version: 66.04
glider: 150
mission: 6
dive: 9
start: 10 8 109 0 50 7
data:
$ID,150
$MISSION,6
$DIVE,9
$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,67
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,80
$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,-15780.948
$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,32
$R_STBD_OVSHOOT,37
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,85
$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
$GPS1,004332,4806.269,-12222.355,8,1.3,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-65.7
$GPS2,004914,4806.237,-12222.297,11,1.1,11,18.3
$SPEED_LIMITS,0.129,0.177
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.086,-0.141
$KALMAN_X,-395.2,-211.8,12.1,2013.3,19.8
$KALMAN_Y,5.4,-76.0,18.1,-1643.1,124.6
$MHEAD_RNG_PITCHd_Wd,130.2,572,-20.6,-7.463
$D_GRID,150
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.37,-66.5,0.0,0.0,0,64,0.00,0.00,-46.47,0.000,2,0.000,0.000,419,2105,3169
$GC,68,-1.38,-77.7,2.2,-3.0,8,105,9.40,2.30,-20.65,0.000,4,0.159,0.054,2193,3497,3747
$GC,343,-1.38,-77.7,30.3,-11.0,71,350,0.00,2.25,0.00,0.000,6,0.000,0.032,2193,2093,3747
$GC,419,-1.38,-77.7,38.3,-11.1,84,425,0.00,2.33,0.00,0.000,4,0.000,0.046,2193,3496,3748
$GC,553,-1.38,-77.7,52.9,-10.8,113,559,0.00,2.25,0.00,0.000,6,0.000,0.028,2193,2092,3748
$GC,695,-1.38,-77.7,67.7,-10.5,138,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2092,3747
$GC,837,-1.38,-77.7,82.2,-10.4,163,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2092,3747
$GC,978,-1.38,-77.7,96.5,-10.2,188,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2090,3747
$GC,1120,-1.38,-77.7,111.4,-10.4,213,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2090,3747
$STATE,1152,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1152,begin apogee
$GC,1158,-0.31,0.0,115.0,10.7,219,1227,1.08,0.00,62.00,0.902,6,0.113,0.000,2424,2090,3431
$STATE,1228,end apogee,CONTROL_FINISHED_OK
$STATE,1228,begin climb
$GC,1231,1.38,77.7,117.8,0.0,231,1299,1.62,0.00,62.40,0.877,6,0.056,0.000,2802,2090,3112
$GC,1435,1.38,77.7,102.3,10.1,267,1440,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2090,3111
$GC,1576,1.38,77.7,88.3,9.9,292,1582,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2090,3111
$GC,1718,1.38,77.7,74.5,9.5,317,1724,0.00,2.38,0.00,0.000,4,0.000,0.064,2802,700,3111
$GC,1766,1.38,77.7,69.6,10.4,327,1773,0.00,2.25,0.00,0.000,6,0.000,0.035,2802,2091,3111
$GC,1909,1.38,77.7,56.2,9.2,352,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2092,3111
$GC,2050,1.38,77.7,43.0,9.3,377,2056,0.00,2.35,0.00,0.000,4,0.000,0.056,2802,695,3110
$GC,2085,1.38,77.7,39.6,9.8,384,2091,0.00,2.28,0.00,0.000,6,0.000,0.037,2802,2108,3110
$GC,2160,1.38,77.7,33.1,8.4,397,2166,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2107,3110
$GC,2234,1.38,77.7,27.0,8.6,410,2240,0.00,2.35,0.00,0.000,4,0.000,0.049,2802,703,3110
$GC,2284,1.38,77.7,22.4,9.5,421,2291,0.00,2.25,0.00,0.000,6,0.000,0.029,2802,2108,3111
$GC,2360,1.38,77.7,15.9,8.7,434,2367,0.00,2.38,0.00,0.000,4,0.000,0.060,2802,3513,3111
$GC,2385,1.38,77.7,13.8,8.2,439,2392,0.00,2.30,0.00,0.000,6,0.000,0.035,2802,2092,3111
$GC,2460,1.39,86.0,8.6,6.8,452,2474,0.00,2.45,7.97,0.771,4,0.000,0.058,2802,685,3079
$GC,2520,1.43,113.8,5.2,5.4,464,2551,0.00,2.28,23.05,0.828,6,0.000,0.031,2802,2110,2965
$STATE,2560,end climb,SURFACE_DEPTH_REACHED
$STATE,2560,begin surface coast
$FINISH,0.1,1.008542
$STATE,2730,end surface coast,CONTROL_FINISHED_OK
$STATE,2730,begin surface
$SM_CCo,2749,150.93,0.809,0,0,2207,300.00
$SM_GC,1.05,0.00,0.00,150.93,0.000,0.000,0.809,419,2112,2207,-9.58,0.45,300.00
$IRIDIUM_FIX,4751.72,-12221.84,020199,000005
$TT8_MAMPS,0.027612
$HUMID,1769
$INTERNAL_PRESSURE,9.26132
$TCM_TEMP,18.80
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,90.3,34.6
$24V_AH,23.2,1.279
$10V_AH,10.1,0.880
$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,21.950,32.375,155.425,150.925,0.000,31.174,23.616,169.116,5.500,0.000,0.000,12.730,777.320,808.042,392.089,899.409,379.934,33.317,834.121,0.000,901.406,0.000,7.305,0.000
$DEVICE_MAMPS,158.769,64.428,901.992,809.185,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,340.852,251.649,602.993,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25444,501
$CAP_FILE_SIZE,49952,0
$CFSIZE,260165632,218361856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081009,013934,4806.008,-12222.127,7,2.2,26,18.3