version: 66.07
glider: 150
mission: 7
dive: 16
start: 8 6 110 8 50 53
data:
$ID,150
$MISSION,7
$DIVE,16
$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,-30233.863
$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,27
$R_STBD_OVSHOOT,34
$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
$GPS1,060810,084204,4743.619,-12223.673,11,99.0,30,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-71.5
$GPS2,060810,084956,4743.647,-12223.621,8,1.8,8,18.2
$SPEED_LIMITS,0.138,0.200
$TGT_NAME,NE
$TGT_LATLONG,4743.500,-12224.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.098,-0.097
$KALMAN_X,-1793.8,259.2,-155.5,3493.2,-78.4
$KALMAN_Y,-2729.1,520.0,-459.8,3738.7,118.0
$MHEAD_RNG_PITCHd_Wd,207.3,545,-26.9,-7.952
$D_GRID,165
$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,17,-1.74,-44.7,0.0,0.0,0,74,0.00,0.00,-54.97,0.000,6,0.000,0.000,457,2138,3510,0,0,0,0,0,0
$GC,77,-1.75,-57.2,3.4,-6.5,8,94,11.50,1.27,-1.08,0.000,4,0.162,0.078,2594,1409,3561,0,0,0,0,0,0
$GC,266,-1.75,-57.2,38.7,-16.8,42,274,0.00,1.20,0.00,0.000,6,0.000,0.044,2594,2123,3562,0,0,0,0,0,0
$GC,340,-1.75,-57.2,50.5,-15.4,55,346,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2123,3562,0,0,0,0,0,0
$GC,481,-1.75,-57.2,72.6,-16.4,80,489,0.00,1.20,0.00,0.000,4,0.000,0.070,2594,2824,3562,0,0,0,0,0,0
$GC,537,-1.75,-57.2,80.9,-15.3,89,544,0.00,1.20,0.00,0.000,6,0.000,0.050,2594,2114,3562,0,0,0,0,0,0
$GC,678,-1.75,-57.2,102.6,-15.7,114,686,0.00,1.17,0.00,0.000,4,0.000,0.065,2594,1419,3562,0,0,0,0,0,0
$GC,723,-1.75,-57.2,109.3,-15.6,121,730,0.00,1.17,0.00,0.000,6,0.000,0.056,2594,2116,3562,0,0,0,0,0,0
$GC,869,-1.75,-57.2,132.5,-16.0,146,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2116,3562,0,0,0,0,0,0
$STATE,998,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,999,begin apogee
$GC,1005,-0.31,0.0,152.5,15.3,169,1058,1.50,0.00,46.75,0.659,6,0.115,0.000,2906,1945,3326,0,0,0,0,0,0
$STATE,1059,end apogee,CONTROL_FINISHED_OK
$STATE,1059,begin climb
$GC,1061,1.75,57.2,155.9,0.0,177,1115,1.98,0.00,46.97,0.641,6,0.056,0.000,3373,1945,3092,0,0,0,0,0,0
$GC,1250,1.78,82.8,147.9,4.9,209,1278,0.00,1.25,22.00,0.628,4,0.000,0.070,3373,1257,2987,0,0,0,0,0,0
$GC,1318,1.79,87.9,143.5,7.3,220,1332,0.00,1.17,6.10,0.519,6,0.000,0.044,3373,1949,2966,0,0,0,0,0,0
$GC,1464,1.79,87.9,130.7,8.6,246,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,1950,2965,0,0,0,0,0,0
$GC,1607,1.79,91.5,119.2,7.5,271,1614,0.00,0.00,4.20,0.445,6,0.000,0.000,3372,1949,2953,0,0,0,0,0,0
$GC,1748,1.79,91.5,107.6,8.3,296,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,1949,2952,0,0,0,0,0,0
$GC,1890,1.80,95.0,95.9,7.5,321,1905,0.00,1.23,4.75,0.475,4,0.000,0.060,3373,1258,2938,0,0,0,0,0,0
$GC,1975,1.80,95.0,89.1,8.4,335,1981,0.00,1.17,0.00,0.000,6,0.000,0.046,3373,1953,2937,0,0,0,0,0,0
$GC,2117,1.80,95.5,77.5,7.9,360,2125,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,1953,2937,0,0,0,0,0,0
$GC,2262,1.81,105.4,66.8,6.8,385,2277,0.00,1.25,9.98,0.571,4,0.000,0.059,3373,1256,2896,0,0,0,0,0,0
$GC,2412,1.81,105.4,53.1,9.4,411,2418,0.00,1.17,0.00,0.000,6,0.000,0.046,3373,1951,2894,0,0,0,0,0,0
$GC,2553,1.81,106.6,41.5,7.8,436,2561,0.00,1.17,0.00,0.000,4,0.000,0.062,3373,2643,2894,0,0,0,0,0,0
$GC,2645,1.82,112.9,34.6,7.2,452,2661,0.00,1.17,8.00,0.539,6,0.000,0.051,3373,1955,2864,0,0,0,0,0,0
$GC,2727,1.82,112.9,27.7,8.9,466,2734,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,1955,2863,0,0,0,0,0,0
$GC,2800,1.83,119.0,21.9,7.2,479,2817,0.00,1.25,6.22,0.502,4,0.000,0.060,3373,1240,2840,0,0,0,0,0,0
$GC,3011,1.83,119.0,7.2,8.5,517,3018,0.00,1.20,0.00,0.000,6,0.000,0.057,3372,1952,2840,0,0,0,0,0,0
$GC,3083,1.87,156.8,4.1,3.4,530,3119,0.00,1.25,31.58,0.575,4,0.000,0.066,3373,2660,2686,0,0,0,0,0,0
$STATE,3125,end climb,SURFACE_DEPTH_REACHED
$STATE,3126,begin surface coast
$FINISH,-0.1,1.017370
$STATE,3246,end surface coast,CONTROL_FINISHED_OK
$STATE,3247,begin surface
$SM_CCo,3268,103.78,0.523,1,0,2183,280.13
$SM_GC,1.29,0.00,0.00,103.78,0.000,0.000,0.523,453,2110,2183,-11.64,-0.28,280.13
$IRIDIUM_FIX,4726.11,-12225.08,300112,010100
$TT8_MAMPS,0.026964
$HUMID,1078577410
$INTERNAL_PRESSURE,9.31992
$TCM_TEMP,17.00
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,130.9,41.5
$24V_AH,23.4,1.261
$10V_AH,10.6,1.891
$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,27.050,21.750,186.550,103.775,0.000,30.278,36.114,247.769,3.750,0.000,11.038,1264.949,336.271,372.193,1548.504,336.407,33.335,881.442,0.000,1374.647,0.000,5.536,0.000
$DEVICE_MAMPS,162.180,78.030,658.665,523.260,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,443.991,298.001,960.191,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30204,559
$CAP_FILE_SIZE,65117,0
$CFSIZE,260165632,170061824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060810,094802,4743.571,-12223.847,12,1.4,12,18.2