version: 66.07
glider: 150
mission: 8
dive: 18
start: 6 23 111 13 8 38
data:
$ID,150
$MISSION,8
$DIVE,18
$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,-81874.898
$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,21
$R_STBD_OVSHOOT,36
$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
$GPS1,230611,125928,4804.661,-12220.823,11,2.5,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-68.5
$GPS2,230611,130736,4804.626,-12220.802,11,1.9,27,18.3
$SPEED_LIMITS,0.129,0.196
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.096,0.171
$KALMAN_X,1675.7,124.2,164.2,-92.5,21.8
$KALMAN_Y,-3289.2,-277.3,-247.0,386.9,-57.5
$MHEAD_RNG_PITCHd_Wd,312.5,2944,-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,15,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,-96.03,0.000,2,0.000,0.000,453,2222,2838,0,0,0,0,0,0
$GC,120,-1.16,-97.2,3.5,-3.4,14,164,12.32,0.00,-27.25,0.000,6,0.158,0.000,2740,2222,3801,0,0,0,0,0,0
$GC,211,-1.16,-97.2,7.8,-5.7,28,219,0.00,2.75,0.00,0.000,4,0.000,0.069,2740,689,3802,0,0,0,0,0,0
$GC,292,-1.16,-97.2,11.9,-5.8,42,299,0.00,2.58,0.00,0.000,6,0.000,0.041,2740,2197,3802,0,0,0,0,0,0
$GC,348,-1.16,-97.2,15.2,-6.0,51,355,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2198,3801,0,0,0,0,0,0
$GC,404,-1.16,-97.2,19.0,-7.6,60,412,0.00,2.70,0.00,0.000,4,0.000,0.065,2740,685,3802,0,0,0,0,0,0
$GC,496,-1.16,-97.2,27.3,-9.4,76,504,0.00,2.60,0.00,0.000,6,0.000,0.042,2740,2205,3801,0,0,0,0,0,0
$GC,551,-1.16,-97.2,32.2,-8.8,85,558,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2205,3802,0,0,0,0,0,0
$GC,606,-1.16,-97.2,37.1,-8.9,94,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2205,3802,0,0,0,0,0,0
$GC,660,-1.16,-97.2,42.2,-9.4,103,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2205,3802,0,0,0,0,0,0
$GC,832,-1.16,-97.2,57.9,-8.7,134,839,0.00,2.72,0.00,0.000,4,0.000,0.064,2740,682,3802,0,0,0,0,0,0
$GC,876,-1.16,-97.2,61.9,-9.3,141,882,0.00,2.60,0.00,0.000,6,0.000,0.043,2740,2210,3802,0,0,0,0,0,0
$GC,1056,-1.16,-97.2,77.3,-8.5,172,1065,0.00,2.72,0.00,0.000,4,0.000,0.066,2740,688,3802,0,0,0,0,0,0
$GC,1144,-1.16,-97.2,85.0,-8.8,187,1151,0.00,2.58,0.00,0.000,6,0.000,0.043,2740,2206,3802,0,0,0,0,0,0
$GC,1323,-1.16,-97.2,99.2,-7.7,218,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2207,3802,0,0,0,0,0,0
$STATE,1434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1435,begin apogee
$GC,1444,-0.31,0.0,108.2,7.6,238,1526,0.85,0.00,77.72,0.679,6,0.099,0.000,2923,2085,3402,0,0,0,0,0,0
$STATE,1526,end apogee,CONTROL_FINISHED_OK
$STATE,1526,begin climb
$GC,1529,1.16,97.2,110.6,0.0,250,1616,1.48,2.88,79.15,0.656,4,0.072,0.075,3249,3612,3005,0,0,0,0,0,0
