version: 66.07
glider: 150
mission: 8
dive: 4
start: 6 22 111 21 28 59
data:
$ID,150
$MISSION,8
$DIVE,4
$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,50
$T_MISSION,60
$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,150
$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,-81857.234
$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,3006
$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,19
$R_STBD_OVSHOOT,22
$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,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
$GPS1,220611,212313,4805.680,-12221.606,6,1.3,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-70.5
$GPS2,220611,212802,4805.644,-12221.584,9,1.4,9,18.3
$SPEED_LIMITS,0.173,0.259
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.140,-0.218
$KALMAN_X,145.3,79.2,63.9,613.9,29.6
$KALMAN_Y,-332.3,-146.6,-125.8,-938.6,-76.4
$MHEAD_RNG_PITCHd_Wd,129.0,1394,-17.5,-10.000
$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,-1.27,-145.7,0.0,0.0,0,124,0.00,0.00,-103.60,0.000,2,0.000,0.000,457,2153,3180,0,0,0,0,0,0
$GC,129,-1.27,-145.7,3.0,-1.7,15,176,11.90,2.70,-27.55,0.000,4,0.148,0.078,2722,632,3964,0,0,0,0,0,0
$GC,418,-1.27,-145.7,24.6,-10.5,66,425,0.00,2.60,0.00,0.000,6,0.000,0.042,2722,2157,3965,0,0,0,0,0,0
$GC,471,-1.27,-145.7,30.2,-10.4,75,479,0.00,2.72,0.00,0.000,4,0.000,0.065,2722,631,3965,0,0,0,0,0,0
$GC,552,-1.27,-145.7,39.0,-11.0,89,560,0.00,2.60,0.00,0.000,6,0.000,0.044,2722,2153,3965,0,0,0,0,0,0
$GC,606,-1.27,-145.7,44.8,-10.5,98,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2153,3965,0,0,0,0,0,0
$GC,785,-1.27,-145.7,63.2,-10.3,129,792,0.00,2.70,0.00,0.000,4,0.000,0.069,2722,630,3965,0,0,0,0,0,0
$GC,862,-1.27,-145.7,71.5,-10.6,142,869,0.00,2.60,0.00,0.000,6,0.000,0.045,2722,2147,3965,0,0,0,0,0,0
$GC,1040,-1.27,-145.7,88.8,-9.9,173,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2147,3965,0,0,0,0,0,0
$GC,1223,-1.27,-145.7,106.5,-9.4,204,1231,0.00,2.72,0.00,0.000,4,0.000,0.073,2722,631,3964,0,0,0,0,0,0
$STATE,1260,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1260,begin apogee
$GC,1269,-0.31,0.0,110.5,10.5,210,1381,0.95,0.00,107.07,0.674,6,0.093,0.000,2930,2152,3403,0,0,0,0,0,0
$STATE,1385,end apogee,CONTROL_FINISHED_OK
$STATE,1385,begin climb
$GC,1388,1.27,145.7,114.4,0.0,227,1522,1.55,2.83,117.50,0.648,4,0.065,0.069,3282,634,2806,0,0,0,0,0,0
$GC,1529,1.27,145.7,103.5,11.6,248,1537,0.00,2.65,0.00,0.000,6,0.000,0.047,3282,2149,2805,0,0,0,0,0,0
$GC,1711,1.27,145.7,80.1,12.8,279,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,2149,2802,0,0,0,0,0,0
$GC,1891,1.27,145.7,58.3,11.6,310,1898,0.00,2.75,0.00,0.000,4,0.000,0.073,3282,630,2801,0,0,0,0,0,0
$GC,1935,1.27,145.7,52.9,12.4,317,1942,0.00,2.62,0.00,0.000,6,0.000,0.047,3282,2162,2800,0,0,0,0,0,0
$GC,2108,1.27,145.7,33.1,11.0,348,2116,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,2162,2800,0,0,0,0,0,0
$GC,2163,1.27,145.7,27.4,11.2,357,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,2162,2800,0,0,0,0,0,0
$GC,2215,1.27,145.7,21.6,11.0,366,2223,0.00,2.75,0.00,0.000,4,0.000,0.069,3282,636,2799,0,0,0,0,0,0
$GC,2237,1.27,145.7,18.9,10.8,369,2246,0.00,2.62,0.00,0.000,6,0.000,0.050,3282,2157,2799,0,0,0,0,0,0
$GC,2292,1.27,145.7,13.3,10.2,378,2300,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,2156,2800,0,0,0,0,0,0
$GC,2347,1.29,158.1,8.3,9.4,387,2364,0.00,2.72,10.18,0.575,4,0.000,0.070,3282,637,2757,0,0,0,0,0,0
$STATE,2381,end climb,SURFACE_DEPTH_REACHED
$STATE,2382,begin surface coast
$FINISH,2.6,1.018988
$STATE,2442,end surface coast,CONTROL_FINISHED_OK
$STATE,2442,begin surface
$SM_CCo,2468,430.95,0.569,1,0,589,690.03
$SM_GC,1.53,0.00,0.00,430.95,0.000,0.000,0.569,458,2163,589,-11.73,0.37,690.03
$IRIDIUM_FIX,4748.51,-12224.57,151212,151511
$TT8_MAMPS,0.026964
$HUMID,1078422571
$INTERNAL_PRESSURE,9.05623
$TCM_TEMP,15.20
$XPDR_PINGS,12
$24V_AH,23.4,0.662
$10V_AH,10.5,0.308
$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,26.650,42.850,234.750,430.950,0.000,0.000,0.000,0.000,4.500,0.000,11.246,862.298,212.083,770.399,916.829,221.029,32.332,1211.844,0.000,1008.926,0.000,12.811,0.000
$DEVICE_MAMPS,147.645,78.030,673.965,569.160,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,296.612,223.987,709.977,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323404
$DATA_FILE_SIZE,20219,403
$CAP_FILE_SIZE,60135,0
$CFSIZE,260165632,118898688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220611,221837,4805.390,-12221.230,28,1.4,28,18.3