version: 66.06
glider: 130
mission: 7
dive: 7
start: 12 9 109 2 37 24
data:
$ID,130
$MISSION,7
$DIVE,7
$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,83
$T_MISSION,85
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,240
$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,100
$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,-69749.703
$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,2920
$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,26
$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,70
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$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
$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
$GPS1,022728,4807.343,-12222.994,6,2.4,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-74.6
$GPS2,023628,4807.323,-12223.004,14,2.7,33,18.3
$SPEED_LIMITS,0.104,0.182
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.024,0.180
$KALMAN_X,437.4,106.5,42.8,267.3,87.7
$KALMAN_Y,-194.2,32.0,-44.2,-676.4,-135.2
$MHEAD_RNG_PITCHd_Wd,334.1,1254,-13.2,-6.024
$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,16,begin dive
$GC,19,-0.95,-97.3,0.0,0.0,0,44,0.00,0.00,-23.38,0.000,2,0.000,0.000,411,2046,1266,0,0,0,0,0,0
$GC,47,-0.95,-97.3,2.3,-2.4,4,138,12.68,2.58,-69.00,0.000,4,0.146,0.075,2708,3451,3187,0,0,0,0,0,0
$GC,393,-0.85,-97.3,26.5,-7.3,68,401,0.08,2.47,0.00,0.000,6,0.086,0.046,2727,2046,3186,0,0,0,0,0,0
$GC,455,-0.80,-97.3,30.4,-6.4,79,462,0.00,2.53,0.00,0.000,4,0.000,0.061,2727,641,3186,0,0,0,0,0,0
$GC,555,-0.75,-97.3,37.8,-7.2,99,565,0.10,2.45,0.00,0.000,6,0.084,0.041,2751,2050,3186,0,0,0,0,0,0
$GC,617,-0.75,-97.3,41.7,-6.0,110,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2050,3186,0,0,0,0,0,0
$GC,820,-0.80,-97.3,53.4,-5.8,149,827,0.00,2.53,0.00,0.000,4,0.000,0.058,2751,3454,3186,0,0,0,0,0,0
$GC,918,-0.88,-97.3,59.0,-5.8,167,925,0.10,2.42,0.00,0.000,6,0.078,0.042,2722,2048,3186,0,0,0,0,0,0
$GC,1119,-0.88,-97.3,71.5,-6.1,206,1126,0.00,2.47,0.00,0.000,4,0.000,0.056,2722,652,3187,0,0,0,0,0,0
$GC,1278,-0.88,-97.3,81.4,-6.5,235,1283,0.00,2.38,0.00,0.000,6,0.000,0.038,2722,2059,3187,0,0,0,0,0,0
$GC,1487,-0.88,-97.3,92.9,-5.2,274,1494,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2060,3187,0,0,0,0,0,0
$GC,1696,-0.88,-97.3,103.5,-5.1,313,1700,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2060,3187,0,0,0,0,0,0
$STATE,1763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1763,begin apogee
$GC,1769,-0.31,0.0,107.2,5.1,326,1851,0.57,0.00,76.30,0.661,6,0.074,0.000,2848,2060,2789,0,0,0,0,0,0
$STATE,1852,end apogee,CONTROL_FINISHED_OK
$STATE,1852,begin climb
$GC,1856,0.95,97.3,108.6,0.0,340,1945,1.25,2.53,78.93,0.641,4,0.055,0.054,3125,3448,2391,0,0,0,0,0,0
$GC,1955,0.83,100.4,103.6,5.9,356,1967,0.10,2.47,3.85,0.388,6,0.084,0.041,3102,2052,2379,0,0,0,0,0,0
$GC,2161,0.83,100.4,88.9,6.9,396,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2052,2374,0,0,0,0,0,0
$GC,2360,0.83,100.4,75.2,7.0,435,2365,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2052,2372,0,0,0,0,0,0
$GC,2563,0.83,100.4,62.1,6.1,474,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2052,2372,0,0,0,0,0,0
$GC,2764,0.85,113.4,50.1,5.5,513,2778,0.00,0.00,11.18,0.549,6,0.000,0.000,3102,2052,2327,0,0,0,0,0,0
$GC,2978,0.86,121.5,38.3,5.7,553,2994,0.00,2.55,8.15,0.513,4,0.000,0.054,3102,3454,2293,0,0,0,0,0,0
$GC,3239,0.86,121.5,21.6,6.7,606,3249,0.00,2.47,0.00,0.000,6,0.000,0.042,3102,2043,2291,0,0,0,0,0,0
$GC,3313,0.86,123.0,17.4,6.0,617,3320,0.00,2.53,0.00,0.000,4,0.000,0.056,3102,3453,2291,0,0,0,0,0,0
$GC,3594,1.18,255.6,5.6,0.4,675,3715,0.28,2.45,109.10,0.580,6,0.031,0.042,3182,2045,1747,0,0,0,0,0,0
$GC,3771,1.58,404.7,4.7,-0.2,701,3841,0.32,0.00,65.88,0.558,2,0.043,0.000,3273,2045,1419,0,0,0,0,0,0
$STATE,3841,end climb,SURFACE_DEPTH_REACHED
$STATE,3842,begin surface coast
$FINISH,2.2,1.016253
$STATE,4085,end surface coast,CONTROL_FINISHED_OK
$STATE,4085,begin surface
$SM_CCo,4109,124.95,0.566,0,0,750,500.17
$SM_GC,1.98,0.00,0.00,124.95,0.000,0.000,0.566,415,2043,750,-11.52,-0.20,500.17
$IRIDIUM_FIX,4748.51,-12219.12,050399,010155
$TT8_MAMPS,0.025311
$HUMID,24.36
$INTERNAL_PRESSURE,9.20812
$TCM_TEMP,14.70
$XPDR_PINGS,0
$24V_AH,23.7,1.083
$10V_AH,10.3,0.683
$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,28.275,34.825,353.375,124.950,0.000,30.511,24.604,265.786,3.500,0.000,34.573,1154.501,300.285,390.191,1822.795,1112.429,33.327,1185.394,0.000,2266.093,0.000,30.160,0.000
$DEVICE_MAMPS,145.730,75.166,661.154,566.046,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,645.982,617.019,1698.074,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324588
$DATA_FILE_SIZE,41252,760
$CAP_FILE_SIZE,75408,0
$CFSIZE,260165632,146149376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091209,034906,4807.612,-12222.966,25,1.4,26,18.3