version: 66.07
glider: 150
mission: 7
dive: 14
start: 8 6 110 6 26 52
data:
$ID,150
$MISSION,7
$DIVE,14
$D_SURF,3
$D_FLARE,3
$D_TGT,198
$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,83
$T_MISSION,88
$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,-30231.348
$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,25
$R_STBD_OVSHOOT,35
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,130
$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
$GPS1,060810,061807,4743.521,-12224.607,35,0.9,35,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-71.9
$GPS2,060810,062555,4743.536,-12224.615,9,1.0,14,18.2
$SPEED_LIMITS,0.138,0.200
$TGT_NAME,NE
$TGT_LATLONG,4743.500,-12224.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.190,0.065
$KALMAN_X,-1650.4,148.5,-16.1,2086.1,-177.2
$KALMAN_Y,-2956.8,297.8,-57.3,3585.3,-341.6
$MHEAD_RNG_PITCHd_Wd,52.9,769,-17.7,-7.952
$D_GRID,174
$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,15,begin dive
$GC,17,-1.23,-97.2,0.0,0.0,0,75,0.00,0.00,-55.38,0.000,2,0.000,0.000,454,2132,3517,0,0,0,0,0,0
$GC,78,-1.23,-97.2,3.6,-6.8,8,101,12.07,1.15,-4.20,0.000,4,0.161,0.080,2708,2813,3724,0,0,0,0,0,0
$GC,200,-1.23,-97.2,22.4,-12.0,29,208,0.00,1.17,0.00,0.000,6,0.000,0.046,2709,2118,3725,0,0,0,0,0,0
$GC,273,-1.23,-97.2,31.8,-12.6,42,281,0.00,1.20,0.00,0.000,4,0.000,0.053,2708,1408,3725,0,0,0,0,0,0
$GC,358,-1.23,-97.2,42.9,-13.1,57,366,0.00,1.20,0.00,0.000,6,0.000,0.043,2708,2122,3725,0,0,0,0,0,0
$GC,431,-1.23,-97.2,52.0,-12.0,70,439,0.00,1.20,0.00,0.000,4,0.000,0.059,2708,2822,3725,0,0,0,0,0,0
$GC,498,-1.23,-97.2,59.9,-12.1,81,504,0.00,1.20,0.00,0.000,6,0.000,0.049,2708,2112,3725,0,0,0,0,0,0
$GC,639,-1.23,-97.2,76.9,-12.2,106,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2112,3725,0,0,0,0,0,0
$GC,779,-1.23,-97.2,93.3,-11.6,131,786,0.00,1.23,0.00,0.000,4,0.000,0.071,2709,2819,3724,0,0,0,0,0,0
$GC,871,-1.23,-97.2,104.2,-12.1,147,877,0.00,1.17,0.00,0.000,6,0.000,0.061,2708,2122,3725,0,0,0,0,0,0
$GC,1011,-1.23,-97.2,120.9,-11.8,172,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2122,3725,0,0,0,0,0,0
$GC,1152,-1.23,-97.2,137.0,-11.1,197,1158,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2122,3724,0,0,0,0,0,0
$GC,1297,-1.23,-97.2,152.5,-10.4,222,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2122,3725,0,0,0,0,0,0
$STATE,1421,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1422,begin apogee
$GC,1429,-0.31,0.0,166.6,11.1,244,1514,0.90,0.00,77.78,0.677,6,0.094,0.000,2908,1938,3325,0,0,0,0,0,0
$STATE,1514,end apogee,CONTROL_FINISHED_OK
$STATE,1514,begin climb
$GC,1517,1.23,97.2,170.8,0.0,257,1600,1.45,0.00,79.22,0.657,6,0.057,0.000,3245,1938,2929,0,0,0,0,0,0
$GC,1734,1.28,141.5,163.2,5.5,294,1783,0.00,1.27,37.12,0.645,4,0.000,0.067,3245,2648,2748,0,0,0,0,0,0
$GC,1887,1.29,145.8,152.6,7.7,319,1902,0.00,1.20,4.78,0.474,6,0.000,0.054,3245,1957,2731,0,0,0,0,0,0
