version: 66.07
glider: 150
mission: 7
dive: 12
start: 8 6 110 3 57 15
data:
$ID,150
$MISSION,7
$DIVE,12
$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,-30228.836
$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,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,120
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$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
$GPS1,060810,034755,4743.442,-12224.817,9,1.6,14,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-71.9
$GPS2,060810,035552,4743.447,-12224.848,8,99.0,27,18.2
$SPEED_LIMITS,0.139,0.201
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.070,0.120
$KALMAN_X,-1257.6,-72.9,92.2,1514.7,-71.9
$KALMAN_Y,-2339.3,-142.2,330.2,2858.2,-106.8
$MHEAD_RNG_PITCHd_Wd,311.5,213,-26.9,-8.000
$D_GRID,178
$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,-45.1,0.0,0.0,0,74,0.00,0.00,-55.83,0.000,6,0.000,0.000,456,2125,3511,0,0,0,0,0,0
$GC,77,-1.75,-56.3,3.5,-6.7,8,94,11.48,1.23,-0.98,0.000,4,0.161,0.080,2595,2825,3557,0,0,0,0,0,0
$GC,140,-1.75,-56.3,17.6,-17.7,18,148,0.00,1.20,0.00,0.000,6,0.000,0.047,2595,2115,3558,0,0,0,0,0,0
$GC,214,-1.75,-56.3,29.9,-16.9,31,222,0.00,1.17,0.00,0.000,4,0.000,0.052,2595,1418,3557,0,0,0,0,0,0
$GC,331,-1.75,-56.3,49.4,-16.9,52,339,0.00,1.17,0.00,0.000,6,0.000,0.055,2595,2117,3558,0,0,0,0,0,0
$GC,408,-1.75,-56.3,62.4,-16.9,65,415,0.00,1.20,0.00,0.000,4,0.000,0.059,2594,2817,3557,0,0,0,0,0,0
$GC,427,-1.75,-56.3,65.8,-16.8,68,435,0.00,1.17,0.00,0.000,6,0.000,0.057,2595,2120,3558,0,0,0,0,0,0
$GC,570,-1.75,-56.3,87.4,-14.3,93,577,0.00,1.23,0.00,0.000,4,0.000,0.056,2595,1410,3557,0,0,0,0,0,0
$GC,777,-1.75,-56.3,119.5,-13.8,130,789,0.00,1.20,0.00,0.000,6,0.000,0.047,2595,2121,3558,0,0,0,0,0,0
$GC,927,-1.75,-56.3,142.9,-15.1,155,934,0.00,1.20,0.00,0.000,4,0.000,0.059,2595,1417,3558,0,0,0,0,0,0
$GC,1012,-1.75,-56.3,155.5,-14.7,169,1018,0.00,1.20,0.00,0.000,6,0.000,0.046,2595,2128,3558,0,0,0,0,0,0
$GC,1157,-1.75,-56.3,177.6,-14.0,194,1166,0.00,1.23,0.00,0.000,4,0.000,0.063,2595,1411,3558,0,0,0,0,0,0
$STATE,1170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1170,begin apogee
$GC,1177,-0.31,0.0,179.7,13.8,196,1230,1.50,0.00,46.15,0.689,6,0.114,0.000,2908,1958,3326,0,0,0,0,0,0
$STATE,1231,end apogee,CONTROL_FINISHED_OK
$STATE,1231,begin climb
$GC,1234,1.75,56.3,182.9,0.0,204,1287,1.95,1.25,46.30,0.670,4,0.058,0.073,3365,2649,3095,0,0,0,0,0,0
$GC,1428,1.78,80.3,174.2,5.1,237,1457,0.00,1.20,21.02,0.653,6,0.000,0.055,3365,1958,2997,0,0,0,0,0,0
