891,866.407,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324644
$DATA_FILE_SIZE,22354,388
$CAP_FILE_SIZE,49302,0
$CFSIZE,260165632,146268160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,091209,011614,4807.050,-12223.026,10,1.5,10,18.3