version: 66.07
glider: 150
mission: 7
dive: 20
start: 8 6 110 13 25 54
data:
$ID,150
$MISSION,7
$DIVE,20
$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,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,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,-30238.895
$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,26
$R_STBD_OVSHOOT,24
$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,0
$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
$GPS1,060810,131644,4743.539,-12223.950,10,1.8,10,18.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-70.2
$GPS2,060810,132456,4743.653,-12223.826,13,2.0,13,18.2
$SPEED_LIMITS,0.138,0.239
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.115,-0.210
$KALMAN_X,-470.3,185.5,180.6,1650.3,407.4
$KALMAN_Y,-1329.7,542.1,404.8,1465.0,437.6
$MHEAD_RNG_PITCHd_Wd,190.5,1229,-14.0,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.05,-145.7,0.0,0.0,0,70,0.00,0.00,-49.28,0.000,2,0.000,0.000,457,2130,3354,0,0,0,0,0,0
$GC,73,-1.05,-145.7,3.3,-6.1,7,105,12.40,1.17,-12.95,0.000,4,0.164,0.078,2748,2827,3922,0,0,0,0,0,0
$GC,203,-1.05,-145.7,21.6,-12.7,29,212,0.00,1.20,0.00,0.000,6,0.000,0.046,2748,2117,3922,0,0,0,0,0,0
$GC,279,-1.05,-145.7,30.4,-11.9,42,286,0.00,1.23,0.00,0.000,4,0.000,0.057,2748,2826,3922,0,0,0,0,0,0
$GC,333,-1.05,-145.7,36.8,-11.9,51,340,0.00,1.20,0.00,0.000,6,0.000,0.047,2748,2115,3922,0,0,0,0,0,0
$GC,406,-1.05,-145.7,45.5,-12.3,64,413,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2115,3923,0,0,0,0,0,0
$GC,480,-1.05,-145.7,53.8,-10.7,77,486,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2115,3922,0,0,0,0,0,0
$GC,620,-1.05,-145.7,68.3,-10.1,102,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2115,3922,0,0,0,0,0,0
$GC,763,-1.05,-145.7,82.4,-10.2,127,769,0.00,1.17,0.00,0.000,4,0.000,0.057,2748,1419,3922,0,0,0,0,0,0
$GC,815,-1.05,-145.7,88.4,-10.6,136,823,0.00,1.20,0.00,0.000,6,0.000,0.049,2748,2127,3922,0,0,0,0,0,0
$GC,959,-1.05,-145.7,103.1,-10.2,161,966,0.00,1.20,0.00,0.000,4,0.000,0.071,2748,2824,3922,0,0,0,0,0,0
$GC,1061,-1.05,-145.7,114.2,-10.2,179,1068,0.00,1.20,0.00,0.000,6,0.000,0.053,2748,2115,3922,0,0,0,0,0,0
$GC,1204,-1.05,-145.7,129.5,-11.0,204,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2115,3922,0,0,0,0,0,0
$GC,1348,-1.05,-145.7,144.3,-9.9,229,1355,0.00,1.23,0.00,0.000,4,0.000,0.067,2748,2819,3922,0,0,0,0,0,0
$GC,1395,-1.05,-145.7,148.9,-9.5,237,1402,0.00,1.20,0.00,0.000,6,0.000,0.060,2748,2114,3922,0,0,0,0,0,0
$GC,1541,-1.05,-145.7,162.9,-9.2,262,1549,0.00,1.23,0.00,0.000,4,0.000,0.069,2748,2817,3922,0,0,0,0,0,0
$GC,1596,-1.05,-145.7,168.3,-10.1,271,1603,0.00,1.20,0.00,0.000,6,0.000,0.054,2748,2112,3922,0,0,0,0,0,0
$STATE,1611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1611,begin apogee
$GC,1618,-0.31,0.0,169.9,10.0,273,1742,0.70,0.00,117.68,0.689,6,0.096,0.000,2907,1943,3326,0,0,0,0,0,0
$STATE,1743,end apogee,CONTROL_FINISHED_OK
$STATE,1743,begin climb
$GC,1745,1.05,145.7,175.3,0.0,292,1874,1.30,1.27,119.30,0.669,4,0.053,0.070,3211,1243,2730,0,0,0,0,0,0
