version: 66.07
glider: 150
mission: 7
dive: 13
start: 8 6 110 5 9 43
data:
$ID,150
$MISSION,7
$DIVE,13
$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,-30230.094
$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,26
$R_STBD_OVSHOOT,31
$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
$GPS1,060810,050007,4743.593,-12225.108,16,1.8,27,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-71.8
$GPS2,060810,050820,4743.590,-12225.143,15,2.0,15,18.2
$SPEED_LIMITS,0.139,0.201
$TGT_NAME,NE
$TGT_LATLONG,4743.500,-12224.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.196,0.044
$KALMAN_X,-1355.6,27.7,32.4,1204.1,-53.1
$KALMAN_Y,-2707.5,93.2,197.2,3387.8,-295.6
$MHEAD_RNG_PITCHd_Wd,59.2,1433,-17.8,-8.000
$D_GRID,180
$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,18,-1.23,-97.2,0.0,0.0,0,77,0.00,0.00,-56.22,0.000,2,0.000,0.000,458,2126,3530,0,0,0,0,0,0
$GC,80,-1.23,-97.2,3.6,-6.7,8,103,12.10,1.20,-3.97,0.000,4,0.162,0.082,2708,1413,3723,0,0,0,0,0,0
$GC,343,-1.23,-97.2,43.0,-12.9,56,351,0.00,1.20,0.00,0.000,6,0.000,0.054,2708,2123,3724,0,0,0,0,0,0
$GC,418,-1.23,-97.2,52.1,-12.3,69,424,0.00,1.20,0.00,0.000,4,0.000,0.063,2708,1417,3724,0,0,0,0,0,0
$GC,446,-1.23,-97.2,55.6,-12.4,73,453,0.00,1.20,0.00,0.000,6,0.000,0.044,2708,2128,3724,0,0,0,0,0,0
$GC,585,-1.23,-97.2,73.6,-12.3,98,593,0.00,1.20,0.00,0.000,4,0.000,0.072,2708,2822,3724,0,0,0,0,0,0
$GC,656,-1.23,-97.2,82.4,-12.4,110,664,0.00,1.20,0.00,0.000,6,0.000,0.050,2708,2114,3724,0,0,0,0,0,0
$GC,798,-1.23,-97.2,98.7,-11.8,135,804,0.00,1.23,0.00,0.000,4,0.000,0.061,2708,2819,3724,0,0,0,0,0,0
$GC,856,-1.23,-97.2,105.2,-10.8,145,862,0.00,1.20,0.00,0.000,6,0.000,0.060,2708,2111,3724,0,0,0,0,0,0
$GC,1002,-1.23,-97.2,121.5,-10.9,170,1011,0.00,1.17,0.00,0.000,4,0.000,0.066,2708,1418,3724,0,0,0,0,0,0
$GC,1104,-1.23,-97.2,132.7,-10.7,188,1112,0.00,1.17,0.00,0.000,6,0.000,0.057,2708,2116,3724,0,0,0,0,0,0
$GC,1247,-1.23,-97.2,147.0,-9.6,213,1254,0.00,1.23,0.00,0.000,4,0.000,0.072,2708,2822,3724,0,0,0,0,0,0
$GC,1332,-1.23,-97.2,156.4,-10.9,228,1340,0.00,1.20,0.00,0.000,6,0.000,0.055,2708,2118,3724,0,0,0,0,0,0
$GC,1474,-1.23,-97.2,171.5,-10.3,253,1481,0.00,1.23,0.00,0.000,4,0.000,0.073,2708,2820,3724,0,0,0,0,0,0
$STATE,1552,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1552,begin apogee
$GC,1559,-0.31,0.0,180.5,11.1,267,1643,0.90,0.00,77.75,0.687,6,0.090,0.000,2908,1954,3325,0,0,0,0,0,0
$STATE,1644,end apogee,CONTROL_FINISHED_OK
$STATE,1644,begin climb
$GC,1647,1.23,97.2,184.6,0.0,280,1734,1.48,1.30,79.15,0.669,4,0.066,0.067,3249,1243,2929,0,0,0,0,0,0
$GC,1846,1.26,117.7,175.9,6.9,313,1874,0.00,1.20,18.05,0.635,6,0.000,0.057,3249,1947,2845,0,0,0,0,0,0
$GC,2008,1.26,119.3,163.1,7.9,341,2015,0.00,1.23,0.00,0.000,4,0.000,0.062,3249,2652,2843,0,0,0,0,0,0
