version: 66.07
glider: 150
mission: 7
dive: 10
start: 8 6 110 1 31 54
data:
$ID,150
$MISSION,7
$DIVE,10
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$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,75
$T_MISSION,85
$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,-30226.318
$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,23
$R_STBD_OVSHOOT,26
$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,120
$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
$GPS1,060810,012233,4743.437,-12224.866,9,1.6,10,18.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-70.8
$GPS2,060810,013031,4743.425,-12224.937,8,1.7,13,18.2
$SPEED_LIMITS,0.139,0.201
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.092,-0.103
$KALMAN_X,-1168.0,-213.6,111.1,1439.5,-39.0
$KALMAN_Y,-1872.9,-593.0,195.1,2932.5,188.7
$MHEAD_RNG_PITCHd_Wd,203.6,160,-26.9,-8.000
$D_GRID,178
$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,18,-1.74,-45.1,0.0,0.0,0,75,0.00,0.00,-54.97,0.000,2,0.000,0.000,454,2124,3506,0,0,0,0,0,0
$GC,78,-1.75,-55.4,3.5,-6.8,8,94,11.52,1.25,-1.02,0.000,4,0.163,0.076,2594,1404,3554,0,0,0,0,0,0
$GC,334,-1.75,-55.4,49.7,-16.8,55,343,0.00,1.20,0.00,0.000,6,0.000,0.045,2594,2121,3555,0,0,0,0,0,0
$GC,410,-1.75,-55.4,62.0,-15.6,68,418,0.00,1.23,0.00,0.000,4,0.000,0.057,2594,1412,3554,0,0,0,0,0,0
$GC,669,-1.75,-55.4,103.9,-16.1,114,677,0.00,1.20,0.00,0.000,6,0.000,0.047,2594,2124,3555,0,0,0,0,0,0
$GC,817,-1.75,-55.4,126.4,-14.9,139,824,0.00,1.23,0.00,0.000,4,0.000,0.058,2594,1405,3555,0,0,0,0,0,0
$GC,892,-1.75,-55.4,138.3,-15.6,151,899,0.00,1.20,0.00,0.000,6,0.000,0.057,2594,2117,3555,0,0,0,0,0,0
$GC,1034,-1.75,-55.4,159.5,-14.5,176,1042,0.00,1.20,0.00,0.000,4,0.000,0.057,2594,1412,3555,0,0,0,0,0,0
$GC,1060,-1.75,-55.4,163.5,-14.5,180,1069,0.00,1.20,0.00,0.000,6,0.000,0.047,2594,2123,3555,0,0,0,0,0,0
$STATE,1163,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1163,begin apogee
$GC,1170,-0.31,0.0,178.3,13.1,198,1223,1.50,0.00,45.72,0.691,6,0.121,0.000,2907,1940,3326,0,0,0,0,0,0
$STATE,1223,end apogee,CONTROL_FINISHED_OK
$STATE,1223,begin climb
$GC,1226,1.75,55.4,181.3,0.0,206,1279,1.95,1.30,45.45,0.674,4,0.057,0.061,3362,2658,3099,0,0,0,0,0,0
$GC,1300,1.79,88.9,178.8,4.0,217,1333,0.00,1.23,28.83,0.659,6,0.000,0.066,3362,1957,2963,0,0,0,0,0,0
$GC,1468,1.79,88.9,165.1,8.9,246,1477,0.00,1.25,0.00,0.000,4,0.000,0.067,3362,1246,2960,0,0,0,0,0,0
$GC,1729,1.79,88.9,141.2,8.8,292,1736,0.00,1.20,0.00,0.000,6,0.000,0.057,3362,1955,2960,0,0,0,0,0,0
$GC,1874,1.79,90.6,129.8,7.8,317,1880,0.00,1.25,0.00,0.000,4,0.000,0.070,3362,1239,2959,0,0,0,0,0,0
