version: 66.04
glider: 150
mission: 6
dive: 10
start: 10 8 109 1 46 28
data:
$ID,150
$MISSION,6
$DIVE,10
$D_SURF,2
$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,83
$T_MISSION,90
$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,150
$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,-15793.677
$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,29
$R_STBD_OVSHOOT,40
$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
$GPS1,013934,4806.008,-12222.127,7,2.2,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-67.1
$GPS2,014532,4805.967,-12222.080,10,1.0,10,18.3
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.107,0.187
$KALMAN_X,-551.1,-194.0,73.9,2358.1,-84.0
$KALMAN_Y,-24.2,-48.1,84.7,-2208.9,50.7
$MHEAD_RNG_PITCHd_Wd,311.8,4451,-10.0,-6.024
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.80,-145.7,0.0,0.0,0,64,0.00,0.00,-46.83,0.000,2,0.000,0.000,419,2113,3173
$GC,68,-0.80,-145.7,2.2,-2.7,8,112,10.15,2.38,-26.27,0.000,4,0.163,0.060,2319,692,3952
$GC,127,-0.80,-145.7,5.5,-5.2,18,134,0.00,2.25,0.00,0.000,6,0.000,0.032,2319,2109,3953
$GC,203,-0.80,-145.7,10.2,-6.1,31,209,0.00,2.28,0.00,0.000,4,0.000,0.049,2319,3492,3952
$GC,233,-0.80,-145.7,12.3,-6.8,37,239,0.00,2.25,0.00,0.000,6,0.000,0.033,2319,2086,3952
$GC,308,-0.80,-145.7,17.2,-6.4,50,314,0.00,2.30,0.00,0.000,4,0.000,0.048,2319,701,3952
$GC,338,-0.80,-145.7,19.2,-6.7,56,345,0.00,2.22,0.00,0.000,6,0.000,0.029,2319,2102,3953
$GC,414,-0.80,-145.7,24.4,-6.8,69,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2102,3953
$GC,489,-0.80,-145.7,29.4,-6.7,82,494,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2102,3952
$GC,563,-0.80,-145.7,34.2,-6.4,95,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2102,3953
$GC,637,-0.80,-145.7,39.1,-6.5,108,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2102,3953
$GC,711,-0.80,-145.7,43.7,-6.3,121,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2102,3953
$GC,852,-0.80,-145.7,52.5,-6.3,146,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2102,3952
$GC,993,-0.80,-145.7,61.4,-6.4,171,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2102,3953
$GC,1135,-0.80,-145.7,70.4,-6.4,196,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2102,3953
$GC,1276,-0.80,-145.7,79.4,-6.5,221,1282,0.00,2.30,0.00,0.000,4,0.000,0.045,2319,3493,3952
$GC,1302,-0.80,-145.7,81.2,-6.4,226,1309,0.00,2.25,0.00,0.000,6,0.000,0.033,2319,2092,3952
$GC,1449,-0.80,-145.7,90.3,-6.8,251,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2090,3952
$GC,1590,-0.80,-145.7,99.4,-6.2,276,1595,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2090,3952
$GC,1732,-0.80,-145.7,108.3,-6.1,301,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2090,3952
$GC,1873,-0.80,-145.7,117.1,-6.2,326,1878,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2090,3952
$GC,2015,-0.80,-145.7,124.3,-2.8,351,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2089,3952
$GC,2157,-0.80,-145.7,124.2,-0.0,376,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2089,3952
$GC,2299,-0.80,-145.7,124.3,-0.0,401,2304,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2089,3952
$GC,2440,-0.80,-145.7,124.3,-0.0,426,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2089,3951
$GC,2582,-0.80,-145.7,124.2,0.1,451,2587,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2089,3951
