version: 66.07
glider: 150
mission: 7
dive: 6
start: 8 5 110 21 24 40
data:
$ID,150
$MISSION,7
$DIVE,6
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,500
$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,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0292
$MASS,52177
$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,270
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,33
$TGT_DEFAULT_LON,33
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-30221.283
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,459
$PITCH_MAX,3719
$C_PITCH,2982
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,20
$C_ROLL_DIVE,2097
$C_ROLL_CLIMB,2097
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3960
$C_VBD,3326
$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,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-6.721117
$PRESSURE_SLOPE,0.000116226
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,39
$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,0.0043690177
$SEABIRD_T_H,0.0006364733
$SEABIRD_T_I,2.5457093e-05
$SEABIRD_T_J,2.7894353e-06
$SEABIRD_C_G,-10.003726
$SEABIRD_C_H,1.1309421
$SEABIRD_C_I,-0.0014659085
$SEABIRD_C_J,0.00020345701
$GPS1,050810,211624,4742.992,-12225.292,46,1.2,56,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-72.9
$GPS2,050810,212314,4743.021,-12225.299,13,1.2,13,18.2
$SPEED_LIMITS,0.173,0.259
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.105,0.237
$KALMAN_X,-670.0,-313.7,-93.6,793.1,-123.4
$KALMAN_Y,-1459.5,-637.3,-211.9,2225.5,-257.1
$MHEAD_RNG_PITCHd_Wd,5.6,961,-17.5,-10.000
$D_GRID,186
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.27,-145.7,0.0,0.0,0,67,0.00,0.00,-48.58,0.000,2,0.000,0.000,457,2101,3492,0,0,0,0,0,0
$GC,70,-1.27,-145.7,3.2,-6.0,7,95,11.90,1.25,-9.55,0.000,4,0.159,0.080,2697,1387,3922,0,0,0,0,0,0
$GC,335,-1.27,-145.7,43.8,-14.2,55,343,0.00,1.20,0.00,0.000,6,0.000,0.044,2697,2100,3922,0,0,0,0,0,0
$GC,409,-1.27,-145.7,54.2,-12.9,68,417,0.00,1.20,0.00,0.000,4,0.000,0.053,2697,1391,3922,0,0,0,0,0,0
$GC,580,-1.27,-145.7,76.9,-13.8,97,587,0.00,1.20,0.00,0.000,6,0.000,0.048,2697,2102,3922,0,0,0,0,0,0
$GC,722,-1.27,-145.7,96.7,-13.7,122,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2103,3922,0,0,0,0,0,0
$GC,865,-1.27,-145.7,116.5,-14.1,147,872,0.00,1.20,0.00,0.000,4,0.000,0.076,2697,2794,3922,0,0,0,0,0,0
$GC,1035,-1.27,-145.7,140.3,-13.3,177,1042,0.00,1.20,0.00,0.000,6,0.000,0.054,2697,2088,3922,0,0,0,0,0,0
$STATE,1105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1106,begin apogee
$GC,1111,-0.31,0.0,150.4,13.1,190,1236,0.95,0.00,115.78,0.667,6,0.099,0.000,2910,2088,3326,0,0,0,0,0,0
$STATE,1236,end apogee,CONTROL_FINISHED_OK
$STATE,1237,begin climb
$GC,1239,1.27,145.7,157.1,0.0,209,1370,1.50,1.25,117.78,0.650,4,0.059,0.065,3260,1393,2729,0,0,0,0,0,0
$GC,1406,1.29,159.7,151.8,9.4,235,1426,0.00,1.20,12.70,0.592,6,0.000,0.051,3260,2091,2673,0,0,0,0,0,0
$GC,1560,1.33,187.0,139.0,8.7,262,1588,0.00,0.00,23.55,0.621,6,0.000,0.000,3260,2091,2563,0,0,0,0,0,0
$GC,1722,1.33,187.0,123.4,10.5,290,1730,0.00,1.23,0.00,0.000,4,0.000,0.075,3260,2792,2560,0,0,0,0,0,0
$GC,1756,1.33,187.0,119.8,11.0,295,1762,0.00,1.20,0.00,0.000,6,0.000,0.058,3260,2099,2560,0,0,0,0,0,0
$GC,1896,1.33,187.0,104.3,10.1,320,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2099,2559,0,0,0,0,0,0
$GC,2042,1.35,209.9,90.6,8.9,345,2069,0.00,1.25,20.15,0.607,4,0.000,0.065,3260,1387,2468,0,0,0,0,0,0
$GC,2139,1.35,209.9,81.1,10.2,361,2145,0.00,1.23,0.00,0.000,6,0.000,0.058,3260,2105,2467,0,0,0,0,0,0
$GC,2282,1.36,212.8,67.2,9.9,386,2290,0.00,1.27,3.60,0.389,4,0.000,0.059,3260,1387,2458,0,0,0,0,0,0
$GC,2382,1.36,212.8,57.1,10.6,403,2388,0.00,1.20,0.00,0.000,6,0.000,0.046,3260,2097,2458,0,0,0,0,0,0
$GC,2522,1.36,212.8,41.7,10.4,428,2530,0.00,1.25,0.00,0.000,4,0.000,0.058,3260,1384,2458,0,0,0,0,0,0
$GC,2576,1.36,212.8,35.8,11.2,437,2583,0.00,1.20,0.00,0.000,6,0.000,0.046,3260,2094,2457,0,0,0,0,0,0
$GC,2649,1.36,212.8,28.0,10.1,450,2658,0.00,1.20,0.00,0.000,4,0.000,0.070,3260,2794,2457,0,0,0,0,0,0
$GC,2693,1.37,224.6,23.9,9.5,457,2709,0.00,1.20,11.52,0.561,6,0.000,0.051,3260,2090,2410,0,0,0,0,0,0
$GC,2774,1.37,224.6,16.0,10.2,471,2781,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2090,2409,0,0,0,0,0,0
$GC,2848,1.38,232.6,8.5,9.6,484,2865,0.10,1.23,8.60,0.530,4,0.081,0.065,3303,2794,2375,0,0,0,0,0,0
$GC,2885,1.40,246.2,5.1,9.4,489,2900,0.00,1.20,12.30,0.546,6,0.000,0.055,3302,2093,2322,0,0,0,0,0,0
$STATE,2906,end climb,SURFACE_DEPTH_REACHED
$STATE,2906,begin surface coast
$FINISH,0.2,1.020930
$STATE,2934,end surface coast,CONTROL_FINISHED_OK
$STATE,2934,begin surface
$SM_CCo,2955,2.62,0.076,0,0,2306,250.21
$SM_GC,2.70,0.00,0.00,2.62,0.000,0.000,0.076,455,2092,2306,-11.63,-0.14,250.21
$IRIDIUM_FIX,4726.11,-12223.37,290112,141451
$TT8_MAMPS,0.026964
$HUMID,1078670313
$INTERNAL_PRESSURE,9.32968
$TCM_TEMP,16.80
$XPDR_PINGS,14
$24V_AH,23.4,0.569
$10V_AH,10.6,1.133
$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,26.250,24.350,325.975,2.625,0.000,27.985,24.256,208.256,4.500,0.000,17.887,1079.210,300.652,350.357,1359.627,318.342,33.322,854.608,0.000,1213.879,0.000,7.185,0.000
$DEVICE_MAMPS,159.120,80.325,667.080,76.500,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,364.087,250.695,815.145,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323628
$DATA_FILE_SIZE,26874,497
$CAP_FILE_SIZE,61114,0
$CFSIZE,260165632,170463232
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050810,221502,4743.240,-12225.212,25,1.4,25,18.2