version: 66.07
glider: 150
mission: 8
dive: 16
start: 6 23 111 10 49 18
data:
$ID,150
$MISSION,8
$DIVE,16
$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,-81872.391
$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
$GPS1,230611,104016,4804.514,-12220.649,8,99.0,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-73.0
$GPS2,230611,104816,4804.430,-12220.580,12,99.0,31,18.3
$SPEED_LIMITS,0.129,0.196
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.101,0.168
$KALMAN_X,1419.2,96.0,153.8,474.3,105.0
$KALMAN_Y,-2764.6,-210.8,-262.9,-548.5,-178.1
$MHEAD_RNG_PITCHd_Wd,310.8,3396,-16.7,-7.463
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.16,-97.2,0.0,0.0,0,137,0.00,0.00,-116.78,0.000,2,0.000,0.000,454,2218,3587,0,0,0,0,0,0
$GC,141,-1.16,-97.2,3.0,-2.3,17,166,12.27,2.72,-6.57,0.000,4,0.156,0.076,2739,684,3801,0,0,0,0,0,0
$GC,234,-1.16,-97.2,7.9,-6.3,32,242,0.00,2.58,0.00,0.000,6,0.000,0.046,2738,2193,3801,0,0,0,0,0,0
$GC,290,-1.16,-97.2,11.3,-5.7,41,297,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2193,3801,0,0,0,0,0,0
$GC,347,-1.16,-97.2,14.8,-6.3,50,354,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2192,3801,0,0,0,0,0,0
$GC,402,-1.16,-97.2,18.6,-7.1,59,410,0.00,2.70,0.00,0.000,4,0.000,0.066,2739,679,3801,0,0,0,0,0,0
$GC,446,-1.16,-97.2,22.3,-8.3,66,454,0.00,2.60,0.00,0.000,6,0.000,0.046,2738,2201,3801,0,0,0,0,0,0
$GC,500,-1.16,-97.2,27.0,-8.5,75,507,0.00,2.72,0.00,0.000,4,0.000,0.070,2738,3712,3801,0,0,0,0,0,0
$GC,532,-1.16,-97.2,29.9,-8.6,80,540,0.00,2.65,0.00,0.000,6,0.000,0.054,2738,2198,3801,0,0,0,0,0,0
$GC,587,-1.16,-97.2,34.7,-8.7,89,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2197,3801,0,0,0,0,0,0
$GC,641,-1.16,-97.2,39.7,-8.9,98,650,0.00,2.70,0.00,0.000,4,0.000,0.066,2738,680,3801,0,0,0,0,0,0
$GC,696,-1.16,-97.2,44.8,-9.4,107,703,0.00,2.58,0.00,0.000,6,0.000,0.041,2738,2204,3801,0,0,0,0,0,0
$GC,873,-1.16,-97.2,59.8,-8.2,138,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2204,3801,0,0,0,0,0,0
$GC,1052,-1.16,-97.2,74.2,-8.6,169,1059,0.00,2.70,0.00,0.000,4,0.000,0.065,2738,676,3801,0,0,0,0,0,0
$GC,1153,-1.16,-97.2,83.3,-8.9,186,1161,0.00,2.60,0.00,0.000,6,0.000,0.043,2738,2196,3801,0,0,0,0,0,0
$GC,1333,-1.16,-97.2,97.5,-7.4,217,1340,0.00,2.67,0.00,0.000,4,0.000,0.068,2738,675,3801,0,0,0,0,0,0
$GC,1416,-1.16,-97.2,104.1,-8.2,231,1422,0.00,2.60,0.00,0.000,6,0.000,0.048,2738,2204,3801,0,0,0,0,0,0
$STATE,1464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1464,begin apogee
$GC,1471,-0.31,0.0,108.1,7.6,239,1555,0.88,0.00,77.93,0.681,6,0.099,0.000,2926,2085,3403,0,0,0,0,0,0
$STATE,1555,end apogee,CONTROL_FINISHED_OK
$STATE,1556,begin climb
$GC,1560,1.16,97.2,110.5,0.0,252,1646,1.45,0.00,78.85,0.663,6,0.070,0.000,3247,2085,3006,0,0,0,0,0,0
$GC,1814,1.16,97.2,91.0,9.3,295,1820,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,2085,3002,0,0,0,0,0,0
$GC,1991,1.16,97.2,76.0,8.2,326,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,2085,3001,0,0,0,0,0,0
$GC,2170,1.16,97.2,61.2,8.1,357,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,2085,3000,0,0,0,0,0,0
$GC,2350,1.16,97.2,46.8,7.5,388,2357,0.00,2.67,0.00,0.000,4,0.000,0.069,3248,600,2999,0,0,0,0,0,0
$GC,2394,1.16,97.2,42.6,8.8,395,2400,0.00,2.55,0.00,0.000,6,0.000,0.048,3248,2103,2999,0,0,0,0,0,0
$GC,2566,1.18,109.4,30.3,6.8,426,2582,0.00,2.78,10.35,0.596,4,0.000,0.067,3248,594,2956,0,0,0,0,0,0
$GC,2607,1.18,110.1,27.3,7.4,432,2616,0.00,2.58,0.00,0.000,6,0.000,0.042,3248,2098,2956,0,0,0,0,0,0
$GC,2663,1.18,112.5,23.2,7.3,441,2673,0.00,2.78,4.25,0.456,4,0.000,0.071,3248,3614,2944,0,0,0,0,0,0
$GC,2713,1.18,112.5,19.1,8.3,449,2721,0.00,2.65,0.00,0.000,6,0.000,0.055,3248,2112,2943,0,0,0,0,0,0
$GC,2769,1.19,116.7,15.1,7.2,458,2778,0.00,0.00,5.18,0.503,6,0.000,0.000,3248,2112,2927,0,0,0,0,0,0
$GC,2825,1.19,117.8,11.0,7.4,467,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,2112,2926,0,0,0,0,0,0
$GC,2882,1.19,117.8,6.7,7.6,476,2889,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,2112,2926,0,0,0,0,0,0
$STATE,2907,end climb,SURFACE_DEPTH_REACHED
$STATE,2907,begin surface coast
$FINISH,3.5,1.018865
$STATE,2987,end surface coast,CONTROL_FINISHED_OK
$STATE,2988,begin surface
$SM_CCo,3011,450.10,0.591,1,0,669,670.16
$SM_GC,0.93,0.00,0.00,450.10,0.000,0.000,0.591,457,2222,669,-11.69,0.65,670.16
$IRIDIUM_FIX,4745.30,-12224.57,161212,030333
$TT8_MAMPS,0.026964
$HUMID,1078367087
$INTERNAL_PRESSURE,9.01717
$TCM_TEMP,13.20
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,75.7,6.5
$24V_AH,23.3,2.201
$10V_AH,10.5,1.158
$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,26.775,48.200,176.550,450.100,0.000,24.939,29.195,235.322,4.250,0.000,34.757,1108.089,269.432,769.700,1422.835,390.662,33.333,1275.715,0.000,1241.916,0.000,5.430,0.000
$DEVICE_MAMPS,156.060,126.990,680.850,590.580,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,360.439,270.964,871.936,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323304
$DATA_FILE_SIZE,26937,495
$CAP_FILE_SIZE,64321,0
$CFSIZE,260165632,118448128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230611,114830,4804.549,-12220.697,30,1.4,39,18.3