version: 66.07
glider: 150
mission: 7
dive: 7
start: 8 5 110 22 27 19
data:
$ID,150
$MISSION,7
$DIVE,7
$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,150
$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,-30222.543
$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,23
$R_STBD_OVSHOOT,23
$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,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
$GPS1,050810,221502,4743.240,-12225.212,25,1.4,25,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-72.0
$GPS2,050810,222556,4743.278,-12225.162,13,1.4,13,18.2
$SPEED_LIMITS,0.173,0.259
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.092,0.179
$KALMAN_X,-811.2,-341.2,-67.4,1105.0,-73.1
$KALMAN_Y,-1693.9,-691.7,-163.0,2939.9,-126.8
$MHEAD_RNG_PITCHd_Wd,8.9,457,-23.4,-10.000
$D_GRID,181
$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,18,-1.57,-84.6,0.0,0.0,0,68,0.00,0.00,-47.42,0.000,2,0.000,0.000,455,2092,3465,0,0,0,0,0,0
$GC,71,-1.62,-131.8,3.1,-6.3,7,96,11.55,1.23,-9.07,0.000,4,0.160,0.090,2621,1387,3866,0,0,0,0,0,0
$GC,337,-1.62,-131.8,54.7,-20.1,55,344,0.00,1.20,0.00,0.000,6,0.000,0.044,2621,2101,3867,0,0,0,0,0,0
$GC,479,-1.62,-131.8,80.8,-17.5,80,487,0.00,1.20,0.00,0.000,4,0.000,0.054,2621,1393,3867,0,0,0,0,0,0
$GC,600,-1.62,-131.8,102.7,-17.0,101,607,0.00,1.17,0.00,0.000,6,0.000,0.050,2621,2092,3867,0,0,0,0,0,0
$GC,740,-1.62,-131.8,127.3,-18.8,126,747,0.00,1.23,0.00,0.000,4,0.000,0.077,2621,2794,3867,0,0,0,0,0,0
$GC,850,-1.62,-131.8,147.4,-18.1,145,857,0.00,1.20,0.00,0.000,6,0.000,0.055,2621,2091,3867,0,0,0,0,0,0
$STATE,863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,863,begin apogee
$GC,868,-0.31,0.0,150.0,18.2,147,977,1.33,0.00,104.80,0.662,6,0.102,0.000,2905,2090,3326,0,0,0,0,0,0
$STATE,980,end apogee,CONTROL_FINISHED_OK
$STATE,980,begin climb
$GC,982,1.62,131.8,156.6,0.0,164,1102,1.85,1.27,106.35,0.647,4,0.061,0.066,3336,2796,2787,0,0,0,0,0,0
$GC,1154,1.63,135.2,148.4,9.7,191,1162,0.00,1.23,4.03,0.420,6,0.000,0.057,3337,2094,2774,0,0,0,0,0,0
$GC,1297,1.63,135.2,132.5,12.5,216,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2095,2774,0,0,0,0,0,0
$GC,1441,1.63,135.2,116.5,11.1,241,1447,0.00,1.23,0.00,0.000,4,0.000,0.069,3336,2795,2773,0,0,0,0,0,0
$GC,1478,1.63,135.2,112.6,11.0,247,1485,0.00,1.20,0.00,0.000,6,0.000,0.060,3337,2100,2773,0,0,0,0,0,0
$GC,1618,1.63,135.2,96.5,11.0,272,1626,0.00,1.23,0.00,0.000,4,0.000,0.068,3336,1388,2771,0,0,0,0,0,0
$GC,1729,1.63,135.2,84.4,10.7,291,1735,0.00,1.20,0.00,0.000,6,0.000,0.050,3336,2095,2771,0,0,0,0,0,0
$GC,1869,1.63,135.2,69.9,10.3,316,1877,0.00,1.23,0.00,0.000,4,0.000,0.057,3337,1385,2772,0,0,0,0,0,0
$GC,2061,1.63,136.2,50.6,9.9,350,2068,0.00,1.23,0.00,0.000,6,0.000,0.049,3336,2105,2771,0,0,0,0,0,0
$GC,2202,1.63,136.4,37.1,10.0,375,2210,0.00,1.23,0.00,0.000,4,0.000,0.057,3336,1392,2771,0,0,0,0,0,0
$GC,2256,1.66,159.9,32.0,8.1,384,2286,0.00,1.20,20.95,0.588,6,0.000,0.049,3336,2101,2674,0,0,0,0,0,0
$GC,2352,1.66,162.6,22.6,9.8,400,2361,0.00,1.27,3.97,0.407,4,0.000,0.065,3337,1381,2663,0,0,0,0,0,0
$GC,2385,1.66,162.6,18.9,11.1,405,2394,0.00,1.23,0.00,0.000,6,0.000,0.047,3337,2104,2662,0,0,0,0,0,0
$GC,2461,1.66,162.6,10.9,10.3,418,2468,0.00,1.17,0.00,0.000,4,0.000,0.059,3337,2792,2661,0,0,0,0,0,0
$GC,2540,1.67,166.3,3.5,9.7,432,2550,0.00,1.20,5.57,0.075,2,0.000,0.051,3336,2089,2650,0,0,0,0,0,0
$STATE,2550,end climb,SURFACE_DEPTH_REACHED
$STATE,2551,begin surface coast
$FINISH,-0.0,1.021082
$STATE,2582,end surface coast,CONTROL_FINISHED_OK
$STATE,2582,begin surface
$SM_CCo,2603,72.72,0.516,1,0,2306,250.21
$SM_GC,1.61,0.00,0.00,72.72,0.000,0.000,0.516,454,2087,2306,-11.63,-0.28,250.21
$IRIDIUM_FIX,4726.11,-12229.50,290112,161608
$TT8_MAMPS,0.026964
$HUMID,1078635474
$INTERNAL_PRESSURE,9.32968
$TCM_TEMP,16.70
$XPDR_PINGS,14
$24V_AH,23.4,0.647
$10V_AH,10.5,1.194
$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,26.650,24.325,245.675,72.725,0.000,58.160,59.035,307.352,4.500,0.000,15.409,973.689,317.843,363.946,1406.849,309.346,33.323,802.984,0.000,1079.645,0.000,7.184,0.000
$DEVICE_MAMPS,159.885,90.270,662.490,516.375,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,315.465,231.249,731.346,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323716
$DATA_FILE_SIZE,23626,439
$CAP_FILE_SIZE,57902,0
$CFSIZE,260165632,170430464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050810,231307,4743.530,-12224.942,10,1.2,27,18.2