version: 66.07
glider: 150
mission: 8
dive: 7
start: 6 23 111 0 21 35
data:
$ID,150
$MISSION,8
$DIVE,7
$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,67
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$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,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,-81861.016
$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,3000
$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,18
$R_STBD_OVSHOOT,23
$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,10
$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
$GPS1,230611,001325,4804.672,-12220.661,8,1.6,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-61.8
$GPS2,230611,002038,4804.604,-12220.619,11,1.6,11,18.3
$SPEED_LIMITS,0.129,0.196
$TGT_NAME,FOUR
$TGT_LATLONG,4804.000,-12220.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.104,-0.166
$KALMAN_X,441.2,178.8,49.5,1428.1,68.4
$KALMAN_Y,-643.4,-258.4,-77.9,-2488.3,-44.0
$MHEAD_RNG_PITCHd_Wd,129.7,1356,-16.7,-7.463
$D_GRID,150
$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,-1.16,-97.2,0.0,0.0,0,137,0.00,0.00,-116.43,0.000,2,0.000,0.000,455,2146,3463,0,0,0,0,0,0
$GC,142,-1.16,-97.2,3.3,-3.2,17,174,12.18,2.72,-10.62,0.000,4,0.152,0.077,2740,3661,3801,0,0,0,0,0,0
$GC,383,-1.16,-97.2,16.3,-7.7,60,391,0.00,2.65,0.00,0.000,6,0.000,0.056,2741,2144,3802,0,0,0,0,0,0
$GC,439,-1.16,-97.2,20.5,-7.7,69,446,0.00,2.67,0.00,0.000,4,0.000,0.064,2741,638,3802,0,0,0,0,0,0
$GC,457,-1.16,-97.2,22.1,-7.7,71,465,0.00,2.58,0.00,0.000,6,0.000,0.043,2741,2148,3802,0,0,0,0,0,0
$GC,513,-1.16,-97.2,26.3,-7.4,80,521,0.00,2.70,0.00,0.000,4,0.000,0.068,2741,3656,3802,0,0,0,0,0,0
$GC,545,-1.16,-97.2,29.3,-8.1,85,554,0.00,2.62,0.00,0.000,6,0.000,0.057,2741,2153,3802,0,0,0,0,0,0
$GC,600,-1.16,-97.2,34.0,-8.4,94,608,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2153,3802,0,0,0,0,0,0
$GC,653,-1.16,-97.2,38.6,-8.6,103,662,0.00,2.70,0.00,0.000,4,0.000,0.065,2740,636,3802,0,0,0,0,0,0
$GC,695,-1.16,-97.2,42.1,-9.0,109,702,0.00,2.58,0.00,0.000,6,0.000,0.043,2740,2156,3802,0,0,0,0,0,0
$GC,871,-1.16,-97.2,57.6,-8.7,140,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2156,3802,0,0,0,0,0,0
$GC,1051,-1.16,-97.2,72.3,-7.7,171,1058,0.00,2.70,0.00,0.000,4,0.000,0.067,2740,635,3802,0,0,0,0,0,0
$GC,1112,-1.16,-97.2,77.8,-8.6,181,1119,0.00,2.58,0.00,0.000,6,0.000,0.050,2740,2151,3802,0,0,0,0,0,0
$GC,1293,-1.16,-97.2,92.0,-7.7,212,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2151,3801,0,0,0,0,0,0
$GC,1473,-1.16,-97.2,105.8,-7.7,243,1480,0.00,2.70,0.00,0.000,4,0.000,0.069,2740,633,3801,0,0,0,0,0,0
$GC,1525,-1.16,-97.2,110.4,-8.4,252,1533,0.00,2.60,0.00,0.000,6,0.000,0.050,2741,2142,3801,0,0,0,0,0,0
$GC,1705,-1.16,-97.2,122.9,-5.4,283,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2143,3802,0,0,0,0,0,0
$STATE,1807,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1807,begin apogee
