version: 66.07
glider: 150
mission: 7
dive: 21
start: 8 6 110 14 44 12
data:
$ID,150
$MISSION,7
$DIVE,21
$D_SURF,3
$D_FLARE,3
$D_TGT,170
$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,52
$T_MISSION,60
$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,-30240.15
$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,36
$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
$GPS1,060810,143504,4743.416,-12223.986,9,3.0,28,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-71.2
$GPS2,060810,144314,4743.481,-12223.844,11,1.9,11,18.2
$SPEED_LIMITS,0.189,0.267
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.117,-0.240
$KALMAN_X,-138.3,199.9,304.3,1160.7,238.9
$KALMAN_Y,-848.9,467.9,577.4,568.6,194.1
$MHEAD_RNG_PITCHd_Wd,187.7,912,-18.9,-10.897
$D_GRID,167
$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,-1.36,-145.7,0.0,0.0,0,68,0.00,0.00,-49.33,0.000,2,0.000,0.000,454,2133,3384,0,0,0,0,0,0
$GC,71,-1.36,-145.7,3.6,-9.3,7,103,12.05,1.17,-12.07,0.000,4,0.166,0.079,2676,2813,3922,0,0,0,0,0,0
$GC,253,-1.36,-145.7,33.0,-15.9,39,261,0.00,1.17,0.00,0.000,6,0.000,0.046,2677,2116,3923,0,0,0,0,0,0
$GC,326,-1.36,-145.7,44.1,-15.2,52,333,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2116,3923,0,0,0,0,0,0
$GC,402,-1.36,-145.7,55.3,-15.6,65,407,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2116,3922,0,0,0,0,0,0
$GC,540,-1.36,-145.7,76.0,-15.2,90,548,0.00,1.17,0.00,0.000,4,0.000,0.055,2677,1419,3922,0,0,0,0,0,0
$GC,588,-1.36,-145.7,83.4,-15.2,98,596,0.00,1.17,0.00,0.000,6,0.000,0.055,2678,2115,3922,0,0,0,0,0,0
$GC,734,-1.36,-145.7,105.1,-15.6,123,741,0.00,1.23,0.00,0.000,4,0.000,0.074,2677,2824,3922,0,0,0,0,0,0
$GC,838,-1.36,-145.7,120.8,-14.3,141,845,0.00,1.20,0.00,0.000,6,0.000,0.050,2678,2113,3922,0,0,0,0,0,0
$GC,979,-1.36,-145.7,141.8,-14.2,166,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2113,3922,0,0,0,0,0,0
$GC,1121,-1.36,-145.7,161.6,-14.2,191,1127,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2113,3922,0,0,0,0,0,0
$STATE,1158,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1158,begin apogee
$GC,1166,-0.31,0.0,167.5,13.9,198,1291,1.05,0.00,117.40,0.691,6,0.103,0.000,2910,1942,3325,0,0,0,0,0,0
$STATE,1291,end apogee,CONTROL_FINISHED_OK
$STATE,1291,begin climb
$GC,1294,1.36,145.7,172.4,0.0,217,1426,1.55,1.23,119.28,0.669,4,0.044,0.062,3282,1257,2729,0,0,0,0,0,0
$GC,1573,1.36,145.7,151.8,11.3,263,1579,0.00,1.17,0.00,0.000,6,0.000,0.046,3282,1949,2726,0,0,0,0,0,0
$GC,1714,1.36,146.0,136.8,10.9,288,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1949,2725,0,0,0,0,0,0
$GC,1855,1.38,162.3,122.3,10.1,313,1875,0.00,1.25,14.40,0.614,4,0.000,0.067,3282,2646,2664,0,0,0,0,0,0
$GC,1908,1.41,187.4,116.7,9.6,322,1937,0.00,1.20,22.25,0.622,6,0.000,0.054,3283,1952,2561,0,0,0,0,0,0
$GC,2069,1.44,207.5,100.0,9.9,350,2090,0.00,0.00,18.38,0.611,6,0.000,0.000,3282,1952,2479,0,0,0,0,0,0
$GC,2229,1.44,207.5,81.6,12.8,377,2236,0.00,1.20,0.00,0.000,4,0.000,0.064,3282,2647,2477,0,0,0,0,0,0
$GC,2292,1.44,207.5,73.1,11.8,388,2300,0.00,1.20,0.00,0.000,6,0.000,0.050,3282,1946,2476,0,0,0,0,0,0
$GC,2439,1.45,216.2,56.0,10.5,413,2453,0.00,1.25,8.50,0.552,4,0.000,0.058,3282,1241,2443,0,0,0,0,0,0
$GC,2522,1.46,225.6,47.7,10.4,427,2537,0.00,1.20,9.60,0.558,6,0.000,0.045,3282,1951,2405,0,0,0,0,0,0
$GC,2603,1.47,232.9,39.5,10.5,441,2618,0.00,1.20,7.62,0.529,4,0.000,0.056,3282,2646,2376,0,0,0,0,0,0
$GC,2705,1.48,241.7,29.4,10.5,459,2721,0.00,1.20,9.23,0.545,6,0.000,0.050,3282,1944,2340,0,0,0,0,0,0
$GC,2785,1.48,241.7,20.6,11.6,473,2794,0.10,1.23,0.00,0.000,4,0.081,0.058,3319,1240,2339,0,0,0,0,0,0
$GC,2909,1.48,241.7,5.3,12.8,495,2917,0.00,1.20,0.00,0.000,6,0.000,0.049,3319,1952,2338,0,0,0,0,0,0
$STATE,2929,end climb,SURFACE_DEPTH_REACHED
$STATE,2929,begin surface coast
$FINISH,0.2,1.020862
$STATE,2951,end surface coast,CONTROL_FINISHED_OK
$STATE,2951,begin surface
$SM_CCo,2972,36.08,0.454,1,0,2184,280.13
$SM_GC,0.99,0.00,0.00,36.08,0.000,0.000,0.454,456,2126,2184,-11.62,0.17,280.13
$IRIDIUM_FIX,4726.11,-12225.08,300112,070701
$TT8_MAMPS,0.026964
$HUMID,1078568377
$INTERNAL_PRESSURE,9.30038
$TCM_TEMP,16.70
$XPDR_PINGS,12
$24V_AH,23.3,1.649
$10V_AH,10.6,2.267
$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,26.600,22.200,326.650,36.075,0.000,25.854,27.402,271.526,3.000,0.000,13.743,1080.285,304.837,393.432,1417.248,316.661,33.327,899.565,0.000,1214.824,0.000,0.536,0.000
$DEVICE_MAMPS,166.005,106.335,690.795,454.410,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,352.839,258.966,812.765,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323436
$DATA_FILE_SIZE,26838,502
$CAP_FILE_SIZE,61982,0
$CFSIZE,260165632,169857024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060810,153534,4743.173,-12223.945,8,99.0,27,18.2