$GC,2123,1.09,175.9,156.3,6.8,356,2158,0.00,1.20,25.88,0.644,6,0.000,0.057,3211,1951,2607,0,0,0,0,0,0
$GC,2293,1.10,187.7,144.4,7.5,385,2309,0.00,1.25,11.30,0.604,4,0.000,0.067,3211,2645,2560,0,0,0,0,0,0
$GC,2390,1.11,193.6,137.1,7.7,401,2404,0.00,1.20,6.75,0.544,6,0.000,0.062,3210,1952,2535,0,0,0,0,0,0
$GC,2539,1.11,193.6,124.9,8.4,427,2545,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1952,2534,0,0,0,0,0,0
$GC,2679,1.11,193.6,112.6,8.5,452,2687,0.00,1.20,0.00,0.000,4,0.000,0.056,3211,2646,2533,0,0,0,0,0,0
$GC,2793,1.11,193.6,103.0,8.3,472,2800,0.00,1.20,0.00,0.000,6,0.000,0.059,3211,1946,2533,0,0,0,0,0,0
$GC,2937,1.11,193.6,91.2,8.1,497,2944,0.00,1.20,0.00,0.000,4,0.000,0.056,3211,2643,2533,0,0,0,0,0,0
$GC,3022,1.12,200.5,84.2,7.7,512,3036,0.00,1.20,7.28,0.553,6,0.000,0.056,3211,1941,2507,0,0,0,0,0,0
$GC,3172,1.14,215.3,72.8,7.4,538,3195,0.00,1.23,13.98,0.602,4,0.000,0.070,3211,1244,2446,0,0,0,0,0,0
$GC,3224,1.14,220.3,68.7,7.8,546,3233,0.00,1.20,5.57,0.496,6,0.000,0.044,3211,1955,2428,0,0,0,0,0,0
$GC,3370,1.14,220.3,57.2,8.7,571,3377,0.00,1.17,0.00,0.000,4,0.000,0.066,3211,2644,2427,0,0,0,0,0,0
$GC,3419,1.14,220.3,53.0,8.3,579,3425,0.00,1.20,0.00,0.000,6,0.000,0.050,3211,1942,2426,0,0,0,0,0,0
$GC,3558,1.14,220.3,41.8,8.6,604,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1943,2427,0,0,0,0,0,0
$GC,3631,1.16,228.8,35.9,7.6,617,3648,0.10,0.00,9.07,0.560,6,0.082,0.000,3252,1942,2393,0,0,0,0,0,0
$GC,3713,1.16,228.8,28.3,9.4,631,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1942,2391,0,0,0,0,0,0
$GC,3786,1.16,228.8,20.9,9.6,644,3793,0.00,1.20,0.00,0.000,4,0.000,0.053,3252,2644,2391,0,0,0,0,0,0
$GC,3825,1.16,228.8,17.3,9.9,650,3833,0.00,1.20,0.00,0.000,6,0.000,0.061,3253,1940,2391,0,0,0,0,0,0
$GC,3899,1.16,228.8,10.4,8.9,663,3907,0.00,1.17,0.00,0.000,4,0.000,0.057,3252,1250,2391,0,0,0,0,0,0
$GC,3958,1.16,228.8,4.4,10.2,673,3966,0.05,1.17,0.00,0.000,6,0.103,0.048,3237,1952,2391,0,0,0,0,0,0
$STATE,3972,end climb,SURFACE_DEPTH_REACHED
$STATE,3972,begin surface coast
$FINISH,0.5,1.020789
$STATE,4007,end surface coast,CONTROL_FINISHED_OK
$STATE,4007,begin surface
$SM_CCo,4029,46.53,0.490,1,0,2183,280.13
$SM_GC,1.67,0.00,0.00,46.53,0.000,0.000,0.490,454,2133,2183,-11.63,0.40,280.13
$IRIDIUM_FIX,4726.11,-12220.67,300112,060642
$TT8_MAMPS,0.026964
$HUMID,1078564506
$INTERNAL_PRESSURE,9.30038
$TCM_TEMP,16.70
$XPDR_PINGS,25
$24V_AH,23.3,1.565
$10V_AH,10.6,2.201
$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,26.075,34.250,316.800,46.525,0.000,29.918,24.883,275.575,6.250,0.000,15.575,1498.328,445.696,442.999,1793.586,400.581,33.323,1095.235,0.000,1638.211,0.000,0.536,0.000
$DEVICE_MAMPS,164.475,106.335,688.500,489.600,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,476.791,334.171,1074.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323644
$DATA_FILE_SIZE,36913,681
$CAP_FILE_SIZE,80404,0
$CFSIZE,260165632,169869312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060810,143504,4743.416,-12223.986,9,3.0,28,18.2