version: 66.07
glider: 150
mission: 7
dive: 9
start: 8 6 110 0 14 57
data:
$ID,150
$MISSION,7
$DIVE,9
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$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,75
$T_MISSION,85
$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,100
$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,280
$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,-30225.061
$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,2120
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,26
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$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
$GPS1,060810,000704,4743.570,-12225.205,24,6.7,43,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-71.4
$GPS2,060810,001332,4743.508,-12225.204,13,1.2,13,18.2
$SPEED_LIMITS,0.139,0.201
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.114,-0.078
$KALMAN_X,-789.3,-329.6,24.6,925.6,95.9
$KALMAN_Y,-1847.6,-673.7,50.7,3284.7,97.2
$MHEAD_RNG_PITCHd_Wd,106.2,255,-26.9,-8.000
$D_GRID,182
$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,-1.74,-45.1,0.0,0.0,0,67,0.00,0.00,-48.05,0.000,6,0.000,0.000,451,2104,3511,0,0,0,0,0,0
$GC,70,-1.76,-62.5,3.7,-5.9,7,88,11.52,1.23,-1.50,0.000,4,0.162,0.080,2593,1405,3582,0,0,0,0,0,0
$GC,325,-1.76,-62.5,52.8,-17.0,54,334,0.00,1.20,0.00,0.000,6,0.000,0.044,2593,2118,3583,0,0,0,0,0,0
$GC,470,-1.76,-62.5,75.4,-15.2,79,476,0.00,1.20,0.00,0.000,4,0.000,0.063,2592,1417,3583,0,0,0,0,0,0
$GC,677,-1.76,-62.5,110.2,-17.2,116,685,0.00,1.20,0.00,0.000,6,0.000,0.054,2593,2126,3583,0,0,0,0,0,0
$GC,822,-1.76,-62.5,133.9,-16.2,141,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2126,3583,0,0,0,0,0,0
$GC,961,-1.76,-62.5,155.9,-15.3,166,969,0.00,1.20,0.00,0.000,4,0.000,0.070,2593,2815,3583,0,0,0,0,0,0
$GC,1070,-1.76,-62.5,172.0,-13.2,185,1077,0.00,1.17,0.00,0.000,6,0.000,0.056,2593,2125,3583,0,0,0,0,0,0
$STATE,1130,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1130,begin apogee
$GC,1137,-0.31,0.0,180.2,12.5,196,1197,1.50,0.00,51.10,0.692,6,0.111,0.000,2908,1942,3326,0,0,0,0,0,0
$STATE,1197,end apogee,CONTROL_FINISHED_OK
$STATE,1197,begin climb
$GC,1200,1.76,62.5,183.3,0.0,205,1259,1.95,1.27,51.30,0.675,4,0.060,0.070,3366,1249,3070,0,0,0,0,0,0
$GC,1403,1.76,63.8,171.6,7.8,240,1412,0.00,1.20,0.00,0.000,6,0.000,0.057,3366,1951,3068,0,0,0,0,0,0
$GC,1551,1.79,88.5,162.8,5.1,265,1578,0.00,0.00,22.45,0.656,6,0.000,0.000,3366,1951,2964,0,0,0,0,0,0
$GC,1716,1.79,88.5,150.7,8.6,293,1722,0.00,1.23,0.00,0.000,4,0.000,0.063,3367,2656,2963,0,0,0,0,0,0
$GC,1891,1.79,88.5,135.2,8.6,324,1900,0.00,1.23,0.00,0.000,6,0.000,0.063,3367,1948,2963,0,0,0,0,0,0
$GC,2036,1.79,88.5,122.6,8.8,349,2042,0.00,1.23,0.00,0.000,4,0.000,0.056,3367,2658,2962,0,0,0,0,0,0
$GC,2065,1.79,88.5,119.9,8.8,354,2073,0.00,1.23,0.00,0.000,6,0.000,0.054,3366,1947,2963,0,0,0,0,0,0
$GC,2210,1.79,88.5,107.7,8.2,379,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,3366,1947,2962,0,0,0,0,0,0
$GC,2350,1.80,93.9,96.9,7.3,404,2364,0.00,1.25,5.78,0.526,4,0.000,0.064,3367,2652,2943,0,0,0,0,0,0
$GC,2442,1.80,96.4,90.3,7.7,420,2451,0.00,1.20,3.83,0.424,6,0.000,0.054,3366,1952,2932,0,0,0,0,0,0
$GC,2588,1.80,97.0,79.2,7.9,445,2595,0.00,1.23,0.00,0.000,4,0.000,0.073,3367,1242,2932,0,0,0,0,0,0
$GC,2608,1.81,101.8,77.5,7.4,448,2624,0.00,1.20,6.22,0.532,6,0.000,0.057,3367,1955,2909,0,0,0,0,0,0
$GC,2760,1.81,101.8,64.4,8.5,474,2768,0.00,1.17,0.00,0.000,4,0.000,0.066,3366,2645,2909,0,0,0,0,0,0
$GC,2937,1.81,101.8,50.3,8.1,505,2944,0.00,1.20,0.00,0.000,6,0.000,0.052,3366,1944,2909,0,0,0,0,0,0
$GC,3076,1.82,112.4,40.9,6.7,530,3093,0.00,1.17,10.35,0.576,4,0.000,0.051,3366,2648,2866,0,0,0,0,0,0
$GC,3333,1.83,121.5,23.6,6.9,577,3348,0.00,1.20,9.12,0.556,6,0.000,0.050,3366,1943,2829,0,0,0,0,0,0
$GC,3414,1.84,127.5,18.0,7.3,591,3430,0.00,1.23,6.50,0.512,4,0.000,0.054,3366,2649,2805,0,0,0,0,0,0
$GC,3473,1.84,128.0,13.8,7.9,600,3481,0.00,1.20,0.00,0.000,6,0.000,0.050,3367,1947,2804,0,0,0,0,0,0
$GC,3545,1.87,148.7,7.9,5.5,613,3568,0.00,1.25,18.75,0.582,4,0.000,0.070,3367,1244,2719,0,0,0,0,0,0
$STATE,3743,end climb,SURFACE_DEPTH_REACHED
$STATE,3743,begin surface coast
$FINISH,-0.1,1.015237
$STATE,3864,end surface coast,CONTROL_FINISHED_OK
$STATE,3864,begin surface
$SM_CCo,3888,111.30,0.542,1,0,2184,280.13
$SM_GC,0.95,0.00,0.00,111.30,0.000,0.000,0.542,454,2124,2184,-11.63,0.11,280.13
$IRIDIUM_FIX,4729.30,-12225.08,290112,171709
$TT8_MAMPS,0.026964
$HUMID,1078632893
$INTERNAL_PRESSURE,9.33945
$TCM_TEMP,17.00
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,80.6,7.0
$24V_AH,23.4,0.777
$10V_AH,10.6,1.338
$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,26.975,29.675,185.400,111.300,0.000,29.908,24.076,192.770,4.750,0.000,15.390,1528.812,421.411,379.554,1723.699,380.263,33.334,958.102,0.000,1632.828,0.000,7.472,0.000
$DEVICE_MAMPS,162.180,79.560,692.325,542.385,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,539.897,349.434,1130.346,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36852,673
$CAP_FILE_SIZE,71478,0
$CFSIZE,260165632,170340352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060810,012233,4743.437,-12224.866,9,1.6,10,18.2