version: 66.07
glider: 150
mission: 8
dive: 17
start: 6 23 111 11 57 11
data:
$ID,150
$MISSION,8
$DIVE,17
$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,-81873.648
$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,16
$R_STBD_OVSHOOT,35
$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
$GPS1,230611,114830,4804.549,-12220.697,30,1.4,39,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-70.6
$GPS2,230611,115613,4804.493,-12220.648,8,1.8,13,18.3
$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,1579.4,109.4,174.9,196.1,81.7
$KALMAN_Y,-3062.8,-243.7,-278.5,-86.6,-137.2
$MHEAD_RNG_PITCHd_Wd,310.8,3253,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.16,-97.2,0.0,0.0,0,106,0.00,0.00,-82.28,0.000,2,0.000,0.000,457,2222,2733,0,0,0,0,0,0
$GC,110,-1.16,-97.2,3.5,-3.7,12,162,12.30,2.70,-32.33,0.000,4,0.158,0.079,2738,3706,3802,0,0,0,0,0,0
$GC,377,-1.16,-97.2,17.2,-6.8,59,385,0.00,2.65,0.00,0.000,6,0.000,0.056,2738,2190,3802,0,0,0,0,0,0
$GC,431,-1.16,-97.2,21.2,-7.1,68,438,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2190,3802,0,0,0,0,0,0
$GC,486,-1.16,-97.2,25.3,-7.4,77,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2190,3802,0,0,0,0,0,0
$GC,542,-1.16,-97.2,29.7,-8.2,86,550,0.00,2.72,0.00,0.000,4,0.000,0.068,2738,3696,3802,0,0,0,0,0,0
$GC,608,-1.16,-97.2,35.8,-9.1,97,616,0.00,2.62,0.00,0.000,6,0.000,0.057,2738,2197,3802,0,0,0,0,0,0
$GC,660,-1.16,-97.2,40.6,-8.7,106,668,0.00,2.67,0.00,0.000,4,0.000,0.069,2738,690,3802,0,0,0,0,0,0
$GC,706,-1.16,-97.2,44.7,-9.1,113,713,0.00,2.53,0.00,0.000,6,0.000,0.041,2738,2192,3802,0,0,0,0,0,0
$GC,883,-1.16,-97.2,59.1,-7.7,144,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2192,3802,0,0,0,0,0,0
$GC,1063,-1.16,-97.2,72.8,-7.7,175,1070,0.00,2.67,0.00,0.000,4,0.000,0.070,2738,681,3802,0,0,0,0,0,0
$GC,1104,-1.16,-97.2,76.5,-8.5,181,1111,0.00,2.58,0.00,0.000,6,0.000,0.047,2738,2199,3802,0,0,0,0,0,0
$GC,1281,-1.16,-97.2,90.4,-7.5,212,1289,0.00,2.70,0.00,0.000,4,0.000,0.067,2738,688,3802,0,0,0,0,0,0
$GC,1326,-1.16,-97.2,94.0,-7.9,219,1332,0.00,2.58,0.00,0.000,6,0.000,0.047,2738,2207,3802,0,0,0,0,0,0
$GC,1501,-1.16,-97.2,106.9,-7.4,250,1509,0.00,2.70,0.00,0.000,4,0.000,0.069,2738,694,3802,0,0,0,0,0,0
$STATE,1520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1520,begin apogee
$GC,1531,-0.31,0.0,108.4,7.3,253,1615,0.88,0.00,78.00,0.682,6,0.099,0.000,2925,2103,3402,0,0,0,0,0,0
$STATE,1616,end apogee,CONTROL_FINISHED_OK
$STATE,1616,begin climb
$GC,1619,1.16,97.2,111.0,0.0,266,1704,1.45,0.00,78.90,0.663,6,0.071,0.000,3246,2103,3006,0,0,0,0,0,0
$GC,1873,1.16,97.2,91.5,9.1,309,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,2102,3001,0,0,0,0,0,0
$GC,2052,1.16,97.2,76.9,7.8,340,2060,0.00,2.75,0.00,0.000,4,0.000,0.070,3246,590,3000,0,0,0,0,0,0
$GC,2086,1.16,97.2,73.8,8.2,345,2093,0.00,2.58,0.00,0.000,6,0.000,0.042,3246,2105,3000,0,0,0,0,0,0
$GC,2264,1.16,97.2,60.0,7.8,376,2272,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2105,2999,0,0,0,0,0,0
$GC,2444,1.17,101.5,46.3,7.2,407,2458,0.00,2.72,3.90,0.440,4,0.000,0.070,3246,3607,2988,0,0,0,0,0,0
$GC,2472,1.17,101.5,43.9,7.5,411,2479,0.00,2.65,0.00,0.000,6,0.000,0.055,3247,2090,2988,0,0,0,0,0,0
$GC,2645,1.18,112.2,32.1,6.9,442,2662,0.00,2.78,10.90,0.602,4,0.000,0.072,3246,586,2944,0,0,0,0,0,0
$GC,2681,1.19,116.7,29.6,7.2,447,2698,0.00,2.60,5.30,0.500,6,0.000,0.045,3246,2099,2926,0,0,0,0,0,0
$GC,2746,1.19,116.7,24.9,7.5,457,2754,0.00,2.72,0.00,0.000,4,0.000,0.070,3246,3608,2925,0,0,0,0,0,0
$GC,2785,1.19,116.7,21.7,7.7,463,2793,0.00,2.67,0.00,0.000,6,0.000,0.058,3246,2094,2924,0,0,0,0,0,0
$GC,2839,1.19,116.7,17.7,7.5,472,2847,0.00,2.72,0.00,0.000,4,0.000,0.075,3246,587,2924,0,0,0,0,0,0
$GC,2880,1.19,124.4,14.8,7.1,478,2896,0.00,2.60,8.05,0.570,6,0.000,0.047,3246,2103,2894,0,0,0,0,0,0
$GC,2942,1.23,150.1,10.8,6.1,488,2973,0.00,2.75,22.42,0.612,4,0.000,0.069,3246,3605,2789,0,0,0,0,0,0
$GC,2993,1.23,150.1,6.7,8.3,495,3001,0.00,2.67,0.00,0.000,6,0.000,0.058,3246,2098,2788,0,0,0,0,0,0
$STATE,3017,end climb,SURFACE_DEPTH_REACHED
$STATE,3018,begin surface coast
$FINISH,5.0,1.019060
$STATE,3086,end surface coast,CONTROL_FINISHED_OK
$STATE,3086,begin surface
$SM_CCo,3092,457.50,0.591,0,0,480,717.01
$SM_GC,1.19,11.95,0.00,0.00,0.038,0.000,0.000,454,2222,477,-11.65,0.65,717.99
$IRIDIUM_FIX,4748.51,-12222.84,161212,050539
$TT8_MAMPS,0.026215
$HUMID,1078398055
$INTERNAL_PRESSURE,8.99764
$TCM_TEMP,15.10
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,75.4,6.4
$24V_AH,23.3,2.332
$10V_AH,10.5,1.233
$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,26.575,63.975,207.475,457.500,0.000,30.366,29.911,230.899,5.000,0.000,15.531,1137.494,369.127,794.620,1431.618,400.433,33.334,1318.498,0.000,1273.511,0.000,5.432,0.000
$DEVICE_MAMPS,157.590,78.795,681.615,591.345,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,369.698,286.839,897.312,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323316
$DATA_FILE_SIZE,26927,512
$CAP_FILE_SIZE,66546,0
$CFSIZE,260165632,118407168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230611,125928,4804.661,-12220.823,11,2.5,30,18.3