version: 66.07
glider: 150
mission: 7
dive: 18
start: 8 6 110 11 4 23
data:
$ID,150
$MISSION,7
$DIVE,18
$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,-30236.377
$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,22
$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
$GPS1,060810,105302,4743.503,-12223.912,8,1.8,8,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-70.3
$GPS2,060810,110326,4743.594,-12223.821,11,1.5,11,18.2
$SPEED_LIMITS,0.138,0.200
$TGT_NAME,NE
$TGT_LATLONG,4743.500,-12224.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.116,-0.159
$KALMAN_X,-1277.2,222.6,-112.8,2719.8,272.8
$KALMAN_Y,-2200.1,612.0,-194.0,2756.5,502.5
$MHEAD_RNG_PITCHd_Wd,197.9,283,-18.1,-7.952
$D_GRID,169
$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,-1.25,-93.2,0.0,0.0,0,75,0.00,0.00,-55.70,0.000,2,0.000,0.000,458,2136,3525,0,0,0,0,0,0
$GC,78,-1.25,-97.2,3.3,-6.1,8,102,12.12,1.15,-4.30,0.000,4,0.164,0.080,2702,2819,3725,0,0,0,0,0,0
$GC,162,-1.25,-97.2,17.6,-12.7,22,170,0.00,1.20,0.00,0.000,6,0.000,0.046,2702,2109,3725,0,0,0,0,0,0
$GC,236,-1.25,-97.2,26.5,-12.1,35,243,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2109,3725,0,0,0,0,0,0
$GC,310,-1.25,-97.2,35.6,-12.5,48,318,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2109,3725,0,0,0,0,0,0
$GC,385,-1.25,-97.2,45.1,-13.0,61,392,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2109,3725,0,0,0,0,0,0
$GC,458,-1.25,-97.2,54.7,-12.5,74,466,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2109,3725,0,0,0,0,0,0
$GC,602,-1.25,-97.2,72.4,-12.1,99,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2109,3725,0,0,0,0,0,0
$GC,743,-1.25,-97.2,88.9,-11.6,124,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2109,3725,0,0,0,0,0,0
$GC,887,-1.25,-97.2,105.5,-11.5,149,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2109,3725,0,0,0,0,0,0
$GC,1026,-1.25,-97.2,122.9,-12.3,174,1034,0.00,1.23,0.00,0.000,4,0.000,0.069,2702,2814,3725,0,0,0,0,0,0
$GC,1071,-1.25,-97.2,127.9,-11.9,181,1077,0.00,1.17,0.00,0.000,6,0.000,0.063,2702,2120,3725,0,0,0,0,0,0
$GC,1218,-1.25,-97.2,145.8,-11.8,206,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2120,3725,0,0,0,0,0,0
$STATE,1337,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1337,begin apogee
$GC,1344,-0.31,0.0,159.9,11.7,227,1427,0.93,0.00,77.65,0.674,6,0.090,0.000,2907,1937,3326,0,0,0,0,0,0
$STATE,1428,end apogee,CONTROL_FINISHED_OK
$STATE,1428,begin climb
$GC,1431,1.25,97.2,164.2,0.0,240,1517,1.50,0.00,79.12,0.656,6,0.065,0.000,3255,1937,2929,0,0,0,0,0,0
$GC,1653,1.28,117.2,154.3,6.8,277,1681,0.00,1.25,17.48,0.627,4,0.000,0.063,3255,2637,2848,0,0,0,0,0,0
$GC,1739,1.29,126.6,148.4,7.4,291,1753,0.00,1.17,9.50,0.581,6,0.000,0.052,3255,1957,2808,0,0,0,0,0,0
$GC,1890,1.31,143.9,138.0,7.0,317,1909,0.00,0.00,15.38,0.617,6,0.000,0.000,3255,1957,2739,0,0,0,0,0,0
$GC,2045,1.31,143.9,125.2,9.2,344,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1956,2737,0,0,0,0,0,0
$GC,2189,1.31,143.9,112.6,9.4,369,2196,0.00,1.17,0.00,0.000,4,0.000,0.065,3255,2638,2736,0,0,0,0,0,0
$GC,2330,1.31,143.9,98.7,10.1,394,2337,0.00,1.20,0.00,0.000,6,0.000,0.053,3255,1940,2736,0,0,0,0,0,0
$GC,2473,1.31,143.9,85.2,9.6,419,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1940,2735,0,0,0,0,0,0
$GC,2614,1.31,143.9,72.5,8.2,444,2622,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1940,2736,0,0,0,0,0,0
$GC,2759,1.33,159.8,62.3,7.0,469,2779,0.00,1.17,14.15,0.591,4,0.000,0.050,3255,2642,2675,0,0,0,0,0,0
$GC,2812,1.35,172.0,58.2,7.2,478,2828,0.00,1.17,11.80,0.571,6,0.000,0.050,3256,1954,2624,0,0,0,0,0,0
$GC,2964,1.35,172.0,46.4,8.1,504,2972,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1954,2622,0,0,0,0,0,0
$GC,3038,1.35,172.0,40.5,8.3,517,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1954,2621,0,0,0,0,0,0
$GC,3112,1.35,172.8,34.6,7.9,530,3121,0.00,1.23,0.00,0.000,4,0.000,0.069,3255,1242,2622,0,0,0,0,0,0
$GC,3177,1.35,173.2,29.6,7.9,541,3185,0.00,1.17,0.00,0.000,6,0.000,0.044,3255,1942,2621,0,0,0,0,0,0
$GC,3254,1.35,173.2,23.7,8.1,554,3261,0.00,1.20,0.00,0.000,4,0.000,0.054,3255,2649,2621,0,0,0,0,0,0
$GC,3364,1.35,173.2,14.8,8.5,574,3372,0.00,1.20,0.00,0.000,6,0.000,0.050,3255,1945,2621,0,0,0,0,0,0
$GC,3437,1.37,192.7,9.2,6.8,587,3461,0.10,1.25,18.27,0.575,4,0.082,0.066,3294,1244,2540,0,0,0,0,0,0
$GC,3495,1.37,192.7,4.1,9.2,596,3503,0.00,1.20,0.00,0.000,6,0.000,0.046,3294,1954,2538,0,0,0,0,0,0
$STATE,3508,end climb,SURFACE_DEPTH_REACHED
$STATE,3509,begin surface coast
$FINISH,-0.2,1.021411
$STATE,3542,end surface coast,CONTROL_FINISHED_OK
$STATE,3542,begin surface
$SM_CCo,3563,75.40,0.517,1,0,2184,280.13
$SM_GC,0.72,0.00,0.00,75.40,0.000,0.000,0.517,454,2132,2184,-11.63,0.34,280.13
$IRIDIUM_FIX,4726.11,-12225.08,300112,050513
$TT8_MAMPS,0.026964
$HUMID,1078576119
$INTERNAL_PRESSURE,9.31015
$TCM_TEMP,16.80
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,140.6,38.7
$24V_AH,23.4,1.406
$10V_AH,10.6,2.040
$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,26.350,19.725,243.350,75.400,0.000,54.774,52.416,285.157,3.750,0.000,13.221,1339.228,442.074,407.151,1728.782,360.996,33.317,977.760,0.000,1474.178,0.000,10.004,0.000
$DEVICE_MAMPS,163.710,80.325,673.965,517.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,435.630,310.352,990.342,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33571,604
$CAP_FILE_SIZE,73119,0
$CFSIZE,260165632,169963520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060810,120625,4743.485,-12223.939,37,1.9,37,18.2