$GC,2039,1.29,145.8,140.3,8.6,345,2045,0.00,1.25,0.00,0.000,4,0.000,0.071,3245,1239,2731,0,0,0,0,0,0
$GC,2103,1.29,145.8,134.5,8.5,356,2110,0.00,1.20,0.00,0.000,6,0.000,0.057,3245,1949,2730,0,0,0,0,0,0
$GC,2249,1.29,146.4,123.1,7.9,381,2255,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1949,2730,0,0,0,0,0,0
$GC,2388,1.29,146.4,111.4,8.1,406,2396,0.00,1.20,0.00,0.000,4,0.000,0.059,3245,2647,2730,0,0,0,0,0,0
$GC,2456,1.29,149.5,106.4,7.8,417,2470,0.00,1.20,4.85,0.482,6,0.000,0.052,3245,1948,2716,0,0,0,0,0,0
$GC,2607,1.29,149.5,93.9,8.0,443,2614,0.00,1.20,0.00,0.000,4,0.000,0.059,3245,2645,2714,0,0,0,0,0,0
$GC,2744,1.29,149.5,82.5,8.4,467,2751,0.00,1.20,0.00,0.000,6,0.000,0.050,3245,1941,2714,0,0,0,0,0,0
$GC,2884,1.29,149.5,70.9,8.1,492,2892,0.00,1.20,0.00,0.000,4,0.000,0.062,3245,1241,2714,0,0,0,0,0,0
$GC,2939,1.29,149.5,66.5,8.3,501,2945,0.00,1.20,0.00,0.000,6,0.000,0.044,3245,1957,2714,0,0,0,0,0,0
$GC,3080,1.30,155.5,55.6,7.6,526,3088,0.00,0.00,6.68,0.529,6,0.000,0.000,3245,1958,2691,0,0,0,0,0,0
$GC,3225,1.33,177.7,45.6,6.7,551,3248,0.10,0.00,19.60,0.593,6,0.083,0.000,3284,1958,2601,0,0,0,0,0,0
$GC,3314,1.33,177.7,37.4,9.7,566,3321,0.00,1.17,0.00,0.000,4,0.000,0.055,3284,2646,2598,0,0,0,0,0,0
$GC,3356,1.33,177.7,33.5,9.3,573,3364,0.00,1.20,0.00,0.000,6,0.000,0.063,3284,1945,2598,0,0,0,0,0,0
$GC,3432,1.33,177.7,26.4,9.5,586,3441,0.00,1.20,0.00,0.000,4,0.000,0.058,3284,1244,2598,0,0,0,0,0,0
$GC,3501,1.33,177.7,19.7,9.9,598,3509,0.00,1.20,0.00,0.000,6,0.000,0.044,3284,1960,2597,0,0,0,0,0,0
$GC,3577,1.33,177.7,12.7,9.3,611,3584,0.00,1.15,0.00,0.000,4,0.000,0.053,3284,2640,2597,0,0,0,0,0,0
$GC,3677,1.33,177.7,3.8,8.7,629,3685,0.00,1.17,0.00,0.000,6,0.000,0.050,3284,1949,2597,0,0,0,0,0,0
$STATE,3691,end climb,SURFACE_DEPTH_REACHED
$STATE,3691,begin surface coast
$FINISH,0.1,1.021180
$STATE,3730,end surface coast,CONTROL_FINISHED_OK
$STATE,3730,begin surface
$SM_CCo,3751,87.72,0.522,1,0,2184,280.13
$SM_GC,1.47,0.00,0.00,87.72,0.000,0.000,0.522,456,2137,2184,-11.62,0.48,280.13
$IRIDIUM_FIX,4726.11,-12227.78,290112,232324
$TT8_MAMPS,0.026964
$HUMID,1078590313
$INTERNAL_PRESSURE,9.30038
$TCM_TEMP,16.70
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,140.3,46.2
$24V_AH,23.4,1.129
$10V_AH,10.6,1.738
$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,26.250,29.350,230.025,87.725,0.000,31.149,24.977,249.989,4.500,0.000,16.631,1418.583,424.838,417.578,1699.588,359.171,33.342,1006.439,0.000,1535.774,0.000,7.147,0.000
$DEVICE_MAMPS,160.650,79.560,677.025,521.730,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,453.032,321.774,1018.174,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323460
$DATA_FILE_SIZE,33670,638
$CAP_FILE_SIZE,74029,0
$CFSIZE,260165632,170123264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060810,073150,4743.580,-12224.077,13,1.8,13,18.2