version: 66.07
glider: 150
mission: 8
dive: 21
start: 6 23 111 16 0 14
data:
$ID,150
$MISSION,8
$DIVE,21
$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,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,-81878.766
$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,18
$R_STBD_OVSHOOT,32
$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,2
$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
$GPS1,230611,155222,4805.447,-12221.350,9,3.3,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-71.9
$GPS2,230611,155916,4805.517,-12221.420,14,3.0,33,18.3
$SPEED_LIMITS,0.217,0.228
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.085,0.212
$KALMAN_X,1693.4,113.8,9.0,-708.2,-62.7
$KALMAN_Y,-3224.5,-237.4,9.7,1668.8,128.3
$MHEAD_RNG_PITCHd_Wd,319.8,4997,-26.2,-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,-97.2,0.0,0.0,0,88,0.00,0.00,-68.53,0.000,2,0.000,0.000,458,2208,2660,0,0,0,0,0,0
$GC,93,-1.76,-97.2,3.3,-3.8,10,151,11.55,2.70,-36.28,0.000,4,0.155,0.083,2610,3703,3802,0,0,0,0,0,0
$GC,393,-1.76,-97.2,27.2,-12.4,63,401,0.00,2.65,0.00,0.000,6,0.000,0.057,2610,2196,3802,0,0,0,0,0,0
$GC,446,-1.76,-97.2,34.6,-13.2,72,454,0.00,2.72,0.00,0.000,4,0.000,0.068,2610,3704,3802,0,0,0,0,0,0
$GC,569,-1.76,-97.2,52.2,-14.7,93,575,0.00,2.62,0.00,0.000,6,0.000,0.054,2610,2196,3802,0,0,0,0,0,0
$GC,751,-1.76,-97.2,77.4,-13.4,124,759,0.00,2.70,0.00,0.000,4,0.000,0.071,2610,683,3802,0,0,0,0,0,0
$GC,777,-1.76,-97.2,81.1,-13.8,128,786,0.00,2.60,0.00,0.000,6,0.000,0.046,2610,2197,3802,0,0,0,0,0,0
$GC,956,-1.76,-97.2,104.2,-12.8,159,962,0.00,2.67,0.00,0.000,4,0.000,0.065,2610,686,3802,0,0,0,0,0,0
$STATE,1001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1001,begin apogee
$GC,1011,-0.31,0.0,110.2,13.2,167,1097,1.52,0.00,77.30,0.668,6,0.119,0.000,2921,2110,3404,0,0,0,0,0,0
$STATE,1098,end apogee,CONTROL_FINISHED_OK
$STATE,1098,begin climb
$GC,1102,1.76,97.2,113.9,0.0,180,1188,2.05,0.00,78.53,0.652,6,0.070,0.000,3376,2110,3005,0,0,0,0,0,0
$GC,1358,1.76,97.2,82.6,14.7,223,1365,0.00,2.75,0.00,0.000,4,0.000,0.072,3376,590,3001,0,0,0,0,0,0
$GC,1378,1.76,97.2,79.1,14.2,226,1386,0.00,2.60,0.00,0.000,6,0.000,0.047,3376,2098,3001,0,0,0,0,0,0
$GC,1554,1.76,97.2,55.3,13.7,257,1560,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,2098,3000,0,0,0,0,0,0
$GC,1732,1.77,106.3,34.0,11.7,288,1748,0.00,2.72,8.20,0.555,4,0.000,0.070,3376,583,2968,0,0,0,0,0,0
$GC,1818,1.77,106.3,22.7,12.7,302,1826,0.00,2.60,0.00,0.000,6,0.000,0.042,3376,2100,2966,0,0,0,0,0,0
$GC,1876,1.77,111.7,16.1,12.0,311,1884,0.00,0.00,6.03,0.512,6,0.000,0.000,3376,2100,2947,0,0,0,0,0,0
$GC,1930,1.79,128.3,9.6,11.1,320,1953,0.00,0.00,15.10,0.584,6,0.000,0.000,3376,2100,2878,0,0,0,0,0,0
$STATE,1974,end climb,SURFACE_DEPTH_REACHED
$STATE,1975,begin surface coast
$FINISH,3.8,1.019598
$STATE,2035,end surface coast,CONTROL_FINISHED_OK
$STATE,2039,begin surface
$SM_CCo,2063,453.98,0.575,1,0,590,690.03
$SM_GC,1.03,0.00,0.00,453.98,0.000,0.000,0.575,459,2215,590,-11.68,0.42,690.03
$IRIDIUM_FIX,4748.51,-12221.84,161212,090939
$TT8_MAMPS,0.026964
$HUMID,1078341281
$INTERNAL_PRESSURE,9.0074
$TCM_TEMP,15.20
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,75.7,8.6
$24V_AH,23.3,2.812
$10V_AH,10.5,1.468
$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,28.050,31.975,185.150,453.975,0.000,26.149,29.018,184.644,3.750,0.000,36.819,743.756,172.351,719.721,1022.848,288.357,33.330,1087.115,0.000,854.553,0.000,8.946,0.000
$DEVICE_MAMPS,155.295,82.620,667.845,575.280,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,246.814,193.261,603.299,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323304
$DATA_FILE_SIZE,16925,338
$CAP_FILE_SIZE,44765,0
$CFSIZE,260165632,118304768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230611,164328,4805.835,-12221.556,9,99.0,28,18.3