version: 66.04
glider: 150
mission: 6
dive: 12
start: 10 8 109 4 44 57
data:
$ID,150
$MISSION,6
$DIVE,12
$D_SURF,3
$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,90
$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,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,-15822.748
$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,33
$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,10
$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
$GPS1,042637,4806.472,-12222.483,33,1.0,34,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-63.4
$GPS2,044402,4806.315,-12222.405,11,1.1,11,18.3
$SPEED_LIMITS,0.129,0.234
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.102,0.211
$KALMAN_X,110.9,-173.4,35.3,1307.6,146.3
$KALMAN_Y,-1526.4,143.6,168.9,-332.5,-372.3
$MHEAD_RNG_PITCHd_Wd,316.0,3690,-13.0,-7.463
$D_GRID,105
$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,-0.99,-145.7,0.0,0.0,0,70,0.00,0.00,-51.50,0.000,2,0.000,0.000,419,2100,3281
$GC,73,-0.99,-145.7,2.2,-3.1,9,116,10.12,2.35,-24.45,0.000,4,0.170,0.061,2277,3496,3953
$GC,123,-0.99,-145.7,4.6,-4.7,17,130,0.00,2.25,0.00,0.000,6,0.000,0.033,2278,2091,3953
$GC,199,-0.99,-145.7,10.6,-8.3,30,205,0.00,2.30,0.00,0.000,4,0.000,0.049,2277,704,3953
$GC,228,-0.99,-145.7,13.2,-8.6,36,235,0.00,2.22,0.00,0.000,6,0.000,0.031,2277,2110,3954
$GC,303,-0.99,-145.7,19.4,-8.4,49,309,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2110,3953
$GC,378,-0.99,-145.7,25.8,-8.5,62,384,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2110,3954
$GC,453,-0.99,-145.7,32.3,-8.6,75,459,0.00,2.35,0.00,0.000,4,0.000,0.047,2277,703,3953
$GC,482,-0.99,-145.7,35.2,-9.8,81,489,0.00,2.20,0.00,0.000,6,0.000,0.031,2277,2095,3953
$GC,557,-0.99,-145.7,42.0,-9.1,94,563,0.00,2.33,0.00,0.000,4,0.000,0.050,2277,3499,3953
$GC,593,-0.99,-145.7,45.3,-9.3,101,599,0.00,2.25,0.00,0.000,6,0.000,0.035,2277,2100,3953
$GC,734,-0.99,-145.7,57.6,-8.4,126,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2100,3953
$GC,876,-0.99,-145.7,69.2,-8.2,151,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2099,3953
$GC,1017,-0.99,-145.7,80.9,-8.4,176,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2099,3953
$GC,1162,-0.99,-145.7,92.9,-8.4,201,1167,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2099,3953
$GC,1303,-0.99,-145.7,105.0,-8.5,226,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2099,3953
$STATE,1313,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1313,begin apogee
$GC,1318,-0.31,0.0,106.0,8.3,228,1427,0.65,0.00,101.78,0.893,6,0.094,0.000,2427,2099,3430
$STATE,1428,end apogee,CONTROL_FINISHED_OK
$STATE,1428,begin climb
$GC,1431,0.99,145.7,109.6,0.0,247,1555,1.23,0.00,116.65,0.865,6,0.062,0.000,2714,2099,2834
$GC,1691,0.99,145.7,93.1,8.4,293,1697,0.00,2.40,0.00,0.000,4,0.000,0.059,2714,695,2829
$GC,1721,0.99,145.7,90.5,8.7,299,1727,0.00,2.25,0.00,0.000,6,0.000,0.035,2714,2086,2828
$GC,1863,0.99,145.7,78.8,8.0,324,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2086,2828
$GC,2005,0.99,145.7,67.0,8.2,349,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2086,2828
$GC,2146,0.99,145.7,55.1,8.5,374,2152,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2086,2828
$GC,2288,0.99,145.7,43.3,8.2,399,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2087,2828
$GC,2430,0.99,145.7,31.6,8.2,424,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2087,2828
$GC,2504,0.99,145.7,25.7,7.6,437,2509,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2086,2828
$GC,2578,1.00,152.1,20.5,7.2,450,2591,0.00,0.00,5.78,0.686,6,0.000,0.000,2714,2086,2809
$GC,2659,1.00,152.1,14.4,7.6,464,2665,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2087,2808
$GC,2735,1.00,152.1,8.8,7.5,477,2741,0.00,2.35,0.00,0.000,4,0.000,0.054,2714,690,2807
$GC,2778,1.00,152.1,5.4,8.0,486,2784,0.00,2.28,0.00,0.000,6,0.000,0.033,2714,2110,2807
$STATE,2816,end climb,SURFACE_DEPTH_REACHED
$STATE,2817,begin surface coast
$FINISH,0.6,1.020581
$STATE,2868,end surface coast,CONTROL_FINISHED_OK
$STATE,2868,begin surface
$SM_CCo,2888,121.00,0.809,0,0,2207,300.00
$SM_GC,1.01,0.00,0.00,121.00,0.000,0.000,0.809,422,2112,2207,-9.56,0.45,300.00
$IRIDIUM_FIX,4751.72,-12324.41,020199,040439
$TT8_MAMPS,0.027612
$HUMID,1754
$INTERNAL_PRESSURE,9.25155
$TCM_TEMP,18.60
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,90.3,33.1
$24V_AH,23.2,1.604
$10V_AH,10.1,1.077
$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,21.450,27.525,224.200,121.000,0.000,117.421,125.136,464.964,5.000,0.000,0.000,13.103,762.412,1065.895,433.224,896.399,907.529,33.318,904.328,0.000,895.446,0.000,10.676,0.000
$DEVICE_MAMPS,170.274,60.593,892.788,809.185,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,338.280,254.560,588.853,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25511,502
$CAP_FILE_SIZE,62676,0
$CFSIZE,260165632,218222592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081009,053616,4806.526,-12222.513,10,2.4,29,18.3