version: 66.07
glider: 150
mission: 8
dive: 10
start: 6 23 111 4 7 30
data:
$ID,150
$MISSION,8
$DIVE,10
$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,-81864.812
$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,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,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$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
$GPS1,230611,035822,4804.243,-12220.308,10,2.7,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-68.1
$GPS2,230611,040628,4804.162,-12220.226,9,3.3,28,18.3
$SPEED_LIMITS,0.129,0.196
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.095,0.171
$KALMAN_X,467.3,136.8,-44.9,2023.4,-50.3
$KALMAN_Y,-951.0,-196.8,60.9,-3199.0,8.1
$MHEAD_RNG_PITCHd_Wd,312.6,4051,-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,-97.2,0.0,0.0,0,116,0.00,0.00,-96.18,0.000,2,0.000,0.000,459,2133,3051,0,0,0,0,0,0
$GC,120,-1.16,-97.2,3.0,-2.7,14,165,12.15,2.78,-25.50,0.000,4,0.153,0.075,2738,3665,3800,0,0,0,0,0,0
$GC,409,-1.16,-97.2,18.8,-8.1,65,417,0.00,2.65,0.00,0.000,6,0.000,0.050,2739,2145,3801,0,0,0,0,0,0
$GC,462,-1.16,-97.2,22.9,-7.6,74,470,0.00,2.72,0.00,0.000,4,0.000,0.066,2738,3662,3801,0,0,0,0,0,0
$GC,498,-1.16,-97.2,25.8,-8.3,79,507,0.00,2.65,0.00,0.000,6,0.000,0.051,2738,2141,3801,0,0,0,0,0,0
$GC,552,-1.16,-97.2,30.5,-8.4,88,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2140,3801,0,0,0,0,0,0
$GC,605,-1.16,-97.2,35.0,-8.7,97,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2140,3801,0,0,0,0,0,0
$GC,659,-1.16,-97.2,39.8,-8.6,106,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2141,3801,0,0,0,0,0,0
$GC,715,-1.16,-97.2,44.5,-9.1,115,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2140,3801,0,0,0,0,0,0
$GC,887,-1.16,-97.2,60.6,-9.1,146,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2140,3801,0,0,0,0,0,0
$GC,1068,-1.16,-97.2,75.3,-8.4,177,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2140,3801,0,0,0,0,0,0
$GC,1244,-1.16,-97.2,90.6,-8.2,208,1253,0.00,2.70,0.00,0.000,4,0.000,0.070,2738,634,3801,0,0,0,0,0,0
$GC,1282,-1.16,-97.2,94.1,-8.6,214,1291,0.00,2.60,0.00,0.000,6,0.000,0.048,2738,2152,3801,0,0,0,0,0,0
$GC,1464,-1.16,-97.2,108.4,-7.9,245,1471,0.00,2.70,0.00,0.000,4,0.000,0.071,2738,631,3801,0,0,0,0,0,0
$STATE,1481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1482,begin apogee
$GC,1491,-0.31,0.0,110.1,7.7,248,1577,0.88,0.00,77.68,0.675,6,0.098,0.000,2926,2155,3402,0,0,0,0,0,0
$STATE,1578,end apogee,CONTROL_FINISHED_OK
$STATE,1578,begin climb
$GC,1582,1.16,97.2,113.1,0.0,261,1674,1.45,2.80,78.97,0.660,4,0.070,0.075,3248,3658,3004,0,0,0,0,0,0
$GC,1707,1.16,97.2,105.5,9.0,280,1715,0.00,2.70,0.00,0.000,6,0.000,0.058,3249,2149,3002,0,0,0,0,0,0
$GC,1886,1.16,97.2,89.0,9.1,311,1893,0.00,2.72,0.00,0.000,4,0.000,0.074,3248,625,3000,0,0,0,0,0,0
$GC,1972,1.16,97.2,80.6,9.5,326,1980,0.00,2.62,0.00,0.000,6,0.000,0.049,3249,2150,2999,0,0,0,0,0,0
$GC,2151,1.16,97.2,66.1,8.4,357,2156,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2150,2999,0,0,0,0,0,0
$GC,2328,1.16,97.2,52.1,7.8,388,2336,0.00,2.72,0.00,0.000,4,0.000,0.070,3249,634,2998,0,0,0,0,0,0
$GC,2365,1.16,97.2,48.8,7.9,394,2373,0.00,2.60,0.00,0.000,6,0.000,0.043,3249,2151,2998,0,0,0,0,0,0
$GC,2540,1.17,104.8,35.9,7.1,425,2549,0.00,0.00,6.75,0.553,6,0.000,0.000,3249,2151,2975,0,0,0,0,0,0
$GC,2597,1.18,108.9,32.0,7.2,434,2605,0.00,0.00,4.85,0.487,6,0.000,0.000,3249,2151,2959,0,0,0,0,0,0
$GC,2651,1.18,108.9,27.8,7.6,443,2658,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2151,2958,0,0,0,0,0,0
$GC,2706,1.18,108.9,23.8,7.6,452,2713,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2151,2958,0,0,0,0,0,0
$GC,2762,1.18,108.9,19.7,7.5,461,2770,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2151,2958,0,0,0,0,0,0
$GC,2817,1.18,111.4,15.5,7.3,470,2826,0.00,2.78,3.97,0.441,4,0.000,0.067,3249,628,2947,0,0,0,0,0,0
$GC,2846,1.18,116.4,13.2,7.2,474,2865,0.00,2.60,5.95,0.522,6,0.000,0.044,3249,2149,2927,0,0,0,0,0,0
$GC,2912,1.19,124.1,8.7,7.1,484,2928,0.00,0.00,8.00,0.560,6,0.000,0.000,3249,2149,2896,0,0,0,0,0,0
$STATE,2964,end climb,SURFACE_DEPTH_REACHED
$STATE,2965,begin surface coast
$FINISH,3.6,1.020137
$STATE,3052,end surface coast,CONTROL_FINISHED_OK
$STATE,3052,begin surface
$SM_CCo,3074,445.00,0.581,1,0,671,670.16
$SM_GC,1.32,0.00,0.00,445.00,0.000,0.000,0.581,457,2148,671,-11.69,-0.06,670.16
$IRIDIUM_FIX,4748.51,-12221.84,151212,212121
$TT8_MAMPS,0.026964
$HUMID,1078365797
$INTERNAL_PRESSURE,9.02694
$TCM_TEMP,15.30
$XPDR_PINGS,12
$24V_AH,23.3,1.449
$10V_AH,10.5,0.737
$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,26.650,42.975,186.175,445.000,0.000,27.293,29.212,238.359,3.750,0.000,31.541,1127.786,271.935,772.421,1456.237,395.981,33.338,1291.450,0.000,1277.780,0.000,5.671,0.000
$DEVICE_MAMPS,153.000,74.970,675.495,580.635,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,367.970,282.523,899.947,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323300
$DATA_FILE_SIZE,26938,509
$CAP_FILE_SIZE,63491,0
$CFSIZE,260165632,118665216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230611,050746,4804.382,-12220.456,34,1.7,43,18.3