$GC,2132,1.79,90.6,109.7,8.0,363,2138,0.00,1.20,0.00,0.000,6,0.000,0.056,3362,1950,2959,0,0,0,0,0,0
$GC,2276,1.81,102.6,99.7,6.6,388,2297,0.00,1.23,12.05,0.610,4,0.000,0.063,3362,2651,2907,0,0,0,0,0,0
$GC,2345,1.81,102.6,94.1,8.9,399,2352,0.00,1.23,0.00,0.000,6,0.000,0.053,3362,1940,2907,0,0,0,0,0,0
$GC,2485,1.81,102.6,81.5,9.4,424,2492,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,1940,2907,0,0,0,0,0,0
$GC,2628,1.81,102.6,70.4,8.1,449,2635,0.00,1.20,0.00,0.000,4,0.000,0.063,3362,1243,2907,0,0,0,0,0,0
$GC,2886,1.81,104.3,49.8,7.8,495,2895,0.00,1.20,0.00,0.000,6,0.000,0.047,3362,1959,2906,0,0,0,0,0,0
$GC,2961,1.82,110.8,44.2,7.2,508,2978,0.00,1.25,8.27,0.558,4,0.000,0.063,3362,1246,2873,0,0,0,0,0,0
$GC,3103,1.82,114.5,33.0,7.6,533,3112,0.00,1.20,4.62,0.460,6,0.000,0.046,3362,1958,2859,0,0,0,0,0,0
$GC,3182,1.83,120.2,27.4,7.3,546,3198,0.00,1.20,6.35,0.516,4,0.000,0.057,3362,2649,2836,0,0,0,0,0,0
$GC,3217,1.83,121.6,24.5,7.8,551,3225,0.00,1.20,0.00,0.000,6,0.000,0.051,3362,1949,2836,0,0,0,0,0,0
$GC,3292,1.83,121.6,17.9,9.4,564,3301,0.00,1.20,0.00,0.000,4,0.000,0.053,3362,2652,2836,0,0,0,0,0,0
$GC,3319,1.83,121.6,15.3,8.9,568,3328,0.00,1.20,0.00,0.000,6,0.000,0.050,3362,1948,2836,0,0,0,0,0,0
$GC,3394,1.83,121.6,8.9,9.0,581,3402,0.00,1.20,0.00,0.000,4,0.000,0.063,3362,2653,2835,0,0,0,0,0,0
$GC,3467,1.88,164.3,5.7,2.9,594,3514,0.10,1.20,37.35,0.591,6,0.039,0.050,3403,1946,2654,0,0,0,0,0,0
$STATE,3550,end climb,SURFACE_DEPTH_REACHED
$STATE,3550,begin surface coast
$FINISH,0.1,1.021185
$STATE,3630,end surface coast,CONTROL_FINISHED_OK
$STATE,3630,begin surface
$SM_CCo,3652,98.62,0.535,1,0,2183,280.13
$SM_GC,1.01,0.00,0.00,98.62,0.000,0.000,0.535,451,2130,2183,-11.64,0.28,280.13
$IRIDIUM_FIX,4729.30,-12215.26,290112,181803
$TT8_MAMPS,0.026964
$HUMID,1078623861
$INTERNAL_PRESSURE,9.31992
$TCM_TEMP,17.00
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,130.8,64.7
$24V_AH,23.4,0.845
$10V_AH,10.6,1.418
$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,27.375,32.225,188.650,98.625,0.000,28.690,27.151,258.524,6.000,0.000,15.913,1418.171,408.230,377.505,1686.860,376.503,33.336,941.494,0.000,1511.945,0.000,10.010,0.000
$DEVICE_MAMPS,162.945,107.100,690.795,535.500,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,472.929,312.592,1023.638,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323696
$DATA_FILE_SIZE,33562,622
$CAP_FILE_SIZE,71908,0
$CFSIZE,260165632,170295296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060810,023536,4743.293,-12225.100,8,1.2,25,18.2