$GC,1655,1.16,97.2,102.7,9.0,269,1662,0.00,2.67,0.00,0.000,6,0.000,0.058,3249,2104,3002,0,0,0,0,0,0
$GC,1832,1.16,97.2,86.5,8.8,300,1840,0.00,2.75,0.00,0.000,4,0.000,0.076,3248,590,3000,0,0,0,0,0,0
$GC,1854,1.16,97.2,84.5,9.0,303,1861,0.00,2.58,0.00,0.000,6,0.000,0.046,3249,2102,3000,0,0,0,0,0,0
$GC,2031,1.16,97.2,69.5,8.1,334,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2102,2999,0,0,0,0,0,0
$GC,2212,1.16,97.2,55.6,7.7,365,2219,0.00,2.72,0.00,0.000,4,0.000,0.069,3249,583,2998,0,0,0,0,0,0
$GC,2239,1.16,97.2,53.0,7.8,369,2246,0.00,2.60,0.00,0.000,6,0.000,0.047,3249,2111,2998,0,0,0,0,0,0
$GC,2414,1.16,100.0,39.9,7.3,400,2422,0.00,2.75,0.00,0.000,4,0.000,0.072,3249,590,2998,0,0,0,0,0,0
$GC,2465,1.16,100.0,36.1,7.8,408,2473,0.00,2.58,0.00,0.000,6,0.000,0.046,3249,2097,2998,0,0,0,0,0,0
$GC,2520,1.18,111.0,32.0,6.9,417,2543,0.00,2.78,11.70,0.601,4,0.000,0.070,3249,3610,2949,0,0,0,0,0,0
$GC,2567,1.18,114.6,28.5,7.3,424,2577,0.00,2.67,4.75,0.475,6,0.000,0.057,3249,2098,2935,0,0,0,0,0,0
$GC,2625,1.18,114.6,24.4,7.7,433,2632,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2098,2934,0,0,0,0,0,0
$GC,2679,1.19,119.5,20.3,7.2,442,2696,0.00,2.78,5.68,0.516,4,0.000,0.075,3249,585,2914,0,0,0,0,0,0
$GC,2715,1.19,119.5,17.4,7.6,447,2723,0.00,2.60,0.00,0.000,6,0.000,0.042,3249,2098,2914,0,0,0,0,0,0
$GC,2770,1.19,119.5,13.4,7.6,456,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2098,2914,0,0,0,0,0,0
$GC,2825,1.20,130.8,9.4,6.9,465,2841,0.00,0.00,11.00,0.585,6,0.000,0.000,3249,2098,2868,0,0,0,0,0,0
$GC,2889,1.27,182.3,6.0,4.8,475,2913,0.10,0.00,20.45,0.601,2,0.090,0.000,3282,2098,2772,0,0,0,0,0,0
$STATE,2913,end climb,SURFACE_DEPTH_REACHED
$STATE,2914,begin surface coast
$FINISH,4.7,1.018603
$STATE,3045,end surface coast,CONTROL_FINISHED_OK
$STATE,3045,begin surface
$SM_CCo,3068,410.40,0.595,0,0,671,670.16
$SM_GC,0.91,0.00,0.00,410.40,0.000,0.000,0.595,458,2215,671,-11.69,0.42,670.16
$IRIDIUM_FIX,4745.30,-12201.35,161212,060659
$TT8_MAMPS,0.026964
$HUMID,1078346442
$INTERNAL_PRESSURE,9.02694
$TCM_TEMP,15.20
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,75.3,6.5
$24V_AH,23.3,2.457
$10V_AH,10.5,1.306
$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,27.075,53.975,210.450,410.400,0.000,23.318,29.276,245.301,4.750,0.000,29.338,1118.286,267.326,752.792,1440.380,401.920,33.362,1278.476,0.000,1258.374,0.000,8.958,0.000
$DEVICE_MAMPS,157.590,76.500,678.555,595.170,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,366.651,279.316,889.708,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323324
$DATA_FILE_SIZE,26943,502
$CAP_FILE_SIZE,66533,0
$CFSIZE,260165632,118366208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230611,140752,4804.876,-12221.020,7,99.0,26,18.3