version: 66.07
glider: 150
mission: 8
dive: 15
start: 6 23 111 9 40 18
data:
$ID,150
$MISSION,8
$DIVE,15
$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,-81871.125
$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,19
$R_STBD_OVSHOOT,31
$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
$GPS1,230611,093056,4804.512,-12220.621,10,1.2,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-70.3
$GPS2,230611,093916,4804.416,-12220.557,10,4.1,29,18.3
$SPEED_LIMITS,0.129,0.196
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.101,0.168
$KALMAN_X,1232.7,79.2,103.4,756.8,120.8
$KALMAN_Y,-2424.5,-172.9,-201.8,-1013.2,-201.6
$MHEAD_RNG_PITCHd_Wd,310.5,3434,-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,14,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,-116.57,0.000,2,0.000,0.000,458,2214,3589,0,0,0,0,0,0
$GC,140,-1.16,-97.2,3.1,-2.7,17,166,12.25,2.70,-6.50,0.000,4,0.156,0.073,2738,685,3800,0,0,0,0,0,0
$GC,234,-1.16,-97.2,7.8,-6.2,32,242,0.00,2.58,0.00,0.000,6,0.000,0.041,2738,2197,3800,0,0,0,0,0,0
$GC,290,-1.16,-97.2,11.2,-6.4,41,297,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2197,3800,0,0,0,0,0,0
$GC,347,-1.16,-97.2,15.1,-7.1,50,355,0.00,2.70,0.00,0.000,4,0.000,0.067,2738,680,3801,0,0,0,0,0,0
$GC,432,-1.16,-97.2,22.3,-8.9,65,440,0.00,2.60,0.00,0.000,6,0.000,0.045,2738,2207,3800,0,0,0,0,0,0
$GC,488,-1.16,-97.2,26.8,-8.0,74,496,0.00,2.70,0.00,0.000,4,0.000,0.070,2738,3706,3801,0,0,0,0,0,0
$GC,536,-1.16,-97.2,31.3,-8.6,82,544,0.00,2.65,0.00,0.000,6,0.000,0.056,2738,2193,3801,0,0,0,0,0,0
$GC,591,-1.16,-97.2,36.0,-8.5,91,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2193,3801,0,0,0,0,0,0
$GC,644,-1.16,-97.2,40.6,-8.4,100,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2193,3801,0,0,0,0,0,0
$GC,820,-1.16,-97.2,54.8,-7.9,131,827,0.00,2.67,0.00,0.000,4,0.000,0.069,2738,676,3801,0,0,0,0,0,0
$GC,885,-1.16,-97.2,60.3,-8.4,142,893,0.00,2.60,0.00,0.000,6,0.000,0.042,2738,2197,3801,0,0,0,0,0,0
$GC,1062,-1.16,-97.2,74.4,-7.7,173,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2196,3801,0,0,0,0,0,0
$GC,1243,-1.16,-97.2,89.2,-8.0,204,1252,0.00,2.70,0.00,0.000,4,0.000,0.070,2738,687,3801,0,0,0,0,0,0
$GC,1310,-1.16,-97.2,94.7,-8.5,215,1317,0.00,2.58,0.00,0.000,6,0.000,0.046,2738,2208,3801,0,0,0,0,0,0
$GC,1489,-1.16,-97.2,109.0,-7.9,246,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2208,3801,0,0,0,0,0,0
$STATE,1500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1500,begin apogee
$GC,1507,-0.31,0.0,110.1,7.8,248,1593,0.88,0.00,77.75,0.683,6,0.099,0.000,2925,2086,3402,0,0,0,0,0,0
$STATE,1594,end apogee,CONTROL_FINISHED_OK
$STATE,1594,begin climb
$GC,1597,1.16,97.2,112.8,0.0,261,1681,1.45,0.00,79.00,0.663,6,0.073,0.000,3245,2086,3006,0,0,0,0,0,0
$GC,1852,1.16,97.2,93.3,9.1,304,1859,0.00,2.78,0.00,0.000,4,0.000,0.075,3245,3605,3001,0,0,0,0,0,0
$GC,1879,1.16,97.2,90.8,9.4,308,1888,0.00,2.65,0.00,0.000,6,0.000,0.058,3245,2117,3000,0,0,0,0,0,0
$GC,2058,1.16,97.2,75.2,8.2,339,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2117,3000,0,0,0,0,0,0
$GC,2236,1.16,97.2,60.7,8.0,370,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2117,2999,0,0,0,0,0,0
$GC,2414,1.16,97.2,46.1,7.8,401,2421,0.00,2.75,0.00,0.000,4,0.000,0.073,3246,582,2998,0,0,0,0,0,0
$GC,2491,1.16,97.2,39.6,8.7,414,2501,0.00,2.60,0.00,0.000,6,0.000,0.043,3246,2101,2998,0,0,0,0,0,0
$GC,2547,1.17,104.2,35.4,7.1,423,2555,0.00,0.00,6.18,0.539,6,0.000,0.000,3246,2101,2978,0,0,0,0,0,0
$GC,2601,1.17,108.1,31.4,7.3,432,2618,0.00,2.78,4.97,0.493,4,0.000,0.068,3246,584,2961,0,0,0,0,0,0
$GC,2642,1.17,108.1,27.9,8.0,438,2651,0.00,2.60,0.00,0.000,6,0.000,0.043,3246,2101,2961,0,0,0,0,0,0
$GC,2698,1.17,108.1,23.8,7.5,447,2707,0.00,2.72,0.00,0.000,4,0.000,0.073,3245,3614,2961,0,0,0,0,0,0
$GC,2748,1.17,108.1,19.8,8.0,455,2756,0.00,2.67,0.00,0.000,6,0.000,0.056,3246,2096,2961,0,0,0,0,0,0
$GC,2802,1.18,110.9,15.8,7.3,464,2810,0.00,0.00,4.10,0.449,6,0.000,0.000,3246,2096,2950,0,0,0,0,0,0
$GC,2858,1.18,114.4,11.8,7.3,473,2866,0.00,0.00,4.57,0.474,6,0.000,0.000,3246,2097,2936,0,0,0,0,0,0
$GC,2913,1.19,120.3,7.7,7.2,482,2922,0.00,0.00,6.60,0.537,6,0.000,0.000,3246,2097,2912,0,0,0,0,0,0
$STATE,2954,end climb,SURFACE_DEPTH_REACHED
$STATE,2955,begin surface coast
$FINISH,2.9,1.019266
$STATE,3045,end surface coast,CONTROL_FINISHED_OK
$STATE,3045,begin surface
$SM_CCo,3068,447.85,0.586,1,0,670,670.16
$SM_GC,0.97,0.00,0.00,447.85,0.000,0.000,0.586,454,2218,670,-11.71,0.51,670.16
$IRIDIUM_FIX,4748.51,-12217.40,161212,020249
$TT8_MAMPS,0.026964
$HUMID,1078376119
$INTERNAL_PRESSURE,9.02694
$TCM_TEMP,15.10
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,75.1,6.5
$24V_AH,23.3,2.076
$10V_AH,10.5,1.086
$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,26.725,48.425,183.175,447.850,0.000,28.842,42.406,239.832,4.250,0.000,32.497,1128.784,282.035,775.390,1454.878,397.121,33.331,1300.411,0.000,1259.195,0.000,5.420,0.000
$DEVICE_MAMPS,156.060,74.970,683.145,585.990,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,369.374,279.778,882.018,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26848,505
$CAP_FILE_SIZE,65691,0
$CFSIZE,260165632,118480896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230611,104016,4804.514,-12220.649,8,99.0,27,18.3