$STATE,2709,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2709,begin apogee
$GC,2716,-0.31,0.0,124.3,0.0,474,2824,0.45,0.00,101.80,0.903,6,0.093,0.000,2429,2089,3429
$STATE,2824,end apogee,CONTROL_FINISHED_OK
$STATE,2824,begin climb
$GC,2827,0.80,145.7,124.3,0.0,493,2951,1.05,0.00,116.75,0.873,6,0.056,0.000,2675,2089,2834
$GC,3087,0.80,145.7,110.0,6.9,539,3093,0.00,2.35,0.00,0.000,4,0.000,0.056,2675,700,2828
$GC,3113,0.80,145.7,108.4,6.5,544,3119,0.00,2.25,0.00,0.000,6,0.000,0.030,2675,2100,2828
$GC,3256,0.80,145.7,99.1,6.5,569,3261,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2100,2828
$GC,3397,0.80,145.7,89.8,6.7,594,3402,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2100,2828
$GC,3538,0.80,145.7,80.5,6.7,619,3544,0.00,2.38,0.00,0.000,4,0.000,0.055,2675,693,2828
$GC,3570,0.80,145.7,78.3,6.8,625,3576,0.00,2.25,0.00,0.000,6,0.000,0.034,2675,2099,2826
$GC,3711,0.80,145.7,69.0,6.6,650,3717,0.00,2.35,0.00,0.000,4,0.000,0.054,2675,3502,2828
$GC,3733,0.80,145.7,67.5,6.6,654,3739,0.00,2.28,0.00,0.000,6,0.000,0.034,2675,2097,2828
$GC,3876,0.80,145.7,58.0,6.3,679,3882,0.00,2.35,0.00,0.000,4,0.000,0.054,2675,698,2827
$GC,3901,0.80,145.7,56.3,6.6,684,3907,0.00,2.25,0.00,0.000,6,0.000,0.031,2675,2102,2827
$GC,4043,0.81,149.1,47.6,5.9,709,4048,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2102,2827
$GC,4185,0.81,149.1,39.1,6.5,734,4190,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2102,2827
$GC,4259,0.81,149.1,34.5,6.3,747,4265,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2102,2827
$GC,4333,0.81,149.1,30.0,6.2,760,4339,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2102,2827
$GC,4408,0.81,152.1,25.5,5.9,773,4415,0.00,0.00,5.43,0.679,6,0.000,0.000,2675,2102,2810
$GC,4484,0.82,159.5,21.0,5.8,786,4496,0.00,0.00,8.18,0.782,6,0.000,0.000,2675,2102,2779
$GC,4565,0.83,169.0,16.3,5.8,800,4577,0.00,0.00,9.73,0.802,6,0.000,0.000,2675,2102,2740
$GC,4646,0.83,169.0,11.4,6.1,814,4652,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2102,2739
$GC,4721,0.85,181.8,7.2,5.7,827,4739,0.00,2.40,11.85,0.811,4,0.000,0.058,2675,698,2686
$GC,4763,0.86,191.0,4.8,5.8,835,4776,0.00,2.28,8.68,0.768,6,0.000,0.036,2675,2100,2651
$STATE,4820,end climb,SURFACE_DEPTH_REACHED
$STATE,4820,begin surface coast
$FINISH,0.2,0.999781
$STATE,4866,end surface coast,CONTROL_FINISHED_OK
$STATE,4866,begin surface
$SM_CCo,4886,90.53,0.813,0,0,2206,300.00
$SM_GC,1.04,0.00,0.00,90.53,0.000,0.000,0.813,419,2102,2206,-9.58,0.14,300.00
$IRIDIUM_FIX,4748.51,-12219.12,020199,000012
$TT8_MAMPS,0.027612
$HUMID,1793
$INTERNAL_PRESSURE,9.25155
$TCM_TEMP,18.70
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,90.3,44.2
$24V_AH,23.2,1.378
$10V_AH,10.1,0.955
$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,20.950,41.350,262.400,90.525,0.000,28.301,26.955,182.272,6.000,0.000,0.000,12.100,1292.233,1636.040,473.462,1492.637,455.630,33.346,1204.140,0.000,1493.254,0.000,4.144,0.000
$DEVICE_MAMPS,162.604,59.826,902.759,813.020,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,578.717,392.520,928.901,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44355,853
$CAP_FILE_SIZE,80336,0
$CFSIZE,260165632,218279936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081009,031014,4806.291,-12222.328,8,1.7,9,18.3