version: 66.04
glider: 150
mission: 6
dive: 16
start: 10 8 109 8 43 51
data:
$ID,150
$MISSION,6
$DIVE,16
$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,-15959.159
$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,34
$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
$GPS1,083622,4807.127,-12223.058,8,2.3,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-68.9
$GPS2,084258,4807.111,-12223.032,12,99.0,31,18.3
$SPEED_LIMITS,0.129,0.234
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.141,0.187
$KALMAN_X,610.4,157.4,59.1,-320.6,226.9
$KALMAN_Y,-2224.8,-18.9,-287.3,2453.9,-286.4
$MHEAD_RNG_PITCHd_Wd,304.8,2035,-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,-41.33,0.000,2,0.000,0.000,424,2108,3059
$GC,64,-0.99,-145.7,2.1,-3.4,7,114,10.05,2.38,-33.58,0.000,4,0.168,0.060,2278,3508,3952
$GC,134,-0.99,-145.7,5.0,-6.2,19,140,0.00,2.28,0.00,0.000,6,0.000,0.030,2278,2085,3953
$GC,209,-0.99,-145.7,11.1,-8.2,32,215,0.00,2.30,0.00,0.000,4,0.000,0.052,2278,694,3953
$GC,250,-0.99,-145.7,14.9,-9.2,41,257,0.00,2.25,0.00,0.000,6,0.000,0.033,2278,2108,3953
$GC,325,-0.99,-145.7,21.4,-8.2,54,332,0.00,2.30,0.00,0.000,4,0.000,0.046,2278,3500,3953
$GC,356,-0.99,-145.7,23.8,-8.9,60,362,0.00,2.25,0.00,0.000,6,0.000,0.029,2278,2103,3953
$GC,432,-0.99,-145.7,30.6,-8.7,73,438,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2103,3953
$GC,506,-0.99,-145.7,37.0,-8.6,86,512,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2103,3953
$GC,580,-0.99,-145.7,43.5,-8.8,99,586,0.00,2.35,0.00,0.000,4,0.000,0.051,2278,687,3953
$GC,624,-0.99,-145.7,47.7,-9.3,108,630,0.00,2.25,0.00,0.000,6,0.000,0.028,2278,2110,3953
$GC,767,-0.99,-145.7,60.5,-9.1,133,773,0.00,2.30,0.00,0.000,4,0.000,0.045,2278,3496,3953
$GC,793,-0.99,-145.7,63.1,-9.1,138,799,0.00,2.25,0.00,0.000,6,0.000,0.032,2278,2097,3953
$GC,936,-0.99,-145.7,75.4,-8.8,163,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2097,3952
$GC,1077,-0.99,-145.7,88.3,-8.8,188,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2095,3952
$GC,1219,-0.99,-145.7,100.3,-8.6,213,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2095,3952
$STATE,1352,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1352,begin apogee
$GC,1358,-0.31,0.0,111.3,8.1,237,1466,0.65,0.00,101.62,0.898,6,0.099,0.000,2427,2095,3430
$STATE,1466,end apogee,CONTROL_FINISHED_OK
$STATE,1466,begin climb
$GC,1469,0.99,145.7,114.7,0.0,256,1593,1.25,0.00,116.65,0.865,6,0.058,0.000,2717,2095,2834
$GC,1728,0.99,145.7,97.1,8.6,302,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2095,2830
$GC,1870,0.99,145.7,84.8,8.5,327,1875,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2095,2829
$GC,2011,0.99,145.7,72.9,8.2,352,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2095,2828
$GC,2153,0.99,145.7,60.6,8.7,377,2159,0.00,2.38,0.00,0.000,4,0.000,0.060,2717,699,2828
$GC,2178,0.99,145.7,58.4,8.7,382,2184,0.00,2.25,0.00,0.000,6,0.000,0.030,2717,2094,2827
$GC,2321,0.99,145.7,45.8,8.6,407,2326,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2094,2827
$GC,2462,0.99,145.7,33.9,8.3,432,2468,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2095,2827
$GC,2537,0.99,145.7,27.6,8.7,445,2543,0.00,2.38,0.00,0.000,4,0.000,0.058,2717,692,2827
$GC,2570,0.99,145.7,24.6,9.2,452,2577,0.00,2.28,0.00,0.000,6,0.000,0.032,2717,2105,2827
$GC,2646,0.99,146.4,18.5,7.4,465,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2106,2827
$GC,2720,0.99,146.4,12.9,7.6,478,2725,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2106,2827
$GC,2794,0.99,146.4,7.0,7.9,491,2801,0.00,2.38,0.00,0.000,4,0.000,0.058,2717,699,2826
$GC,2849,1.05,191.0,3.5,5.9,503,2863,0.00,2.25,9.50,0.781,2,0.000,0.035,2717,2103,2786
$STATE,2864,end climb,SURFACE_DEPTH_REACHED
$STATE,2864,begin surface coast
$FINISH,0.2,1.000719
$STATE,2926,end surface coast,CONTROL_FINISHED_OK
$STATE,2926,begin surface
$SM_CCo,2947,117.35,0.811,0,0,2207,300.00
$SM_GC,1.04,0.00,0.00,117.35,0.000,0.000,0.811,420,2108,2207,-9.57,0.31,300.00
$IRIDIUM_FIX,4751.72,-12221.84,020199,070732
$TT8_MAMPS,0.027612
$HUMID,1775
$INTERNAL_PRESSURE,9.24179
$TCM_TEMP,18.40
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,80.2,40.8
$24V_AH,23.2,1.993
$10V_AH,10.1,1.285
$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,21.450,36.800,227.775,117.350,0.000,27.353,25.516,194.745,5.250,0.000,0.000,34.311,788.258,878.596,432.689,950.127,422.585,33.322,915.646,0.000,929.648,0.000,5.795,0.000
$DEVICE_MAMPS,167.973,59.826,898.157,811.486,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,351.764,262.355,609.885,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28641,520
$CAP_FILE_SIZE,55114,0
$CFSIZE,260165632,218087424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081009,093607,4807.169,-12223.109,32,1.4,32,18.3