version: 66.04
glider: 150
mission: 6
dive: 5
start: 10 7 109 21 47 23
data:
$ID,150
$MISSION,6
$DIVE,5
$D_SURF,4
$D_FLARE,2
$D_TGT,150
$D_ABORT,1020
$D_NO_BLEED,500
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0292
$MASS,52219
$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,33
$TGT_DEFAULT_LON,33
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,2
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-15702.006
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,430
$PITCH_MAX,3717
$C_PITCH,2501
$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,257
$ROLL_MAX,3938
$ROLL_DEG,40
$C_ROLL_DIVE,2097
$C_ROLL_CLIMB,2097
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3951
$C_VBD,3430
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-6.2719669
$PRESSURE_SLOPE,0.000116226
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,150
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$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
$DEVICE3,87
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-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,0.004369698
$SEABIRD_T_H,0.00063770782
$SEABIRD_T_I,2.6189617e-05
$SEABIRD_T_J,2.9323592e-06
$SEABIRD_C_G,-9.9919777
$SEABIRD_C_H,1.1278584
$SEABIRD_C_I,-0.00075603358
$SEABIRD_C_J,0.00015749504
$GPS1,213936,4806.992,-12222.982,12,1.3,22,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-66.2
$GPS2,214626,4806.963,-12222.996,13,1.3,13,18.3
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.137,-0.190
$KALMAN_X,-273.5,-208.2,-165.7,1200.1,16.3
$KALMAN_Y,-235.6,-132.8,-86.2,103.3,-40.4
$MHEAD_RNG_PITCHd_Wd,126.0,2167,-19.8,-10.000
$D_GRID,103
$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
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.38,-116.6,0.0,0.0,0,64,0.00,0.00,-46.83,0.000,2,0.000,0.000,419,2108,3161
$GC,67,-1.38,-116.6,2.1,-3.8,8,110,9.38,2.40,-25.52,0.000,4,0.158,0.062,2194,695,3907
$GC,350,-1.38,-116.6,35.8,-13.3,72,356,0.00,2.25,0.00,0.000,6,0.000,0.032,2194,2110,3906
$GC,425,-1.38,-116.6,45.0,-11.5,85,431,0.00,2.35,0.00,0.000,4,0.000,0.046,2193,698,3907
$GC,514,-1.38,-116.6,56.5,-13.7,104,520,0.00,2.22,0.00,0.000,6,0.000,0.028,2194,2099,3906
$GC,656,-1.38,-116.6,74.3,-12.0,129,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2100,3906
$GC,796,-1.38,-116.6,91.4,-12.3,154,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2100,3906
$STATE,899,end dive,TARGET_DEPTH_EXCEEDED
$STATE,899,begin apogee
$GC,905,-0.31,0.0,103.5,11.8,172,1002,1.08,0.00,92.47,0.902,6,0.096,0.000,2428,2100,3430
$STATE,1003,end apogee,CONTROL_FINISHED_OK
$STATE,1003,begin climb
$GC,1005,1.38,116.6,107.5,0.0,189,1106,1.60,0.00,93.20,0.874,6,0.051,0.000,2801,2100,2952
$GC,1243,1.38,116.6,85.4,12.4,231,1249,0.00,2.40,0.00,0.000,4,0.000,0.062,2802,701,2948
$GC,1277,1.38,116.6,80.9,12.8,238,1284,0.00,2.25,0.00,0.000,6,0.000,0.037,2802,2086,2948
$GC,1420,1.38,116.6,64.1,11.7,263,1425,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2087,2948
$GC,1561,1.38,116.6,47.6,11.7,288,1567,0.00,2.33,0.00,0.000,4,0.000,0.050,2802,702,2947
$GC,1596,1.38,116.6,43.3,12.6,295,1602,0.00,2.28,0.00,0.000,6,0.000,0.035,2802,2116,2947
$GC,1739,1.38,116.6,27.0,10.7,320,1745,0.00,2.38,0.00,0.000,4,0.000,0.048,2802,699,2947
$GC,1797,1.38,116.6,20.4,11.2,333,1804,0.00,2.25,0.00,0.000,6,0.000,0.034,2802,2106,2947
$GC,1872,1.38,116.6,12.5,10.4,346,1879,0.00,2.35,0.00,0.000,4,0.000,0.059,2802,3498,2948
$GC,1901,1.38,116.6,9.0,12.3,352,1908,0.00,2.25,0.00,0.000,6,0.000,0.038,2802,2102,2948
$STATE,1968,end climb,SURFACE_DEPTH_REACHED
$STATE,1968,begin surface coast
$FINISH,0.1,1.010854
$STATE,2061,end surface coast,CONTROL_FINISHED_OK
$STATE,2061,begin surface
$SM_CCo,2081,148.25,0.832,0,0,2207,300.00
$SM_GC,1.09,0.00,0.00,148.25,0.000,0.000,0.832,419,2100,2207,-9.58,0.08,300.00
$IRIDIUM_FIX,4751.72,-12223.57,010199,212145
$TT8_MAMPS,0.027612
$HUMID,1768
$INTERNAL_PRESSURE,9.26132
$TCM_TEMP,18.50
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,100.3,21.4
$24V_AH,23.2,0.908
$10V_AH,10.2,0.707
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.850,27.700,185.675,148.250,0.000,27.852,24.523,218.249,6.000,0.000,0.000,15.198,579.190,561.280,392.747,697.948,426.796,33.324,749.146,0.000,687.567,0.000,19.203,0.000
$DEVICE_MAMPS,158.002,62.127,901.992,832.195,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,262.160,182.143,460.729,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19150,380
$CAP_FILE_SIZE,42146,0
$CFSIZE,260165632,218492928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071009,222536,4806.823,-12222.753,8,1.0,24,18.3