version: 66.07
glider: 150
mission: 7
dive: 3
start: 8 5 110 18 10 23
data:
$ID,150
$MISSION,7
$DIVE,3
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,65
$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,250
$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,-30164.652
$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,2097
$C_ROLL_CLIMB,2097
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$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,91
$AH0_10V,95
$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,80
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,5
$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
$GPS1,050810,180506,4742.879,-12225.201,28,1.3,39,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-69.2
$GPS2,050810,180901,4742.869,-12225.218,10,1.3,15,18.2
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.071,0.203
$KALMAN_X,-107.6,-72.6,-71.7,68.0,-152.6
$KALMAN_Y,-255.2,-148.7,-146.4,189.5,-346.7
$MHEAD_RNG_PITCHd_Wd,1.1,1200,-21.8,-10.000
$D_GRID,186
$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,-1.48,-97.2,0.0,0.0,0,102,0.00,0.00,-83.53,0.000,2,0.000,0.000,451,2097,3595,0,0,0,0,0,0
$GC,106,-1.48,-97.2,3.1,-5.9,12,129,11.62,1.20,-2.97,0.000,4,0.158,0.076,2655,1394,3723,0,0,0,0,0,0
$GC,367,-1.48,-97.2,43.7,-14.2,60,375,0.00,1.17,0.00,0.000,6,0.000,0.046,2655,2097,3723,0,0,0,0,0,0
$GC,442,-1.48,-97.2,54.1,-13.3,73,449,0.00,1.23,0.00,0.000,4,0.000,0.057,2655,1391,3723,0,0,0,0,0,0
$GC,701,-1.48,-97.2,89.6,-13.7,119,708,0.00,1.17,0.00,0.000,6,0.000,0.047,2655,2093,3723,0,0,0,0,0,0
$GC,842,-1.48,-97.2,107.9,-12.3,144,849,0.00,1.20,0.00,0.000,4,0.000,0.071,2655,1391,3723,0,0,0,0,0,0
$GC,943,-1.48,-97.2,120.8,-14.0,161,950,0.00,1.17,0.00,0.000,6,0.000,0.047,2655,2094,3723,0,0,0,0,0,0
$GC,1086,-1.48,-97.2,143.0,-16.3,186,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2095,3723,0,0,0,0,0,0
$STATE,1130,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1130,begin apogee
$GC,1137,-0.31,0.0,150.2,14.3,194,1222,1.17,0.00,76.45,0.662,6,0.110,0.000,2909,2095,3325,0,0,0,0,0,0
$STATE,1223,end apogee,CONTROL_FINISHED_OK
$STATE,1223,begin climb
$GC,1225,1.48,97.2,155.7,0.0,207,1317,1.67,1.25,78.53,0.643,4,0.054,0.062,3304,1396,2928,0,0,0,0,0,0
$GC,1538,1.51,119.5,133.0,8.5,260,1565,0.00,1.20,19.20,0.613,6,0.000,0.051,3304,2100,2837,0,0,0,0,0,0
$GC,1697,1.52,130.7,116.5,9.2,288,1712,0.00,1.25,10.35,0.575,4,0.000,0.064,3304,2796,2792,0,0,0,0,0,0
$GC,1776,1.54,142.9,108.1,9.2,301,1791,0.00,1.20,11.40,0.576,6,0.000,0.064,3305,2102,2742,0,0,0,0,0,0
$GC,1928,1.54,142.9,91.3,12.1,327,1934,0.00,1.23,0.00,0.000,4,0.000,0.071,3304,1388,2740,0,0,0,0,0,0
$GC,2042,1.54,142.9,77.4,12.2,347,2049,0.00,1.20,0.00,0.000,6,0.000,0.048,3304,2097,2739,0,0,0,0,0,0
$GC,2182,1.54,142.9,61.7,11.0,372,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,2097,2739,0,0,0,0,0,0
$GC,2325,1.56,163.9,49.0,8.5,397,2349,0.00,1.20,18.15,0.585,4,0.000,0.055,3305,1385,2655,0,0,0,0,0,0
$GC,2461,1.58,176.2,37.4,9.1,420,2478,0.00,1.20,11.43,0.557,6,0.000,0.057,3304,2095,2607,0,0,0,0,0,0
$GC,2544,1.59,187.1,28.8,9.2,434,2560,0.10,1.25,10.38,0.543,4,0.086,0.058,3340,1391,2562,0,0,0,0,0,0
$GC,2644,1.59,187.1,17.6,11.9,451,2652,0.00,1.20,0.00,0.000,6,0.000,0.054,3339,2098,2560,0,0,0,0,0,0
$GC,2717,1.59,187.1,6.7,15.0,464,2726,0.00,1.23,0.00,0.000,4,0.000,0.065,3340,1384,2560,0,0,0,0,0,0
$GC,2740,1.59,187.1,4.1,12.6,467,2748,0.00,1.20,0.00,0.000,6,0.000,0.053,3340,2097,2560,0,0,0,0,0,0
$STATE,2755,end climb,SURFACE_DEPTH_REACHED
$STATE,2755,begin surface coast
$FINISH,0.1,1.020692
$STATE,2783,end surface coast,CONTROL_FINISHED_OK
$STATE,2783,begin surface
$SM_CCo,2804,54.45,0.488,1,0,2305,250.21
$SM_GC,2.75,0.00,0.00,54.45,0.000,0.000,0.488,455,2098,2305,-11.62,0.03,250.21
$IRIDIUM_FIX,4726.11,-12129.11,290112,121256
$TT8_MAMPS,0.026964
$HUMID,1078649668
$INTERNAL_PRESSURE,9.36875
$TCM_TEMP,16.80
$XPDR_PINGS,10
$24V_AH,23.5,0.328
$10V_AH,10.6,0.931
$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,26.500,21.750,235.875,54.450,0.000,0.000,0.000,0.000,3.500,0.000,17.894,1047.017,288.960,355.871,1064.480,213.078,31.416,822.072,0.000,1162.667,0.000,7.192,0.000
$DEVICE_MAMPS,157.590,75.735,662.490,488.070,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,343.588,246.629,789.910,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323736
$DATA_FILE_SIZE,26897,474
$CAP_FILE_SIZE,63373,0
$CFSIZE,260165632,170573824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050810,185927,4742.825,-12225.336,40,1.9,41,18.2