$GC,2138,1.26,119.3,152.6,8.2,364,2145,0.00,1.23,0.00,0.000,6,0.000,0.055,3249,1945,2842,0,0,0,0,0,0
$GC,2284,1.26,122.0,141.4,7.9,389,2298,0.00,1.23,4.90,0.495,4,0.000,0.057,3249,2643,2828,0,0,0,0,0,0
$GC,2391,1.28,132.5,133.5,7.4,407,2406,0.00,1.20,10.45,0.597,6,0.000,0.063,3249,1948,2785,0,0,0,0,0,0
$GC,2539,1.28,138.3,122.4,7.7,433,2553,0.00,0.00,6.25,0.534,6,0.000,0.000,3249,1948,2761,0,0,0,0,0,0
$GC,2691,1.29,143.9,110.6,7.7,459,2704,0.00,0.00,6.38,0.535,6,0.000,0.000,3249,1948,2737,0,0,0,0,0,0
$GC,2839,1.29,143.9,98.0,8.9,485,2846,0.00,1.20,0.00,0.000,4,0.000,0.066,3249,1249,2737,0,0,0,0,0,0
$GC,2891,1.31,162.8,94.0,7.0,494,2913,0.00,1.20,17.08,0.611,6,0.000,0.045,3249,1960,2662,0,0,0,0,0,0
$GC,3048,1.31,162.8,81.3,8.3,521,3055,0.00,1.17,0.00,0.000,4,0.000,0.057,3249,2647,2660,0,0,0,0,0,0
$GC,3188,1.31,162.8,68.9,9.3,546,3196,0.00,1.20,0.00,0.000,6,0.000,0.050,3249,1947,2659,0,0,0,0,0,0
$GC,3332,1.33,174.9,57.8,7.3,571,3347,0.10,0.00,11.38,0.576,6,0.083,0.000,3289,1947,2611,0,0,0,0,0,0
$GC,3482,1.33,174.9,42.7,10.9,597,3490,0.00,1.20,0.00,0.000,4,0.000,0.054,3289,2646,2610,0,0,0,0,0,0
$GC,3555,1.33,174.9,34.1,10.6,610,3563,0.00,1.20,0.00,0.000,6,0.000,0.051,3289,1944,2609,0,0,0,0,0,0
$GC,3630,1.33,174.9,26.6,9.7,623,3638,0.00,1.20,0.00,0.000,4,0.000,0.058,3289,1244,2609,0,0,0,0,0,0
$GC,3691,1.33,174.9,21.0,9.8,633,3699,0.00,1.20,0.00,0.000,6,0.000,0.044,3289,1958,2609,0,0,0,0,0,0
$GC,3765,1.33,174.9,13.3,10.2,646,3773,0.00,1.17,0.00,0.000,4,0.000,0.057,3289,2651,2609,0,0,0,0,0,0
$GC,3802,1.33,174.9,9.6,9.9,652,3810,0.00,1.20,0.00,0.000,6,0.000,0.050,3289,1945,2609,0,0,0,0,0,0
$STATE,3873,end climb,SURFACE_DEPTH_REACHED
$STATE,3873,begin surface coast
$FINISH,0.7,1.021318
$STATE,3908,end surface coast,CONTROL_FINISHED_OK
$STATE,3908,begin surface
$SM_CCo,3929,94.12,0.525,1,0,2184,280.13
$SM_GC,1.31,0.00,0.00,94.12,0.000,0.000,0.525,454,2132,2184,-11.63,0.34,280.13
$IRIDIUM_FIX,4726.11,-12223.37,290112,222207
$TT8_MAMPS,0.026964
$HUMID,1078595474
$INTERNAL_PRESSURE,9.30038
$TCM_TEMP,16.60
$XPDR_PINGS,23
$ALTIM_BOTTOM_PING,120.5,79.1
$24V_AH,23.4,1.056
$10V_AH,10.6,1.658
$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,26.275,36.750,231.375,94.125,0.000,30.631,24.418,276.388,6.250,0.000,17.413,1505.816,448.215,426.516,1770.533,404.565,33.333,1031.921,0.000,1601.972,0.000,5.633,0.000
$DEVICE_MAMPS,162.180,81.855,686.970,524.790,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,477.538,326.818,1046.139,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323724
$DATA_FILE_SIZE,36726,671
$CAP_FILE_SIZE,77698,0
$CFSIZE,260165632,170164224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060810,061807,4743.521,-12224.607,35,0.9,35,18.2