version: 66.04
glider: 150
mission: 6
dive: 11
start: 10 8 109 3 19 15
data:
$ID,150
$MISSION,6
$DIVE,11
$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,-15809.018
$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,30
$R_STBD_OVSHOOT,31
$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
$GPS1,031014,4806.291,-12222.328,8,1.7,9,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-65.9
$GPS2,031820,4806.204,-12222.299,13,1.4,13,18.3
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.103,0.189
$KALMAN_X,-250.3,-211.2,62.2,1810.2,124.5
$KALMAN_Y,-738.2,66.3,178.6,-1258.3,-327.8
$MHEAD_RNG_PITCHd_Wd,313.1,3935,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.80,-145.7,0.0,0.0,0,71,0.00,0.00,-52.62,0.000,2,0.000,0.000,420,2103,3300
$GC,74,-0.80,-145.7,2.3,-2.8,9,112,10.18,2.38,-21.73,0.000,4,0.162,0.057,2321,3506,3952
$GC,136,-0.80,-145.7,6.1,-6.4,20,142,0.00,2.28,0.00,0.000,6,0.000,0.032,2321,2083,3953
$GC,211,-0.80,-145.7,11.0,-6.5,33,217,0.00,2.28,0.00,0.000,4,0.000,0.048,2321,703,3952
$GC,249,-0.80,-145.7,13.9,-7.6,41,256,0.00,2.22,0.00,0.000,6,0.000,0.027,2320,2109,3953
$GC,324,-0.80,-145.7,19.3,-7.3,54,330,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2109,3953
$GC,399,-0.80,-145.7,24.5,-6.8,67,405,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2109,3953
$GC,474,-0.80,-145.7,29.7,-6.9,80,479,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2109,3953
$GC,548,-0.80,-145.7,34.5,-6.5,93,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2109,3953
$GC,622,-0.80,-145.7,39.5,-6.6,106,628,0.00,2.30,0.00,0.000,4,0.000,0.044,2321,3499,3953
$GC,653,-0.80,-145.7,41.6,-7.0,112,659,0.00,2.25,0.00,0.000,6,0.000,0.035,2321,2102,3953
$GC,795,-0.80,-145.7,51.1,-6.8,137,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2101,3953
$GC,936,-0.80,-145.7,60.4,-6.5,162,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2102,3953
$GC,1078,-0.80,-145.7,69.7,-6.5,187,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2102,3952
$GC,1219,-0.80,-145.7,79.2,-6.4,212,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2101,3953
$GC,1361,-0.80,-145.7,88.1,-6.4,237,1366,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2101,3952
$GC,1503,-0.80,-145.7,97.3,-6.6,262,1509,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2100,3952
$GC,1645,-0.80,-145.7,106.4,-6.4,287,1650,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2099,3952
$STATE,1784,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1784,begin apogee
$GC,1790,-0.31,0.0,115.2,6.1,312,1897,0.47,0.00,101.75,0.904,6,0.081,0.000,2432,2100,3429
$STATE,1898,end apogee,CONTROL_FINISHED_OK
$STATE,1898,begin climb
$GC,1902,0.80,145.7,118.1,0.0,331,2028,1.02,2.42,116.82,0.876,4,0.065,0.059,2673,702,2832
$GC,2044,0.80,145.7,112.2,6.1,356,2051,0.00,2.25,0.00,0.000,6,0.000,0.032,2673,2096,2830
$GC,2188,0.80,145.7,102.6,6.5,381,2193,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2096,2829
$GC,2328,0.80,145.7,93.3,6.6,406,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2095,2828
$GC,2470,0.80,145.7,84.3,6.4,431,2476,0.00,2.38,0.00,0.000,4,0.000,0.052,2673,693,2828
$GC,2493,0.80,145.7,82.7,6.7,435,2499,0.00,2.25,0.00,0.000,6,0.000,0.033,2673,2096,2827
$GC,2634,0.80,145.7,73.7,6.3,460,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2097,2827
$GC,2777,0.80,145.7,64.6,6.6,485,2782,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2097,2828
$GC,2918,0.80,145.7,55.2,7.1,510,2923,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2097,2827
$GC,3059,0.80,145.7,46.2,6.2,535,3064,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2096,2827
$GC,3201,0.80,146.8,37.4,6.0,560,3208,0.00,2.33,0.00,0.000,4,0.000,0.051,2673,3502,2829
$GC,3231,0.80,146.8,35.4,6.3,566,3238,0.00,2.30,0.00,0.000,6,0.000,0.030,2673,2094,2828
$GC,3306,0.80,146.8,30.7,6.4,579,3312,0.00,2.35,0.00,0.000,4,0.000,0.054,2673,694,2827
$GC,3345,0.80,146.8,28.3,6.4,587,3352,0.00,2.25,0.00,0.000,6,0.000,0.032,2673,2101,2827
$GC,3420,0.81,149.0,23.7,6.0,600,3427,0.00,2.33,0.00,0.000,4,0.000,0.051,2673,3499,2828
$GC,3451,0.81,149.0,21.8,6.3,606,3457,0.00,2.25,0.00,0.000,6,0.000,0.029,2673,2091,2828
$GC,3526,0.82,157.2,17.4,5.8,619,3545,0.00,2.40,9.98,0.795,4,0.000,0.059,2673,704,2786
$GC,3569,0.82,157.2,14.7,6.2,627,3575,0.00,2.22,0.00,0.000,6,0.000,0.030,2673,2099,2786
$GC,3643,0.83,169.0,10.3,5.7,640,3656,0.00,0.00,11.15,0.802,6,0.000,0.000,2673,2099,2741
$GC,3725,0.87,199.1,6.0,5.2,654,3755,0.00,0.00,26.00,0.819,6,0.000,0.000,2673,2099,2617
$STATE,3810,end climb,SURFACE_DEPTH_REACHED
$STATE,3810,begin surface coast
$FINISH,0.1,1.019878
$STATE,3862,end surface coast,CONTROL_FINISHED_OK
$STATE,3865,begin surface
$SM_CCo,3884,83.68,0.807,0,0,2207,300.00
$SM_GC,1.07,0.00,0.00,83.68,0.000,0.000,0.807,418,2100,2207,-9.58,0.08,300.00
$IRIDIUM_FIX,4748.51,-12224.57,020199,010117
$TT8_MAMPS,0.027612
$HUMID,1767
$INTERNAL_PRESSURE,9.24179
$TCM_TEMP,17.50
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,100.3,24.6
$24V_AH,23.2,1.483
$10V_AH,10.1,1.020
$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,20.950,41.425,265.700,83.675,0.000,28.270,27.052,282.910,7.000,0.000,0.000,14.713,1026.664,1230.676,445.674,1208.902,549.362,33.325,1055.577,0.000,1202.787,0.000,14.615,0.000
$DEVICE_MAMPS,161.837,59.059,903.526,806.884,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,459.184,330.937,781.043,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34820,678
$CAP_FILE_SIZE,69036,0
$CFSIZE,260165632,218255360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081009,042637,4806.472,-12222.483,33,1.0,34,18.3