version: 66.07
glider: 150
mission: 8
dive: 8
start: 6 23 111 1 37 39
data:
$ID,150
$MISSION,8
$DIVE,8
$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,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$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,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,-81862.281
$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,3000
$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,20
$R_STBD_OVSHOOT,23
$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,10
$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
$GPS1,230611,012826,4804.357,-12220.402,33,2.3,53,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-68.9
$GPS2,230611,013638,4804.271,-12220.348,13,1.4,13,18.3
$SPEED_LIMITS,0.129,0.196
$TGT_NAME,FOUR
$TGT_LATLONG,4804.000,-12220.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.114,-0.128
$KALMAN_X,400.4,171.7,30.5,1833.4,-31.5
$KALMAN_Y,-668.2,-247.5,-23.1,-3148.5,13.7
$MHEAD_RNG_PITCHd_Wd,120.0,662,-19.7,-7.463
$D_GRID,150
$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,-1.32,-72.4,0.0,0.0,0,102,0.00,0.00,-82.50,0.000,2,0.000,0.000,458,2151,2682,0,0,0,0,0,0
$GC,106,-1.35,-97.2,3.2,-3.3,12,164,12.02,2.75,-35.65,0.000,4,0.155,0.076,2699,631,3801,0,0,0,0,0,0
$GC,405,-1.35,-97.2,23.5,-9.3,65,413,0.00,2.60,0.00,0.000,6,0.000,0.047,2699,2150,3801,0,0,0,0,0,0
$GC,459,-1.35,-97.2,28.2,-8.7,74,467,0.00,2.72,0.00,0.000,4,0.000,0.064,2699,630,3801,0,0,0,0,0,0
$GC,676,-1.35,-97.2,51.5,-10.9,113,683,0.00,2.58,0.00,0.000,6,0.000,0.044,2699,2150,3802,0,0,0,0,0,0
$GC,854,-1.35,-97.2,69.1,-9.8,144,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2149,3801,0,0,0,0,0,0
$GC,1033,-1.35,-97.2,85.9,-9.4,175,1040,0.00,2.67,0.00,0.000,4,0.000,0.068,2699,631,3801,0,0,0,0,0,0
$GC,1064,-1.35,-97.2,89.1,-9.8,180,1075,0.00,2.60,0.00,0.000,6,0.000,0.046,2699,2144,3801,0,0,0,0,0,0
$GC,1247,-1.35,-97.2,106.2,-9.0,211,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2144,3801,0,0,0,0,0,0
$GC,1424,-1.35,-97.2,122.3,-9.0,242,1432,0.00,2.70,0.00,0.000,4,0.000,0.068,2699,639,3801,0,0,0,0,0,0
$STATE,1595,end dive,NO_VERTICAL_VELOCITY
$STATE,1595,begin apogee
$GC,1604,-0.31,0.0,123.4,0.0,272,1690,1.02,0.00,77.78,0.695,6,0.075,0.000,2931,2157,3403,0,0,0,0,0,0
$STATE,1690,end apogee,CONTROL_FINISHED_OK
$STATE,1691,begin climb
$GC,1695,1.35,97.2,123.4,0.0,285,1787,1.60,2.80,79.18,0.678,4,0.070,0.075,3287,3661,3004,0,0,0,0,0,0
$GC,1815,1.35,97.2,116.6,8.6,303,1822,0.00,2.65,0.00,0.000,6,0.000,0.056,3288,2146,3002,0,0,0,0,0,0
$GC,1993,1.35,97.2,97.1,10.8,334,2001,0.00,2.70,0.00,0.000,4,0.000,0.071,3287,639,3000,0,0,0,0,0,0
$GC,2028,1.35,97.2,93.5,11.0,339,2034,0.00,2.58,0.00,0.000,6,0.000,0.050,3288,2159,3000,0,0,0,0,0,0
$GC,2206,1.35,97.2,74.8,10.3,370,2213,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,2159,2999,0,0,0,0,0,0
$GC,2385,1.35,97.2,58.4,9.4,401,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,2159,2998,0,0,0,0,0,0
$GC,2562,1.35,97.2,43.3,7.8,432,2570,0.00,2.72,0.00,0.000,4,0.000,0.065,3287,638,2998,0,0,0,0,0,0
$GC,2650,1.35,97.2,35.4,9.0,447,2657,0.00,2.60,0.00,0.000,6,0.000,0.047,3287,2152,2998,0,0,0,0,0,0
$GC,2705,1.35,97.2,30.7,8.1,456,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,2152,2997,0,0,0,0,0,0
$GC,2762,1.35,97.2,26.3,8.0,465,2770,0.00,2.72,0.00,0.000,4,0.000,0.076,3288,3661,2997,0,0,0,0,0,0
$GC,2794,1.35,97.2,23.3,8.2,470,2803,0.00,2.65,0.00,0.000,6,0.000,0.054,3287,2149,2997,0,0,0,0,0,0
$GC,2849,1.35,97.2,18.8,8.3,479,2857,0.00,2.70,0.00,0.000,4,0.000,0.071,3288,635,2997,0,0,0,0,0,0
$GC,2879,1.35,97.2,16.5,8.3,483,2886,0.00,2.60,0.00,0.000,6,0.000,0.044,3288,2152,2997,0,0,0,0,0,0
$GC,2935,1.35,97.2,12.1,7.6,492,2943,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,2152,2996,0,0,0,0,0,0
$GC,2990,1.36,102.8,8.0,7.1,501,2998,0.00,0.00,4.78,0.495,6,0.000,0.000,3288,2151,2983,0,0,0,0,0,0
$STATE,3041,end climb,SURFACE_DEPTH_REACHED
$STATE,3041,begin surface coast
$FINISH,5.1,1.020484
$STATE,3150,end surface coast,CONTROL_FINISHED_OK
$STATE,3150,begin surface
$SM_CCo,3155,494.17,0.601,0,0,479,717.01
$SM_GC,0.95,12.07,0.00,0.00,0.036,0.000,0.000,453,2152,475,-11.66,0.08,718.24
$IRIDIUM_FIX,4748.51,-12224.57,151212,181845
$TT8_MAMPS,0.026964
$HUMID,1078436764
$INTERNAL_PRESSURE,9.01717
$TCM_TEMP,15.20
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,80.1,7.2
$24V_AH,23.3,1.181
$10V_AH,10.5,0.584
$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,26.725,47.975,161.725,494.175,0.000,23.701,32.424,260.961,4.250,0.000,15.866,1179.082,398.328,789.616,1503.529,391.469,33.356,1299.371,0.000,1312.783,0.000,5.433,0.000
$DEVICE_MAMPS,155.295,76.500,695.385,601.290,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,383.049,282.171,907.975,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323236
$DATA_FILE_SIZE,26948,530
$CAP_FILE_SIZE,61787,0
$CFSIZE,260165632,118747136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230611,024134,4804.119,-12220.157,12,99.0,31,18.3