version: 66.07
glider: 150
mission: 8
dive: 6
start: 6 22 111 23 24 14
data:
$ID,150
$MISSION,8
$DIVE,6
$D_SURF,5
$D_FLARE,3
$D_TGT,150
$D_ABORT,1010
$D_NO_BLEED,100
$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,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$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,52058
$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,3430
$TGT_DEFAULT_LON,33
$TGT_AUTO_DEFAULT,0
$SM_CC,690
$N_FILEKB,8
$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,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-81859.758
$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,3006
$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,43
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3960
$C_VBD,3403
$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,-6.2732983
$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,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,0.0043689772
$SEABIRD_T_H,0.00063629687
$SEABIRD_T_I,2.5272697e-05
$SEABIRD_T_J,2.7439073e-06
$SEABIRD_C_G,-10.00484
$SEABIRD_C_H,1.1315296
$SEABIRD_C_I,-0.0016056153
$SEABIRD_C_J,0.00021001027
$GPS1,220611,231543,4805.015,-12220.949,10,2.0,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-65.1
$GPS2,220611,232316,4804.930,-12220.890,10,2.1,29,18.3
$SPEED_LIMITS,0.173,0.259
$TGT_NAME,FOUR
$TGT_LATLONG,4804.000,-12220.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.123,-0.228
$KALMAN_X,376.4,168.0,57.4,1158.9,54.1
$KALMAN_Y,-532.0,-238.6,-114.5,-1979.1,-8.5
$MHEAD_RNG_PITCHd_Wd,133.3,2044,-17.5,-10.000
$D_GRID,108
$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,-1.27,-145.7,0.0,0.0,0,144,0.00,0.00,-123.62,0.000,2,0.000,0.000,458,2154,3680,0,0,0,0,0,0
$GC,149,-1.27,-145.7,3.1,-2.3,18,179,12.07,2.72,-8.55,0.000,4,0.154,0.084,2721,3664,3964,0,0,0,0,0,0
$GC,420,-1.27,-145.7,26.7,-10.9,67,428,0.00,2.67,0.00,0.000,6,0.000,0.055,2721,2140,3964,0,0,0,0,0,0
$GC,474,-1.27,-145.7,32.7,-10.5,76,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2141,3964,0,0,0,0,0,0
$GC,528,-1.27,-145.7,38.6,-11.4,85,535,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2141,3964,0,0,0,0,0,0
$GC,582,-1.27,-145.7,44.5,-10.9,94,590,0.00,2.75,0.00,0.000,4,0.000,0.069,2721,3663,3964,0,0,0,0,0,0
$GC,609,-1.27,-145.7,47.6,-11.1,98,618,0.00,2.65,0.00,0.000,6,0.000,0.054,2721,2153,3964,0,0,0,0,0,0
$GC,787,-1.27,-145.7,66.3,-10.3,129,794,0.00,2.67,0.00,0.000,4,0.000,0.073,2721,632,3964,0,0,0,0,0,0
$GC,870,-1.27,-145.7,74.6,-9.9,143,877,0.00,2.60,0.00,0.000,6,0.000,0.047,2721,2160,3964,0,0,0,0,0,0
$GC,1048,-1.27,-145.7,92.3,-10.0,174,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2161,3964,0,0,0,0,0,0
$STATE,1215,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1218,begin apogee
$GC,1224,-0.31,0.0,108.6,9.7,204,1336,0.98,0.00,107.57,0.674,6,0.096,0.000,2932,2161,3403,0,0,0,0,0,0
$STATE,1341,end apogee,CONTROL_FINISHED_OK
$STATE,1341,begin climb
$GC,1343,1.27,145.7,111.8,0.0,221,1477,1.52,2.80,117.72,0.650,4,0.067,0.080,3274,3661,2806,0,0,0,0,0,0
$GC,1492,1.27,145.7,100.5,11.7,243,1498,0.00,2.70,0.00,0.000,6,0.000,0.057,3274,2138,2805,0,0,0,0,0,0
$GC,1670,1.27,145.7,79.0,11.6,274,1678,0.00,2.70,0.00,0.000,4,0.000,0.069,3274,637,2802,0,0,0,0,0,0
$GC,1727,1.27,145.7,71.7,13.1,283,1734,0.00,2.60,0.00,0.000,6,0.000,0.047,3274,2159,2802,0,0,0,0,0,0
$GC,1905,1.27,145.7,51.2,11.4,314,1913,0.00,2.75,0.00,0.000,4,0.000,0.067,3274,631,2801,0,0,0,0,0,0
$GC,1939,1.27,145.7,47.4,12.1,319,1946,0.00,2.60,0.00,0.000,6,0.000,0.044,3274,2161,2800,0,0,0,0,0,0
$GC,2114,1.27,145.7,31.8,10.7,350,2121,0.00,2.70,0.00,0.000,4,0.000,0.071,3275,3653,2800,0,0,0,0,0,0
$GC,2146,1.27,145.7,28.5,11.0,355,2154,0.00,2.65,0.00,0.000,6,0.000,0.057,3274,2151,2800,0,0,0,0,0,0
$GC,2199,1.27,145.7,23.1,10.2,364,2207,0.00,2.72,0.00,0.000,4,0.000,0.070,3274,631,2799,0,0,0,0,0,0
$GC,2247,1.27,145.7,17.7,11.3,372,2255,0.00,2.60,0.00,0.000,6,0.000,0.046,3274,2144,2799,0,0,0,0,0,0
$GC,2305,1.27,145.7,12.2,10.1,381,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,2144,2799,0,0,0,0,0,0
$GC,2360,1.31,172.0,6.7,8.8,390,2384,0.00,0.00,21.45,0.603,3,0.000,0.000,3275,2144,2701,0,0,0,0,0,0
$STATE,2384,end climb,SURFACE_DEPTH_REACHED
$STATE,2385,begin surface coast
$FINISH,3.2,1.018824
$STATE,2443,end surface coast,CONTROL_FINISHED_OK
$STATE,2443,begin surface
$SM_CCo,2468,420.42,0.575,1,0,589,690.03
$SM_GC,1.07,0.00,0.00,420.42,0.000,0.000,0.575,455,2144,589,-11.73,-0.17,690.03
$IRIDIUM_FIX,4748.51,-12123.79,151212,161648
$TT8_MAMPS,0.026964
$HUMID,1078416119
$INTERNAL_PRESSURE,9.02694
$TCM_TEMP,15.10
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,80.5,8.4
$24V_AH,23.4,0.920
$10V_AH,10.5,0.429
$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,26.850,42.900,246.750,420.425,0.000,22.403,29.741,221.069,3.000,0.000,32.378,861.167,208.164,767.929,1192.205,328.663,33.324,1216.214,0.000,1004.755,0.000,5.437,0.000
$DEVICE_MAMPS,153.765,84.150,673.965,575.280,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,301.172,224.149,709.885,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323284
$DATA_FILE_SIZE,20303,404
$CAP_FILE_SIZE,52503,0
$CFSIZE,260165632,118841344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230611,001325,4804.672,-12220.661,8,1.6,13,18.3