version: 66.04
glider: 150
mission: 6
dive: 15
start: 10 8 109 7 44 15
data:
$ID,150
$MISSION,6
$DIVE,15
$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,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,-15924.219
$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,31
$R_STBD_OVSHOOT,36
$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
$GPS1,073643,4806.896,-12222.837,14,1.5,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-68.5
$GPS2,074322,4806.865,-12222.837,9,3.6,28,18.3
$SPEED_LIMITS,0.129,0.234
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.130,0.195
$KALMAN_X,366.2,86.2,92.1,204.6,145.2
$KALMAN_Y,-1930.9,3.3,-272.3,1667.6,-234.2
$MHEAD_RNG_PITCHd_Wd,308.1,2546,-13.0,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.99,-145.7,0.0,0.0,0,61,0.00,0.00,-40.75,0.000,2,0.000,0.000,423,2112,3044
$GC,64,-0.99,-145.7,2.0,-3.2,7,119,9.95,2.33,-35.97,0.000,4,0.164,0.060,2278,3493,3953
$GC,143,-0.99,-145.7,5.4,-7.8,21,150,0.00,2.25,0.00,0.000,6,0.000,0.031,2278,2086,3954
$GC,219,-0.99,-145.7,11.7,-8.2,34,225,0.00,2.30,0.00,0.000,4,0.000,0.051,2278,698,3954
$GC,265,-0.99,-145.7,15.8,-8.8,44,272,0.00,2.25,0.00,0.000,6,0.000,0.033,2278,2097,3953
$GC,340,-0.99,-145.7,22.3,-8.7,57,346,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2098,3954
$GC,414,-0.99,-145.7,28.6,-8.5,70,420,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2098,3953
$GC,490,-0.99,-145.7,35.1,-8.8,83,496,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2098,3953
$GC,564,-0.99,-145.7,41.6,-8.8,96,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2098,3953
$GC,705,-0.99,-145.7,53.6,-8.5,121,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2098,3953
$GC,847,-0.99,-145.7,65.7,-8.6,146,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2098,3953
$GC,988,-0.99,-145.7,77.6,-8.4,171,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2098,3953
$GC,1132,-0.99,-145.7,89.5,-8.4,196,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2098,3953
$GC,1274,-0.99,-145.7,101.6,-8.4,221,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2098,3953
$STATE,1368,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1368,begin apogee
$GC,1374,-0.31,0.0,109.5,8.0,238,1481,0.65,0.00,101.70,0.889,6,0.094,0.000,2426,2098,3430
$STATE,1482,end apogee,CONTROL_FINISHED_OK
$STATE,1482,begin climb
$GC,1486,0.99,145.7,112.9,0.0,257,1610,1.25,0.00,116.62,0.861,6,0.058,0.000,2716,2098,2834
$GC,1746,0.99,145.7,95.6,8.7,303,1752,0.00,2.40,0.00,0.000,4,0.000,0.062,2716,700,2829
$GC,1776,0.99,145.7,92.8,9.1,309,1782,0.00,2.25,0.00,0.000,6,0.000,0.031,2716,2096,2829
$GC,1918,0.99,145.7,80.3,8.5,334,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2096,2829
$GC,2060,0.99,145.7,68.3,8.5,359,2065,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2096,2829
$GC,2201,0.99,145.7,56.3,8.4,384,2207,0.00,2.35,0.00,0.000,4,0.000,0.058,2716,705,2828
$GC,2227,0.99,145.7,53.9,8.7,389,2233,0.00,2.22,0.00,0.000,6,0.000,0.028,2716,2099,2827
$GC,2369,0.99,145.7,42.4,8.2,414,2376,0.00,2.35,0.00,0.000,4,0.000,0.051,2716,3503,2828
$GC,2387,0.99,145.7,40.7,8.4,417,2393,0.00,2.28,0.00,0.000,6,0.000,0.035,2716,2098,2828
$GC,2529,0.99,145.7,29.2,7.9,442,2535,0.00,2.35,0.00,0.000,4,0.000,0.058,2716,699,2827
$GC,2568,0.99,145.7,26.1,8.4,450,2574,0.00,2.25,0.00,0.000,6,0.000,0.035,2716,2102,2826
$GC,2642,0.99,145.7,20.1,7.7,463,2648,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2102,2827
$GC,2717,0.99,146.3,14.5,7.4,476,2723,0.00,2.33,0.00,0.000,4,0.000,0.054,2716,3500,2828
$GC,2738,0.99,146.3,12.7,7.8,480,2745,0.00,2.25,0.00,0.000,6,0.000,0.035,2717,2096,2828
$GC,2814,1.00,148.5,7.1,7.4,493,2820,0.00,2.35,0.00,0.000,4,0.000,0.061,2716,691,2827
$GC,2856,1.00,148.5,3.6,8.0,502,2863,0.00,2.25,0.00,0.000,6,0.000,0.036,2716,2104,2827
$STATE,2867,end climb,SURFACE_DEPTH_REACHED
$STATE,2867,begin surface coast
$FINISH,0.7,1.021296
$STATE,2913,end surface coast,CONTROL_FINISHED_OK
$STATE,2913,begin surface
$SM_CCo,2933,125.62,0.806,0,0,2207,300.00
$SM_GC,1.30,0.00,0.00,125.62,0.000,0.000,0.806,424,2108,2207,-9.55,0.31,300.00
$IRIDIUM_FIX,4751.72,-12254.00,020199,060625
$TT8_MAMPS,0.027612
$HUMID,1756
$INTERNAL_PRESSURE,9.24179
$TCM_TEMP,18.50
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,90.1,29.3
$24V_AH,23.2,1.896
$10V_AH,10.1,1.233
$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,21.375,36.750,218.325,125.625,0.000,28.970,24.058,197.366,5.750,0.000,0.000,30.961,775.077,894.125,439.300,934.627,426.565,33.328,916.965,0.000,913.157,0.000,8.923,0.000
$DEVICE_MAMPS,164.138,62.127,888.953,806.117,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,345.475,255.311,597.826,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25383,512
$CAP_FILE_SIZE,54899,0
$CFSIZE,260165632,218120192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081009,083622,4807.127,-12223.058,8,2.3,27,18.3