$GC,1816,-0.31,0.0,123.0,0.1,301,1900,0.82,0.00,77.45,0.693,6,0.073,0.000,2930,2142,3403,0,0,0,0,0,0
$STATE,1901,end apogee,CONTROL_FINISHED_OK
$STATE,1901,begin climb
$GC,1904,1.16,97.2,123.0,0.0,314,1991,1.42,2.85,79.32,0.673,4,0.069,0.078,3250,3666,3005,0,0,0,0,0,0
$GC,2008,1.17,104.1,117.5,7.1,329,2022,0.00,2.70,6.95,0.555,6,0.000,0.058,3250,2144,2977,0,0,0,0,0,0
$GC,2193,1.17,104.1,99.5,10.2,361,2199,0.00,2.70,0.00,0.000,4,0.000,0.073,3250,632,2974,0,0,0,0,0,0
$GC,2258,1.17,104.1,92.7,10.6,372,2266,0.00,2.62,0.00,0.000,6,0.000,0.051,3250,2146,2973,0,0,0,0,0,0
$GC,2437,1.17,104.1,76.5,9.0,403,2443,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2146,2973,0,0,0,0,0,0
$GC,2613,1.17,104.1,60.9,8.2,434,2621,0.00,2.72,0.00,0.000,4,0.000,0.067,3250,634,2972,0,0,0,0,0,0
$GC,2657,1.17,104.1,56.6,9.5,441,2664,0.00,2.60,0.00,0.000,6,0.000,0.050,3250,2157,2972,0,0,0,0,0,0
$GC,2832,1.17,104.1,43.3,7.7,472,2842,0.00,2.72,0.00,0.000,4,0.000,0.067,3250,638,2971,0,0,0,0,0,0
$GC,2860,1.17,104.1,40.9,7.7,476,2868,0.00,2.60,0.00,0.000,6,0.000,0.050,3250,2149,2971,0,0,0,0,0,0
$GC,3030,1.17,104.1,28.1,7.9,507,3037,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2150,2971,0,0,0,0,0,0
$GC,3085,1.17,104.1,24.0,7.7,516,3092,0.00,2.72,0.00,0.000,4,0.000,0.075,3250,3657,2971,0,0,0,0,0,0
$GC,3117,1.17,104.1,21.3,7.8,521,3126,0.00,2.65,0.00,0.000,6,0.000,0.059,3250,2146,2971,0,0,0,0,0,0
$GC,3172,1.18,113.0,17.2,7.0,530,3189,0.00,2.72,7.82,0.575,4,0.000,0.073,3250,639,2942,0,0,0,0,0,0
$GC,3227,1.18,113.0,13.2,7.7,538,3235,0.00,2.60,0.00,0.000,6,0.000,0.045,3250,2150,2941,0,0,0,0,0,0
$GC,3281,1.19,119.1,9.2,7.1,547,3298,0.00,2.75,6.80,0.552,4,0.000,0.067,3250,638,2916,0,0,0,0,0,0
$GC,3323,1.20,130.0,6.4,6.9,553,3340,0.00,2.60,10.48,0.588,6,0.000,0.049,3250,2151,2872,0,0,0,0,0,0
$STATE,3346,end climb,SURFACE_DEPTH_REACHED
$STATE,3346,begin surface coast
$FINISH,4.6,1.020078
$STATE,3436,end surface coast,CONTROL_FINISHED_OK
$STATE,3436,begin surface
$SM_CCo,3459,449.50,0.597,0,0,590,690.03
$SM_GC,1.06,0.00,0.00,449.50,0.000,0.000,0.597,458,2150,590,-11.70,0.00,690.03
$IRIDIUM_FIX,4748.51,-12220.12,151212,171752
$TT8_MAMPS,0.026964
$HUMID,1078416119
$INTERNAL_PRESSURE,9.02694
$TCM_TEMP,15.20
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,90.3,8.4
$24V_AH,23.4,1.048
$10V_AH,10.5,0.508
$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,26.600,69.375,188.825,449.500,0.000,27.855,35.482,209.391,6.000,0.000,13.248,1270.301,330.038,793.549,1545.577,414.610,33.327,1367.427,0.000,1416.429,0.000,6.987,0.000
$DEVICE_MAMPS,152.235,78.030,693.090,597.465,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,411.080,311.786,976.314,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323312
$DATA_FILE_SIZE,30211,572
$CAP_FILE_SIZE,70272,0
$CFSIZE,260165632,118771712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230611,012826,4804.357,-12220.402,33,2.3,53,18.3