$GC,1594,1.81,100.3,163.0,5.6,265,1615,0.00,0.00,17.90,0.641,6,0.000,0.000,3365,1958,2916,0,0,0,0,0,0
$GC,1750,1.81,100.3,148.3,10.8,292,1758,0.00,1.25,0.00,0.000,4,0.000,0.067,3365,1246,2914,0,0,0,0,0,0
$GC,1874,1.81,100.3,135.8,10.0,314,1882,0.00,1.20,0.00,0.000,6,0.000,0.048,3365,1955,2914,0,0,0,0,0,0
$GC,2020,1.81,100.3,122.1,8.9,339,2026,0.00,1.23,0.00,0.000,4,0.000,0.060,3365,1250,2913,0,0,0,0,0,0
$GC,2200,1.81,100.3,104.2,10.0,371,2207,0.00,1.17,0.00,0.000,6,0.000,0.050,3365,1949,2913,0,0,0,0,0,0
$GC,2342,1.81,100.3,91.7,8.5,396,2350,0.00,1.20,0.00,0.000,4,0.000,0.059,3365,2652,2913,0,0,0,0,0,0
$GC,2419,1.81,100.3,85.0,8.5,409,2426,0.00,1.20,0.00,0.000,6,0.000,0.050,3365,1945,2913,0,0,0,0,0,0
$GC,2560,1.81,100.3,73.1,8.1,434,2567,0.00,1.20,0.00,0.000,4,0.000,0.063,3365,1249,2913,0,0,0,0,0,0
$GC,2793,1.82,109.0,55.3,7.0,475,2807,0.00,1.17,8.25,0.558,6,0.000,0.046,3366,1949,2881,0,0,0,0,0,0
$GC,2942,1.82,111.7,44.8,7.7,501,2950,0.00,0.00,3.97,0.425,6,0.000,0.000,3365,1949,2870,0,0,0,0,0,0
$GC,3015,1.82,111.7,38.4,9.2,514,3023,0.00,1.23,0.00,0.000,4,0.000,0.068,3365,1243,2869,0,0,0,0,0,0
$GC,3267,1.82,115.3,17.9,7.6,560,3276,0.00,1.20,4.80,0.464,6,0.000,0.045,3365,1954,2855,0,0,0,0,0,0
$GC,3341,1.82,115.3,12.3,8.2,573,3348,0.00,0.00,0.00,0.000,6,0.000,0.000,3366,1954,2854,0,0,0,0,0,0
$GC,3415,1.83,119.4,6.5,7.5,586,3423,0.00,0.00,4.75,0.456,6,0.000,0.000,3365,1954,2839,0,0,0,0,0,0
$STATE,3471,end climb,SURFACE_DEPTH_REACHED
$STATE,3471,begin surface coast
$FINISH,2.0,1.021018
$STATE,3540,end surface coast,CONTROL_FINISHED_OK
$STATE,3540,begin surface
$SM_CCo,3562,135.32,0.544,1,0,2183,280.13
$SM_GC,0.83,0.00,0.00,135.32,0.000,0.000,0.544,458,2126,2183,-11.61,0.17,280.13
$IRIDIUM_FIX,4726.11,-12227.78,290112,202048
$TT8_MAMPS,0.026964
$HUMID,1078583861
$INTERNAL_PRESSURE,9.30038
$TCM_TEMP,16.80
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,170.5,25.0
$24V_AH,23.4,0.980
$10V_AH,10.6,1.574
$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,27.400,28.900,153.150,135.325,0.000,25.385,25.230,249.134,6.250,0.000,30.772,1398.889,393.379,389.516,1658.033,375.934,33.321,922.870,0.000,1478.236,0.000,21.234,0.000
$DEVICE_MAMPS,160.650,80.325,689.265,543.915,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,446.902,313.249,992.916,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323672
$DATA_FILE_SIZE,33582,609
$CAP_FILE_SIZE,70399,0
$CFSIZE,260165632,170213376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060810,050007,4743.593,-12225.108,16,1.8,27,18.2