version: 66.07
glider: 150
mission: 8
dive: 13
start: 6 23 111 7 22 14
data:
$ID,150
$MISSION,8
$DIVE,13
$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,70
$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,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,670
$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,-81868.594
$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,2998
$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,2200
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,33
$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,75
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$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
$GPS1,230611,071346,4804.445,-12220.545,11,99.0,30,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-69.0
$GPS2,230611,072116,4804.369,-12220.471,12,99.0,31,18.3
$SPEED_LIMITS,0.129,0.196
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.099,0.169
$KALMAN_X,895.7,76.5,-23.9,1330.5,100.4
$KALMAN_Y,-1794.9,-138.5,-20.4,-1947.3,-192.8
$MHEAD_RNG_PITCHd_Wd,311.4,3564,-16.7,-7.463
$D_GRID,110
$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,-97.2,0.0,0.0,0,123,0.00,0.00,-102.78,0.000,2,0.000,0.000,457,2219,3198,0,0,0,0,0,0
$GC,128,-1.16,-97.2,3.2,-3.0,15,169,12.27,2.67,-20.65,0.000,4,0.156,0.076,2740,699,3800,0,0,0,0,0,0
$GC,412,-1.16,-97.2,20.6,-8.1,65,419,0.00,2.55,0.00,0.000,6,0.000,0.043,2740,2192,3800,0,0,0,0,0,0
$GC,465,-1.16,-97.2,25.0,-8.3,74,472,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2192,3801,0,0,0,0,0,0
$GC,520,-1.16,-97.2,29.5,-8.4,83,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2192,3800,0,0,0,0,0,0
$GC,576,-1.16,-97.2,34.0,-8.6,92,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2192,3800,0,0,0,0,0,0
$GC,630,-1.16,-97.2,38.9,-8.9,101,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2192,3800,0,0,0,0,0,0
$GC,683,-1.16,-97.2,43.9,-8.8,110,690,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2192,3800,0,0,0,0,0,0
$GC,861,-1.16,-97.2,59.4,-8.9,141,868,0.00,2.65,0.00,0.000,4,0.000,0.067,2740,693,3800,0,0,0,0,0,0
$GC,908,-1.16,-97.2,63.7,-8.9,149,915,0.00,2.58,0.00,0.000,6,0.000,0.044,2740,2211,3800,0,0,0,0,0,0
$GC,1084,-1.16,-97.2,78.2,-7.9,180,1095,0.00,2.70,0.00,0.000,4,0.000,0.063,2740,697,3800,0,0,0,0,0,0
$GC,1126,-1.16,-97.2,81.6,-8.4,186,1133,0.00,2.58,0.00,0.000,6,0.000,0.047,2740,2199,3800,0,0,0,0,0,0
$GC,1305,-1.16,-97.2,96.0,-8.1,217,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2199,3801,0,0,0,0,0,0
$GC,1483,-1.16,-97.2,109.5,-7.4,248,1491,0.00,2.67,0.00,0.000,4,0.000,0.066,2740,702,3800,0,0,0,0,0,0
$STATE,1496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1496,begin apogee
$GC,1505,-0.31,0.0,110.9,7.4,250,1591,0.85,0.00,77.47,0.676,6,0.098,0.000,2923,2114,3402,0,0,0,0,0,0
$STATE,1591,end apogee,CONTROL_FINISHED_OK
$STATE,1592,begin climb
$GC,1596,1.16,97.2,113.6,0.0,263,1680,1.45,0.00,78.62,0.659,6,0.070,0.000,3246,2114,3006,0,0,0,0,0,0
$GC,1851,1.16,97.2,94.4,9.2,306,1858,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2114,3001,0,0,0,0,0,0
$GC,2029,1.16,97.2,79.7,7.7,337,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2114,3000,0,0,0,0,0,0
$GC,2208,1.16,97.2,65.9,8.0,368,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2114,3000,0,0,0,0,0,0
$GC,2387,1.16,99.0,52.1,7.4,399,2394,0.00,2.70,0.00,0.000,4,0.000,0.068,3246,594,2999,0,0,0,0,0,0
$GC,2472,1.16,99.0,45.2,8.4,413,2479,0.00,2.58,0.00,0.000,6,0.000,0.047,3246,2113,2999,0,0,0,0,0,0
$GC,2647,1.18,113.1,33.0,6.7,444,2670,0.00,2.72,13.52,0.611,4,0.000,0.070,3246,3604,2940,0,0,0,0,0,0
$GC,2696,1.18,113.1,29.3,7.5,451,2705,0.00,2.62,0.00,0.000,6,0.000,0.055,3246,2118,2939,0,0,0,0,0,0
$GC,2751,1.18,114.1,25.2,7.4,460,2760,0.00,2.78,0.00,0.000,4,0.000,0.074,3246,584,2939,0,0,0,0,0,0
$GC,2790,1.18,114.1,21.5,8.9,466,2799,0.00,2.60,0.00,0.000,6,0.000,0.044,3246,2099,2939,0,0,0,0,0,0
$GC,2844,1.19,122.5,17.6,7.0,475,2860,0.00,0.00,9.12,0.577,6,0.000,0.000,3246,2099,2902,0,0,0,0,0,0
$GC,2909,1.20,126.5,13.2,7.3,485,2924,0.00,2.75,4.88,0.480,4,0.000,0.072,3246,591,2886,0,0,0,0,0,0
$GC,2949,1.20,126.5,10.1,7.5,491,2958,0.00,2.58,0.00,0.000,6,0.000,0.047,3246,2094,2886,0,0,0,0,0,0
$GC,3003,1.21,137.0,6.2,6.9,500,3019,0.00,0.00,10.10,0.576,6,0.000,0.000,3246,2094,2843,0,0,0,0,0,0
$STATE,3025,end climb,SURFACE_DEPTH_REACHED
$STATE,3025,begin surface coast
$FINISH,2.4,1.018218
$STATE,3105,end surface coast,CONTROL_FINISHED_OK
$STATE,3108,begin surface
$SM_CCo,3132,433.20,0.578,1,0,670,670.16
$SM_GC,0.93,0.00,0.00,433.20,0.000,0.000,0.578,456,2211,670,-11.69,0.31,670.16
$IRIDIUM_FIX,4748.51,-12217.40,161212,000007
$TT8_MAMPS,0.026964
$HUMID,1078345152
$INTERNAL_PRESSURE,9.01717
$TCM_TEMP,15.20
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,75.3,6.5
$24V_AH,23.3,1.827
$10V_AH,10.5,0.940
$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,26.700,42.325,193.725,433.200,0.000,29.945,31.785,217.578,4.000,0.000,34.495,1144.393,294.131,764.108,1459.251,373.407,33.335,1290.688,0.000,1294.633,0.000,5.432,0.000
$DEVICE_MAMPS,156.060,75.735,676.260,578.340,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,374.170,285.458,904.826,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323296
$DATA_FILE_SIZE,26994,518
$CAP_FILE_SIZE,62748,0
$CFSIZE,260165632,118562816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230611,082326,4804.499,-12220.594,33,2.4,52,18.3