version: 66.07
glider: 150
mission: 8
dive: 12
start: 6 23 111 6 29 6
data:
$ID,150
$MISSION,8
$DIVE,12
$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,40
$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,90
$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,-81867.328
$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,30
$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
$GPS1,230611,061938,4804.429,-12220.541,11,1.8,11,18.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-68.6
$GPS2,230611,062744,4804.345,-12220.454,11,1.1,11,18.3
$SPEED_LIMITS,0.217,0.227
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.112,0.197
$KALMAN_X,779.2,73.4,-60.1,1507.4,53.4
$KALMAN_Y,-1599.7,-124.2,41.5,-2264.9,-117.5
$MHEAD_RNG_PITCHd_Wd,312.2,3613,-26.4,-12.500
$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,14,begin dive
$GC,17,-1.76,-87.4,0.0,0.0,0,109,0.00,0.00,-89.15,0.000,2,0.000,0.000,454,2166,2893,0,0,0,0,0,0
$GC,113,-1.76,-87.4,3.0,-4.0,13,159,11.52,0.00,-29.62,0.000,6,0.155,0.000,2610,2166,3761,0,0,0,0,0,0
$GC,207,-1.76,-87.4,6.7,-6.5,27,215,0.00,2.75,0.00,0.000,4,0.000,0.066,2610,3701,3761,0,0,0,0,0,0
$GC,302,-1.76,-87.4,15.1,-8.6,44,310,0.00,2.62,0.00,0.000,6,0.000,0.050,2610,2196,3762,0,0,0,0,0,0
$GC,359,-1.76,-87.4,19.8,-8.4,53,366,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2196,3762,0,0,0,0,0,0
$GC,414,-1.76,-87.4,25.3,-11.0,62,421,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2196,3762,0,0,0,0,0,0
$GC,467,-1.76,-87.4,31.6,-11.5,71,474,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2196,3762,0,0,0,0,0,0
$GC,522,-1.76,-87.4,37.9,-12.0,80,529,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2196,3762,0,0,0,0,0,0
$GC,577,-1.76,-87.4,44.9,-12.6,89,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2196,3762,0,0,0,0,0,0
$GC,752,-1.76,-87.4,67.7,-12.6,120,760,0.00,2.67,0.00,0.000,4,0.000,0.070,2610,692,3762,0,0,0,0,0,0
$GC,796,-1.76,-87.4,73.3,-13.6,127,803,0.00,2.55,0.00,0.000,6,0.000,0.044,2610,2195,3762,0,0,0,0,0,0
$GC,973,-1.76,-87.4,95.5,-11.7,158,982,0.00,2.70,0.00,0.000,4,0.000,0.069,2610,683,3762,0,0,0,0,0,0
$GC,1000,-1.76,-87.4,98.8,-12.5,162,1008,0.00,2.60,0.00,0.000,6,0.000,0.047,2610,2200,3762,0,0,0,0,0,0
$STATE,1098,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1098,begin apogee
$GC,1107,-0.31,0.0,110.5,12.0,179,1186,1.52,0.00,70.03,0.670,6,0.114,0.000,2924,2088,3404,0,0,0,0,0,0
$STATE,1186,end apogee,CONTROL_FINISHED_OK
$STATE,1186,begin climb
$GC,1189,1.76,87.4,113.7,0.0,191,1267,2.03,0.00,71.03,0.653,6,0.069,0.000,3383,2089,3045,0,0,0,0,0,0
$GC,1438,1.76,87.4,83.9,14.2,233,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,2089,3041,0,0,0,0,0,0
$GC,1617,1.76,87.4,60.3,12.9,264,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,2089,3040,0,0,0,0,0,0
$GC,1799,1.77,99.9,39.3,11.4,295,1815,0.00,2.75,11.00,0.587,4,0.000,0.068,3383,595,2995,0,0,0,0,0,0
$GC,1834,1.78,109.1,35.1,11.7,300,1851,0.00,2.60,9.20,0.562,6,0.000,0.047,3383,2104,2958,0,0,0,0,0,0
$GC,1899,1.78,109.9,27.3,12.4,310,1906,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,2103,2956,0,0,0,0,0,0
$GC,1954,1.78,109.9,19.9,13.3,319,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,2104,2956,0,0,0,0,0,0
$GC,2008,1.79,115.1,13.4,12.0,328,2017,0.00,0.00,6.45,0.524,6,0.000,0.000,3383,2104,2933,0,0,0,0,0,0
$GC,2064,1.81,128.7,6.9,11.3,337,2080,0.00,0.00,12.38,0.578,6,0.000,0.000,3382,2104,2878,0,0,0,0,0,0
$STATE,2086,end climb,SURFACE_DEPTH_REACHED
$STATE,2086,begin surface coast
$FINISH,2.8,1.019114
$STATE,2135,end surface coast,CONTROL_FINISHED_OK
$STATE,2135,begin surface
$SM_CCo,2159,438.40,0.575,1,0,671,670.16
$SM_GC,1.02,0.00,0.00,438.40,0.000,0.000,0.575,457,2218,671,-11.69,0.51,670.16
$IRIDIUM_FIX,4748.51,-12217.40,151212,232358
$TT8_MAMPS,0.026964
$HUMID,1078369668
$INTERNAL_PRESSURE,9.02694
$TCM_TEMP,13.40
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,75.3,6.5
$24V_AH,23.3,1.705
$10V_AH,10.5,0.866
$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,28.025,21.600,180.075,438.400,0.000,28.580,28.104,254.854,2.500,0.000,14.017,791.778,193.511,723.153,1094.245,320.106,33.348,1115.495,0.000,885.138,0.000,5.428,0.000
$DEVICE_MAMPS,154.530,140.760,670.140,575.280,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,251.896,191.402,616.102,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323308
$DATA_FILE_SIZE,16879,349
$CAP_FILE_SIZE,50801,0
$CFSIZE,260165632,118611968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230611,071346,4804.445,-12220.545,11,99.0,30,18.3