version: 66.07
glider: 150
mission: 7
dive: 15
start: 8 6 110 7 40 52
data:
$ID,150
$MISSION,7
$DIVE,15
$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,-30232.605
$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,24
$R_STBD_OVSHOOT,36
$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
$GPS1,060810,073150,4743.580,-12224.077,13,1.8,13,18.2
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-72.1
$GPS2,060810,073955,4743.610,-12224.069,13,1.8,30,18.2
$SPEED_LIMITS,0.138,0.200
$TGT_NAME,NE
$TGT_LATLONG,4743.500,-12224.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.134,-0.031
$KALMAN_X,-1783.9,219.2,-105.1,2915.7,-136.7
$KALMAN_Y,-2980.9,437.3,-323.1,3870.7,-150.9
$MHEAD_RNG_PITCHd_Wd,84.7,222,-26.9,-7.952
$D_GRID,171
$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,15,begin dive
$GC,17,-1.74,-44.7,0.0,0.0,0,74,0.00,0.00,-55.35,0.000,6,0.000,0.000,456,2137,3510,0,0,0,0,0,0
$GC,77,-1.75,-55.4,3.4,-6.7,8,94,11.45,1.20,-0.95,0.000,4,0.159,0.087,2596,2820,3553,0,0,0,0,0,0
$GC,249,-1.75,-55.4,34.1,-17.6,39,257,0.00,1.20,0.00,0.000,6,0.000,0.047,2596,2112,3553,0,0,0,0,0,0
$GC,323,-1.75,-55.4,47.1,-17.3,52,332,0.00,1.20,0.00,0.000,4,0.000,0.055,2596,2810,3554,0,0,0,0,0,0
$GC,369,-1.75,-55.4,54.8,-17.1,59,376,0.00,1.17,0.00,0.000,6,0.000,0.047,2596,2111,3554,0,0,0,0,0,0
$GC,509,-1.75,-55.4,76.4,-14.5,84,517,0.00,1.17,0.00,0.000,4,0.000,0.059,2596,1417,3554,0,0,0,0,0,0
$GC,666,-1.75,-55.4,100.6,-15.9,111,673,0.00,1.17,0.00,0.000,6,0.000,0.056,2596,2112,3554,0,0,0,0,0,0
$GC,807,-1.75,-55.4,122.6,-14.7,136,815,0.00,1.23,0.00,0.000,4,0.000,0.067,2596,2819,3554,0,0,0,0,0,0
$GC,887,-1.75,-55.4,134.3,-14.8,149,893,0.00,1.20,0.00,0.000,6,0.000,0.063,2596,2116,3554,0,0,0,0,0,0
$GC,1027,-1.75,-55.4,155.8,-15.0,174,1035,0.00,1.20,0.00,0.000,4,0.000,0.063,2596,1412,3554,0,0,0,0,0,0
$STATE,1063,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1063,begin apogee
$GC,1070,-0.31,0.0,161.2,14.2,180,1122,1.50,0.00,45.35,0.666,6,0.115,0.000,2908,1960,3325,0,0,0,0,0,0
$STATE,1123,end apogee,CONTROL_FINISHED_OK
$STATE,1123,begin climb
$GC,1126,1.75,55.4,164.6,0.0,188,1180,1.95,1.30,45.25,0.649,4,0.060,0.066,3362,1253,3099,0,0,0,0,0,0
$GC,1211,1.80,92.6,162.2,3.5,201,1251,0.00,1.17,31.85,0.641,6,0.000,0.051,3362,1946,2947,0,0,0,0,0,0
$GC,1387,1.80,92.6,149.3,8.8,231,1394,0.00,1.20,0.00,0.000,4,0.000,0.058,3362,2641,2945,0,0,0,0,0,0
$GC,1606,1.80,92.7,131.3,7.9,270,1614,0.00,1.20,0.00,0.000,6,0.000,0.057,3362,1945,2944,0,0,0,0,0,0
$GC,1752,1.80,93.2,119.8,7.9,295,1758,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,1945,2944,0,0,0,0,0,0
$GC,1892,1.80,93.2,108.1,8.1,320,1900,0.00,1.20,0.00,0.000,4,0.000,0.066,3362,2644,2943,0,0,0,0,0,0
$GC,2018,1.80,93.2,97.1,8.7,342,2026,0.00,1.17,0.00,0.000,6,0.000,0.061,3362,1956,2943,0,0,0,0,0,0
$GC,2164,1.80,93.2,85.0,8.5,367,2170,0.00,1.20,0.00,0.000,4,0.000,0.057,3362,2655,2943,0,0,0,0,0,0
$GC,2222,1.80,93.2,80.3,8.1,377,2228,0.00,1.20,0.00,0.000,6,0.000,0.062,3362,1954,2943,0,0,0,0,0,0
$GC,2364,1.80,94.9,69.2,7.7,402,2372,0.00,1.23,0.00,0.000,4,0.000,0.062,3362,1243,2942,0,0,0,0,0,0
$GC,2624,1.82,113.1,50.7,5.8,448,2645,0.00,1.20,17.42,0.592,6,0.000,0.047,3363,1957,2864,0,0,0,0,0,0
$GC,2775,1.82,113.1,40.2,8.1,475,2782,0.00,1.17,0.00,0.000,4,0.000,0.054,3362,2649,2862,0,0,0,0,0,0
$GC,2823,1.83,116.9,36.6,7.5,483,2833,0.00,1.20,4.57,0.451,6,0.000,0.050,3362,1950,2849,0,0,0,0,0,0
$GC,2898,1.83,117.1,31.0,7.9,496,2906,0.00,1.23,0.00,0.000,4,0.000,0.061,3362,1237,2849,0,0,0,0,0,0
$GC,2968,1.83,117.1,25.4,8.1,508,2976,0.00,1.20,0.00,0.000,6,0.000,0.046,3362,1949,2849,0,0,0,0,0,0
$GC,3041,1.83,117.1,19.0,8.8,521,3050,0.00,1.20,0.00,0.000,4,0.000,0.062,3362,2656,2848,0,0,0,0,0,0
$GC,3290,1.89,168.7,3.8,1.8,567,3354,0.10,1.23,50.55,0.467,6,0.042,0.050,3402,1935,2637,0,0,0,0,1,0
$STATE,3360,end climb,SURFACE_DEPTH_REACHED
$STATE,3360,begin surface coast
$FINISH,-0.2,1.021450
$STATE,3477,end surface coast,CONTROL_FINISHED_OK
$STATE,3477,begin surface
$SM_CCo,3499,95.05,0.518,1,0,2183,280.13
$SM_GC,1.25,0.00,0.00,95.05,0.000,0.000,0.518,457,2137,2183,-11.62,0.48,280.13
$IRIDIUM_FIX,4726.11,-12223.37,300112,000026
$TT8_MAMPS,0.026964
$HUMID,1078574829
$INTERNAL_PRESSURE,9.31992
$TCM_TEMP,16.80
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,130.5,50.3
$24V_AH,23.4,1.195
$10V_AH,10.6,1.817
$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,27.250,31.300,195.000,95.050,0.000,24.216,25.307,258.333,5.000,0.000,32.562,1344.971,371.981,378.035,1648.670,349.545,33.334,921.414,0.000,1470.812,0.000,5.558,0.000
$DEVICE_MAMPS,159.120,87.210,666.315,517.905,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,465.355,317.574,1018.504,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323452
$DATA_FILE_SIZE,33564,599
$CAP_FILE_SIZE,68783,0
$CFSIZE,260165632,170094592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,060810,084204,4743.619,-12223.673,11,99.0,30,18.2